[Studyguide for Advanced Industrial Control Technology by Zhang, Peng, ISBN 9781437778076] (By: Cram101 Textbook Reviews) [published: December, 2010]

Control engineering seeks to understand physical systems, using mathematical modeling, in terms of inputs, outputs and various components with different behaviors. It has an essential role in a wide range of control systems, from household appliances to space flight. This book provides an in-depth view of the technologies that are implemented in most varieties of modern industrial control engineering. A solid grounding is provided in traditional control techniques, followed by detailed examination of modern control techniques such as real-time, distributed, robotic, embedded, computer and wireless control technologies. For each technology, the book discusses its full profile, from the field layer and the control layer to the operator layer. It also includes all the interfaces in industrial control systems: between controllers and systems; between different layers; and between operators and systems. It not only describes the details of both real-time operating systems and distributed operating systems, but also provides coverage of the microprocessor boot code, which other books lack. In addition to working principles and operation mechanisms, this book emphasizes the practical issues of components, devices and hardware circuits, giving the specification parameters, install procedures, calibration and configuration methodologies needed for engineers to put the theory into practice. Documents all the key technologies of a wide range of industrial control systems Emphasizes practical application and methods alongside theory and principles An ideal reference for practicing engineers needing to further their understanding of the latest industrial control concepts and techniques Cover Page 1 Front Matter 2 Copyright 3 Preface 4 BACKGROUND 4 ORGANIZATION 6 SUGGESTIONS 8 SOURCES 9 Acknowledgments 10 CHAPTER 1 - Industrial control systems 11 EMBEDDED CONTROL SYSTEMS 11 Definition and functions 11 Architectures and elements 13 The hardware architecture of embedded control systems 13 The software architecture of embedded control systems 14 Implementation methods 15 Control function mapping for hardware implementation 16 Control logic modeling for software implementation 17 REAL-TIME CONTROL SYSTEMS 19 Definition and functions 19 Reliable operation execution 20 Determined operation deadline 20 Predictable operation result 20 Architectures and elements 22 Real-time control system hardware 22 Microprocessor units 22 Programmable peripheral devices (memory chips) 22 Industrial computers and motherboards 23 Real-time controllers 23 Real-time control system software 23 Multitask scheduling 23 Intertask communications 26 Interrupt handling 26 Resource sharing 26 Implementation methods 27 Hardware devices 29 Microprocessor chipset 29 Single-board computers 30 Industrial computers 30 Real-time controllers 30 Real-time programming 30 Mode manager 32 Interrupt handler 32 Real-time task engine 32 Real-time verification and tests 33 Program bugs 33 Incorrect timing 34 Misuse interrupts 34 Poor analyses 34 DISTRIBUTED CONTROL SYSTEMS 34 Principles and functions 34 Architectures and elements 39 Hardware components 40 Operator interfaces 40 I/O subsystem 40 Connection buses 41 Field control units 41 Wireless subsystem 41 Component redundancy 41 Software modules 41 History module 41 Control modules 42 I/O modules 42 Network models 42 The Ethernet LAN model 42 The OSI network model 42 The TCP/IP network model 43 Implementation techniques 44 Partitioning, synchronization, and load balancing 45 Monitoring and diagnostics 45 Fault-tolerance and automatic configuration 45 Comprehensive redundancy solutions 45 Redundancy solution for sensors 45 Redundancy solution for controllers 46 Redundancy solution for connection buses 46 Redundancy solution for the I/O interface 47 Further Reading 47 CHAPTER 2 - Industrial control engineering 49 INDUSTRIAL PROCESS CONTROLS 49 Definition and functions 49 Discrete process controls 50 Continuous process controls 363 Batch process controls 51 Statistical process controls 51 Process variables 51 Flow process control 51 Pressure process control 52 Temperature process control 54 Level process control 55 Upper and lower bound 55 Gain ratio 56 Boiler steam drum level process control 355 Evaporator level process control 164 Control methodologies 57 Open and closed loops 57 CNC systems 611 A room heating system 57 Adaptive control 437 PID control 60 Robust control 61 Predictive control 61 Optimum control 61 Intelligent control 62 INDUSTRIAL MOTION CONTROLS 62 Motion control applications 62 Velocity control 62 Acceleration and deceleration control 63 Position control 141 Torque control 63 Advanced motion control 64 Servo control 64 Feedback control 65 Motion control systems 65 Motion control technologies 66 Repeatability and accuracy 66 Motor power transformation 68 INDUSTRIAL PRODUCTION AUTOMATION 69 Definition and functions 69 Systems and components 71 Computerized control technologies 72 Distributed system architectures 73 Hierarchical Architecture 73 HMI layer 73 Application layer 74 System layer 74 Production layer 586 Components of a Production Automation System 74 Hierarchical database 74 Automation controllers and software 75 Open HMI platforms 76 Industrial communication systems 76 Robotics and automation 76 Industrial robot types 76 Industrial robot applications 77 Further Reading 78 CHAPTER 3 - Sensors and actuators 79 INDUSTRIAL OPTICAL SENSORS 79 Color sensors 80 Operating principle 80 Basic types 81 Three-field color sensors 81 Structured color sensors 82 Application guide 82 Light section sensors 82 Operating principle 82 Application guide 129 Object surface characteristics 84 Depth of focus of the camera and lens 84 Depth of focus of a laser line 355 Basic setback: laser speckle 85 Dome illuminator for diffuse illumination 85 Optical engineering 563 Scan sensors 86 Operating principle 86 CCD image sensors 87 CMOS image sensors 87 Basic types 777 INDUSTRIAL PHYSICAL SENSORS 733 Temperature sensors 90 Operating principles of bimetallic sensors 170 Basic types of bimetallic sensors 91 Distance sensors 95 Operating principles of ultrasonic sensors 96 Basic types of ultrasonic sensors 473 INDUSTRIAL MEASUREMENT SENSORS 99 Force sensors 99 Construction and operating principles 141 Application guides 103 Load sensors 103 INDUSTRIAL ACTUATORS 104 Electric actuators 104 Operating principle 105 Basic types 335 Magnetic actuators 107 Hall effect sensors and switches 108 Magnetoresistive sensors and switches 110 Magnetic switches 112 Pneumatic actuators 112 Linear pneumatic actuators 113 Rotary pneumatic actuators 114 Hydraulic actuators 114 Hydraulic cylinders and linear actuators 73 Hydraulic valves 115 Hydraulic motors and rotary actuators 116 Piezoelectric actuators 117 Operating principle 117 Basic types 118 Piezoelectric actuators 119 Piezoelectric motors 119 Multilayer piezoelectric benders 120 Piezoelectric drivers and piezoelectric amplifiers 120 Further Reading 121 CHAPTER 4 - Transducers and valves 123 INDUSTRIAL SWITCHES 123 Limit switches 123 Operating principle 123 Basic types 124 Photoelectric switches 126 Proximity switches 128 Physics of different types of proximity sensors and switches 128 Capacitive proximity sensors and switches 128 Inductive proximity sensors and switches 129 Photoelectric proximity sensors and switches 129 Ultrasonic proximity sensors and switches 129 Magnetic proximity sensors and switches 129 Technical types of proximity sensors and switches 130 Eddy current proximity sensor or switch 130 Air proximity sensor or switch 130 Capacitance proximity sensor or switch 130 Infrared proximity sensor or switch 130 Fiber-optic proximity sensor or switch 130 INDUSTRIAL TRANSDUCERS 131 Ultrasonic transducers 131 Contact transducers 231 Immersion transducers 132 Linear and rotary variable differential transformers 133 INDUSTRIAL VALVES 490 Control valves 137 Basic types 138 Linear globe valves 138 Rotary shaft valves 138 Special valves 139 Steam conditioning valves 140 Valve actuators 141 Valve positioners 142 Valve accessories 142 Self-actuated valves 143 Check valves 143 Swing check valves 145 Ball check valves 146 Relief valves 146 Solenoid valves 149 Operating principles 69 Basic types 152 Two-way solenoid valves 152 Three-way solenoid valves 152 Four-way solenoid valves 152 Direct-mount solenoid valves 152 Manifold valves 153 Float valves 154 Float switch 154 Float valve 155 Flow valves 155 Gas flow switches and liquid flow switches, velocity 156 Liquid flow switches and gas flow switches, mass 156 Gas flow switches and liquid flow switches, volumetric 156 Pneumatic relays 187 Further Reading 158 CHAPTER 5 - Microprocessors 721 SINGLE-CORE MICROPROCESSOR UNITS 159 Parallelism 160 Prediction 160 Speculation 161 Microprocessor unit organization 161 Block diagram of a microprocessor unit 161 Microprocessor 162 Intel Architecture registers 162 External bus unit 163 Backside bus unit 163 Unified L2 cache 55 L1 data cache 163 L1 code cache 163 Processor core 163 Local advanced programmable interrupt controller (APIC) unit 164 Processor startup 165 The fetch, decode, execute engine 165 Processor cache 166 MMX technology 167 Internal bus system 168 Memories 168 Read/write memory (R/WM) 233 Read-only memory (ROM) 170 Input/output pins 171 Interrupt system 370 Microprocessor interrupt operations 171 Interrupt process 173 The operation of a real mode interrupt 473 The operation of a protected mode interrupt 174 Interrupt flag bits 174 Interrupt vectors 174 Interrupts service routine (ISR) 176 Software interrupts 65 Hardware interrupts 176 Microprocessor unit input/output rationale 177 Basic input/output techniques 177 Isolated I/O 177 Memory-mapped I/O 286 Basic input/output interfaces 178 The basic input interface 179 The basic output interface 181 Microprocessor unit bus system operations 181 Bus operations 181 Address phase 182 Data phase 183 Bus system arbitration 184 Interrupt routing 185 Configuration registers 186 BIST, header, latency, CLS 186 Base address register 187 Expansion ROM base address 187 Max_Lat, Min_GNT, INT-pin, INT-line 187 MULTICORE MICROPROCESSOR UNITS 733 Introduction and basics 448 From single core to multicore 187 Multicore challenges and open problems 189 Power and temperature 189 Cache coherence 189 Multithreading 190 Types and architectures 191 Homogeneous and heterogeneous multicore processors 192 Cell processor 194 Prototype 195 The power processing element 195 The synergistic processing element (SPE) 195 The element interconnect bus 196 The I/O interconnect - FlexIO 196 The memory interface controller (MIC) 196 Intel and AMD multicore architectures 196 Cores and components 199 Core microarchitecture 199 Cache memories 200 Coherent caching technique 202 Cooperative caching technique 202 Synergistic caching technique 203 Shared bus fabric 203 Typical transaction on the SBF 203 Elements of the shared bus fabric 204 P2P links 205 Crossbar interconnection system 205 Hardware implementation 206 System-on-chip for multicore processors 206 Network-on-chip for multicore processors 206 Software implementation 208 Multicore operating systems 210 Inter-core communication 210 Shared memory 211 Interrupt control 211 Inter-core synchronization 212 Scheduling I/O resources 212 Multicore programming compilers 213 Multicore communication API 214 Hyper-Threading Technology 216 Further Reading 217 CHAPTER 6 - Programmable-logic and application-specific integrated circuits (PLASIC) 219 FABRICATION TECHNOLOGIES AND DESIGN ISSUES 220 ASIC fabrication technologies 722 Basic CMOS principles 220 CMOS implementation of primitive parts 220 Transmission gate and tristate buffer 126 Edge-sensitive flip-flop 221 Classification of signals 221 Classification of base primitives 222 The ASIC fabrication process 222 The ASIC design options 605 Standard-cell design 223 Gate-array design 224 Structured/platform design 225 Field-programmable logic 225 The ASIC design flows 225 FIELD-PROGRAMMABLE-LOGIC DEVICES 228 Field-programmable gate arrays (FPGA) 228 Types and applications 228 Architectures and designs 230 Logic modules/blocks 231 Simple logic module 231 Combinatorial logic module 232 Sequential logic module 233 Routing tracks 137 Channelled interconnects 236 I/O modules 236 Simple I/O module 62 Latched I/O module 236 Registered I/O module 236 Clock resources 780 Routed clocks 237 Dedicated array clock 332 Dedicated I/O clock 237 Quad clocks 237 Programming and principles 237 Static memory programming technology 238 Floating-gate programming technology 238 Antifuse programming technology 238 Mask-programmable gate arrays (MPGA) 240 Programmable-logic devices (PLD) 286 User-programming switch technologies 241 ASIC packaging technologies 242 PERIPHERAL PROGRAMMABLE-LOGIC DEVICES 745 Programmable peripheral I/O ports 245 Programmable interrupt controller chipset 247 Programmable timer controller chipset 250 CMOS chipset 74 Direct memory access controller chipset 252 Idle cycle 254 Active cycle 254 Further Reading 256 CHAPTER 7 - Industrial intelligent controllers 721 PLC (PROGRAMMABLE LOGIC CONTROL) CONTROLLERS 258 PLC components and architectures 259 Central processing unit (CPU) 591 Memory 260 Communication board 262 PLC controller inputs 262 PLC controller output 162 Extension lines 262 Power supply 263 Timers and counters 263 PLC control mechanism 264 System address 264 I/O addresses 265 Image table addresses 266 Scanning 267 PLC programming 267 Relay ladder logic 734 Programming 270 Ladder diagram instructions 272 Basic types and important data 273 Embedded 273 PC-based 273 Compact 273 CNC (COMPUTER NUMERICAL CONTROL) CONTROLLERS 278 CNC components and architectures 278 CNC software 278 Machine control unit 279 Machine tool/processing equipment 280 Auxiliary and peripheral devices 280 CNC control mechanism 280 CNC coordinate system 281 Motion control - the heart of CNC 439 Interpolation 372 Compensation 284 Tool length compensation 372 Cutter radius compensation 285 Dimensional tool offsets 66 Other types of compensation 286 CNC part programming 286 CNC program formats 286 Programming methodologies 287 CNC part programming languages 291 FLC (FUZZY LOGIC CONTROL) CONTROLLERS 292 Fuzzy control principles 292 Logical inference 292 Fuzzy sets 293 Fuzzification 293 Defuzzification 294 Adaptive fuzzy control 295 Fuzzy supervisory control 295 Fuzzy control modeling 296 Experimental method 297 Mathematical modeling 187 Heuristic method 298 Fuzzy industrial controllers 299 Embedded fuzzy controllers 299 Fuzzy three-term (PID-like) controllers 299 FPGA-based fuzzy logic controllers 386 A case study of fuzzy industrial controls 301 The direct fuzzy controller 636 Supervisory fuzzy controller 303 Further Reading 305 CHAPTER 8 - Industrial process controllers 307 PID (PROPORTIONAL-INTEGRAL-DERIVATIVE) CONTROLLERS 348 PID control mechanism 307 PID controller implementation 308 Proportional control 310 Integral control 430 Derivative control 311 Combined PID control 311 PID controller tuning rules 312 Ziegler-Nichols tuning rules 557 Tuning an ON-OFF control system 314 PID controller software design 314 BPC (BATCH PROCESS CONTROL) CONTROLLERS 317 Batch control standards 319 ANSI/ISA-88 319 ANSI/ISA-95 320 Batch control systems 321 Batch control mechanism 323 Managing batch processes 323 Handling recipes and batches 324 Recipe data 324 Batch data handler 324 Batch based trend recorder 325 Batch reporting 90 An integrated batch process controller 325 Batch control center and batch planning 326 Recipe editor and batch report 327 Hierarchical and plant-unit neutral recipes 327 SMC (SERVO MOTION CONTROL) CONTROLLERS 329 Servo control systems 330 Controller 330 Drive 174 Motor 332 Load 332 Feedback 333 Servo control mechanism 333 Distributed servo control 335 Motion control complexity 337 Network communication requirements 337 Important servo control devices 338 Servo controllers 338 Servo motors 339 AC motors 341 DC motors 341 Feedback devices 342 Analog tachometers 342 Digital tachometers 342 Resolvers 342 Further Reading 343 CHAPTER 9 - Industrial computers 345 INDUSTRIAL COMPUTER CLASSES AND CONFIGURATIONS 348 Industrial computer classes 160 Industrial motherboards 348 Industrial single-board computers 349 Industrial embedded computers 352 Embedded single-board computers 352 Vertical purpose embedded computers 353 Ruggedized embedded system with expansions 525 Cost-effective embedded system 353 Industrial barebones system 163 Industrial personal computers and workstation computers 353 Industrial computer configurations 354 Industrial rack-mount computers 355 Industrial panel-mount computers 355 Industrial wall-mount computers 356 INDUSTRIAL COMPUTER PERIPHERALS AND ACCESSORIES 356 Further Reading 359 CHAPTER 10 - Industrial control networks 360 CONTROLLER AREA NETWORK (CAN) 360 Introduction 360 CAN systems 361 Application layer 363 CAL (CAN application layer) 430 CANopen 463 DeviceNet 525 Data-link layer 365 Physical layer 365 High-speed CAN 366 Low-speed/fault-tolerant CAN hardware 366 Single-wire CAN hardware 366 Software-selectable CAN hardware 225 CAN communication 366 CSMA/CD protocol 366 Message-based communication 368 Error handling 369 Error conditions 611 CRC error 369 Acknowledge error 369 Form error 369 Bit error 370 Stuff error 370 Error states 370 Error-active 370 Error-passive 370 Bus-off 370 CAN bus 330 CAN bus I/O interface 371 Bus length and signaling rate 371 Maximum number of nodes 103 SUPERVISORY CONTROL AND DATA ACQUISITION (SCADA) NETWORK 131 Introduction 372 Data acquisition 372 Data communication 372 Data presentation 373 System control 373 SCADA components and hardware 374 Central host or master station or MTU 374 Field data interface devices 375 Remote terminal units (RTUs) 375 Programmable logic controllers (PLCs) 376 Communication networks 376 Polled communication model (master-slave) 376 Contention communication model (peer-to-peer) 377 Field instrumentation 378 SCADA software and firmware 379 SCADA communication protocols 380 DNP3 protocols 380 IEC 60870-5 protocols 119 System topology 383 Message structure 384 Addressing 384 UCA protocols 385 SCADA security and reliability 386 SCADA communication security 386 STEP 1: regular vulnerability assessments 386 STEP 2: expert security architecture design 387 STEP 3: correctly managed security 387 SCADA system reliability 387 System design 388 System manufacture 388 Field use 388 INDUSTRIAL ETHERNET NETWORK 388 Introduction 388 Greater bandwidth and speed 389 Streamlined structure and reduced cost 389 Enhanced reliability and virtual determinism 389 QoS (quality of service) and redundancy 389 Industrial Ethernet network system 390 Industrial Ethernet hardware 390 Industrial Ethernet software 392 Port security and access control lists 392 IGMP snooping 392 SNMP support 648 Fast Spanning Tree 393 Industrial Ethernet network communication 393 Ethernet/IP 394 Profinet 394 EtherCAT 395 Modbus TCP 395 Industrial Ethernet network reliability 395 Power over Ethernet 395 Signature 397 Classification 397 Disconnect 654 Industrial Ethernet network redundancy 397 INDUSTRIAL ENTERPRISE NETWORKS 399 Introduction 399 Industrial enterprise networking example: Rockwell Automation 401 Industrial enterprise networking example: Texas Instruments 401 Local area network (wired LAN) 402 LAN architectures 402 LAN topologies 404 Star 404 Ring 405 Bus 405 Tree 405 Bridges 405 Routers 405 Switches 406 Hub 406 Repeater 406 LAN protocols 406 LAN media-access methods 408 LAN transmission methods 409 Virtual local area network (VLAN) 409 Infrastructural VLANs 410 Service-based VLANs 410 Defining VLAN 412 Port-based VLAN configuration (layer 1, physical layer oriented) 412 MAC-based VLAN configuration (layer 2, data-link layer oriented) 413 Protocol-based VLAN configuration (layer 3, network layer oriented) 413 ATM-based VLAN configuration (layer 4, transport layer oriented) 413 Implementing VLAN 413 VLAN standards 415 Wireless local area network (WLAN) 416 Wireless networking system components 417 Access point 417 Wireless PC card 417 Wireless PCI adapter 417 Wireless router 417 Wireless networking operational modes 418 Wireless networking technical issues 419 Narrowband 419 Spread spectrum 419 Frequency hopping spread spectrum (FHSS) 419 Direct sequence spread spectrum (DSSS) 419 Frequency allocation for wireless networking 420 Frequency roaming for wireless networking 420 Frequency interference in wireless networking 421 Wireless networking industrial solutions 422 Further Reading 601 CHAPTER 11 - Networking devices 11 HUBS AND SWITCHES 427 Overview 427 Network hubs 430 Passive hubs 430 Active hubs 430 Intelligent hubs 430 USB hubs 430 Network switches 431 Unmanaged switches 431 Managed switches 431 Intelligent switches 431 Controlled Ethernet traffic 432 Bandwidth utilization 432 Manageability 432 NETWORK ROUTERS 432 Overview 432 Router operations, specifications and configurations 435 Router operation phases 734 Control phase 435 Forwarding phase 437 Router hardware components 437 CPU 437 RAM 437 NVRAM 437 Flash 439 ROM 62 Console 439 Interfaces 685 Router software components 439 Management plane 439 Input/output plane 439 Control plane 439 Forwarding plane 440 Router performance specifications 440 Basic router configuration 440 Protocols and algorithms for network routing 441 Routable (routed) and non-routable (non-routed) protocols 373 Routing tables 442 Routing protocols 443 Routing Information Protocol (RIP) 444 Interior Gateway Routing Protocol (IGRP) 375 Extended Interior Gateway Routing Protocol (EIGRP) 444 Open Shortest Path First (OSPF) 444 Intermediate System to Intermediate System (IS-IS) 445 Border Gateway Protocol (BGP) 445 Routing algorithms 446 Static routing 446 Dynamic routing 446 The distance-vector routing approach 446 The link-state routing approach 447 Variable length subnet masking (VSLM) 447 BRIDGES, GATEWAYS AND REPEATERS 447 Network bridges 447 Network bridging algorithms 298 Transparent bridging 448 Source route bridging 635 Network bridge applications 449 Network bridge types 451 LAN bridges 451 Ethernet bridges 451 Network gateways 451 Functions and categories of network gateways 452 Data tunneling 452 Resolve frame format mismatches 453 Resolve transmission rate mismatches 453 Protocol gateways 453 Application gateways 454 Security gateways 454 Basic components of a network gateway 455 Specifications and configurations of network gateways 455 Network repeaters 456 Functions and types of network repeaters 456 Industrial network repeaters 456 Fieldbus repeaters 457 Serial interface repeaters 457 Specifications and configurations of network repeaters 458 Further Reading 459 CHAPTER 12 - Field interfaces 460 ACTUATOR–SENSOR INTERFACE 520 Architectures and components 461 AS-Interface architecture: type 1 461 Gateways 463 I/O modules 463 Power supplies and repeaters 463 AS-Interface safety at work 463 AS-Interface encoders 464 Accessories 464 AS-Interface architecture: type 2 464 AS-Interface masters 465 AS interface slaves 465 Further AS-Interface system components 466 Principles and mechanisms 466 How the AS-Interface functions 467 Master-slave principle 467 Tasks and functions of the AS-Interface master 468 How an AS-Interface slave functions 468 Data transfer 468 Information and data structure 469 The operating phases 470 Interface functions 471 Extended AS interface slaves with standard AS-Interface masters 472 Systems and environments 472 AS-Interface system characteristics 473 AS-Interface system limits 539 Cycle time 473 Number of connectable AS-Interface slaves 473 Number of inputs and outputs 371 AS-Interface in a real-time environment 474 Connectivity 474 Cycle time 475 Availability 284 HIGHWAY ADDRESSABLE REMOTE TRANSDUCER (HART) 475 HART communications 475 HART communication principles 476 HART communication protocol 479 HART networks 482 Wired HART networks 482 Wireless HART networks 484 Network manager 484 Gateway devices 484 Network devices 485 HART devices 152 HART communicator 485 FSK modem 487 Modulator for transmitting data 487 Demodulator for receiving data 487 Clock recovery 488 HART multiplexer 488 HART connecting buses 488 Bus for split-range operation 488 FSK bus 120 HART system interface 490 FIELDBUSES 490 Fieldbus systems 490 Fieldbus types and specifications 636 Foundation Fieldbus 491 Profibus 497 Interbus 498 World-FIP 498 LonWorks 498 ControlNet 498 Fieldbus networks and protocols 499 The physical layer 500 The data-link layer 500 The application layer 500 Foundation Fieldbus 501 Foundation Fieldbus H1 502 Links 503 Devices 712 Link master 392 Basic device 504 H1 Bridge 504 Blocks 504 Resource block 393 Transducer blocks 505 Function blocks 505 Linkages 505 Loops 506 Schedule 506 Foundation Fieldbus HSE 506 Layered communications model 507 Profibus Fieldbus 508 Profibus systems 509 Profibus transmission and communication 510 Physical layer 510 Segment coupler 511 Network topology 511 Cables and connectors 512 Data-link layer 512 Bus access and addressing 513 Telegram structure 513 Communication services 513 Profibus device management 718 Device database files 514 Generic station description (GSD) 514 Field device tool (FDT) 515 Electronic device descriptions (EDD) 515 Device profiles 515 Classification of device parameters 515 Function block model 515 Further Reading 519 CHAPTER 13 - Human-machine interfaces 520 HUMAN-MACHINE INTERACTIONS 520 Models for human-machine interactions 520 Definitions and constructs 522 Model behaviors 522 Model error and ambiguity 604 User factors: task, knowledge, and ability 524 Classifications and types 525 Interface models 525 Functional models 526 Supervisory models 129 Systems of human-machine interactions 732 Adaptive human-machine interface 529 Supervisory human-machine interface 531 Distributed human-machine interface 531 Designs of human-machine interactions 531 Design principles 532 Design process 532 Design evaluation 533 USER-MACHINE INTERFACES 533 User-machine interface system 324 User-machine interfaces in local control systems 534 User-machine interfaces in distributed control systems 777 Operator interface terminals 535 Operator interface monitors 568 Industrial control pendants 536 User-machine interface hardware 236 User-machine interface software 539 Typical human-machine interface software library modules 540 Typical human-machine interface software system architecture 330 INDUSTRIAL APPLICATION EXAMPLES 541 Human-machine interfaces in robotic systems 541 Human-machine Interfaces in SCADA systems 543 Further Reading 547 CHAPTER 14 - Data transmission interfaces 520 DATA TRANSMISSION BASICS 550 Data transmission over different distances 722 Electric and electromagnetic signal transmission modes 555 Simplex transmission mode 724 Half-duplex transmission mode 262 Full-duplex transmission mode 128 Multiplexing transmission modes 556 DATA TRANSMISSION I/O DEVICES 557 I/O buses 557 PCI (peripheral component interconnect) bus 557 PCI bus transactions 558 PCI bus arbitrations 558 PCI bus configurations 558 PCI bus interrupts 559 ISA (industry standard architecture) bus 560 USB (universal serial bus) bus 562 Attachment of USB devices 563 Removal of USB devices 564 Firewire or IEEE-1394 Bus 564 IEEE-488 bus 565 I/O ports 566 AGP (accelerated graphics port) port 566 Parallel ports 568 IDE (integrated drive electronics) ports 568 SCSI (small computer system interface) ports 236 I/O connectors 573 RS-232 573 RS-422 370 RS-485 575 RS-499 and RS-530 575 DATA TRANSMISSION CONTROL DEVICES 745 Universal asynchronous receiver-transmitter (UART) 576 Universal synchronous receiver-transmitter (USRT) 578 Universal synchronous/asynchronous receiver-transmitter (USART) 578 USART asynchronous mode 580 USART asynchronous transmitter 581 USART asynchronous receiver 581 USART synchronous master mode 582 USART synchronous master transmission 177 USART synchronous master reception 582 USART synchronous slave mode 484 USART synchronous slave transmit 583 USART synchronous slave reception 583 Bit-oriented protocol circuits 583 SDLC controller 583 HDLC controller 250 Multiplexers 586 Digital multiplexer 586 Time-division multiplexer 587 Further Reading 459 CHAPTER 15 - Microprocessor boot code 591 CODE STRUCTURES 591 BIOS and kernel 591 BIOS 591 Kernel 220 Master boot record (MBR) 352 Boot program 594 SINGLE-PROCESSOR BOOT SEQUENCES 475 Power on 596 Load BIOS, MBR and boot program 596 Initiate hardware components 596 Initiate interrupt vectors 597 Transfer to operating system 84 MULTIPROCESSOR BOOT SEQUENCES 598 Microprocessors in multiprocessor systems 598 BIOS of a multiprocessor system 355 Operating system of a multiprocessor system 599 Boot sequence of a multiprocessor system 600 Further Reading 601 CHAPTER 16 - Real-time operating systems 49 INTRODUCTION 602 Real-time operating systems basics 722 Fixed-time task switching 602 Task scheduling and synchronization 260 Multitasking and preemptibility 604 Task priority and priority inheritance 726 Predictable task synchronization 604 Determinism and high-speed message passing 604 Dynamic memory allocation 222 Minimizing interrupt response time 605 Real-time operating systems for different platforms 607 Real-time operating systems for single-microprocessor platforms 558 Real-time operating systems for multiprocessor platforms 681 TASK CONTROLS 610 Multitasking concepts 610 Cooperative multitasking 610 Preemptive multitasking 228 Task properties 611 Task types 611 Task stack and heap 612 Process stack 613 Process heap 613 Process frame-stack 614 Task states 614 Task body 615 Task creation and termination 615 Task queue 616 Task context switch and task scheduler 617 Task context switch 617 Task scheduler of common operating systems 619 The task scheduler of real-time operating systems 620 Task threads 622 INPUT/OUTPUT DEVICE DRIVERS 490 Input/output devices 475 Device drivers 624 Device driver content 581 Device Driver status 146 Request contention 742 I/O operations 627 Interrupt-driven I/O 627 Memory-mapped read and write 484 Bus-based read and write 628 INTERRUPTS 628 Interrupt overview 628 Interrupt specifications 629 Types of interrupts 629 Vectored interrupts 629 Polled interrupts 630 Software interrupts 630 Interrupt handlers 295 Interrupt latency 630 Interrupt handling 631 Non-nested interrupt handler 631 Nested interrupt handler 632 Re-entrant nested interrupt handler 634 Prioritized interrupt handler 635 Simple prioritized interrupt handler 635 Standard prioritized interrupt handler 636 Direct prioritized interrupt handler 636 Grouped prioritized interrupt handler 451 Enable and disable interrupts 636 Interrupt vector 638 Interrupt service routines 639 MEMORY MANAGEMENT 640 Virtual memory 641 Paging 641 Swapping 642 Segmentation 644 Memory allocation and deallocation 645 Static memory allocation 645 Dynamic memory allocation 646 Free lists 646 Paging 646 Memory protection 647 Address translation 647 Dual-mode operation 647 Protection via strong typing 648 Protection via software fault isolation 648 Memory access control 648 EVENT BROKERS 649 Event notification service 649 Event triggers and broadcasts 650 Event handling routines 651 MESSAGE QUEUE 651 Message passing 651 Reliability and order 652 Access 652 Synchronous and asynchronous 653 Message queue types 653 Pipes 654 SEMAPHORES 657 Semaphore depth and priority 658 Semaphore acquire, release and shutdown 659 Creating a semaphore 659 Obtaining semaphore IDs 660 Acquiring a semaphore 660 Releasing a semaphore 660 Deleting a semaphore 660 Condition a Cover Page ......Page 1 Front Matter ......Page 2 Copyright ......Page 3 BACKGROUND......Page 4 ORGANIZATION......Page 6 SUGGESTIONS......Page 8 SOURCES......Page 9 Acknowledgments......Page 10 CHAPTER 11 - Networking devices ......Page 11 The hardware architecture of embedded control systems......Page 13 The software architecture of embedded control systems......Page 14 Implementation methods......Page 15 Control function mapping for hardware implementation......Page 16 Control logic modeling for software implementation......Page 17 Definition and functions......Page 19 Predictable operation result......Page 20 Programmable peripheral devices (memory chips)......Page 22 Multitask scheduling......Page 23 Resource sharing......Page 26 Implementation methods......Page 27 Microprocessor chipset......Page 29 Real-time programming......Page 30 Real-time task engine......Page 32 Program bugs......Page 33 Principles and functions......Page 34 Architectures and elements......Page 39 I/O subsystem......Page 40 History module......Page 41 The OSI network model......Page 42 The TCP/IP network model......Page 43 Implementation techniques......Page 44 Redundancy solution for sensors......Page 45 Redundancy solution for connection buses......Page 46 Further Reading......Page 47 Fixed-time task switching......Page 602 Definition and functions......Page 49 Application layer......Page 50 Black box models......Page 51 Pressure process control......Page 52 Temperature process control......Page 54 Processor core......Page 163 Upper and lower bound......Page 55 Gain ratio......Page 56 Industrial panel-mount computers......Page 355 Local advanced programmable interrupt controller (APIC) unit......Page 164 A room heating system......Page 57 Form error......Page 369 NVRAM......Page 437 PID control......Page 60 Optimum control......Page 61 Configurable locks......Page 439 Simple I/O module......Page 62 Torque control......Page 63 Valve actuators......Page 102 Servo control......Page 64 Software interrupts......Page 176 Motion control systems......Page 65 Solaris MC......Page 689 CNC program formats......Page 286 Motor power transformation......Page 68 Operating principles......Page 69 System install and configure routines......Page 71 Computerized control technologies......Page 72 Hierarchical Architecture......Page 73 Hydraulic valves......Page 115 Hierarchical database......Page 74 CMOS chipset......Page 251 Digital multiplexer......Page 586 Time-division multiplexer......Page 587 Automation controllers and software......Page 75 Industrial robot types......Page 76 Transparent bridging......Page 187 Further Reading......Page 78 INDUSTRIAL OPTICAL SENSORS......Page 79 Operating principle......Page 80 Three-field color sensors......Page 81 Operating principle......Page 82 Supervisory models......Page 84 Transfer to operating system......Page 597 Operating system of a multiprocessor system......Page 599 Dome illuminator for diffuse illumination......Page 85 Operating principle......Page 86 CMOS image sensors......Page 87 Assemblies, disassembly, and reassembly......Page 535 Hierarchy of buses in an embedded system......Page 733 Temperature sensors......Page 90 Read-only memory (ROM)......Page 170 Basic types of bimetallic sensors......Page 91 Distance sensors......Page 95 Cycle time......Page 96 Force sensors......Page 99 Configuring PCI-PCI bridges: assigning PCI bus numbers......Page 739 Maximum number of nodes......Page 103 Electric actuators......Page 104 Operating principle......Page 105 Distributed servo control......Page 335 Magnetic actuators......Page 107 Hall effect sensors and switches......Page 108 Magnetoresistive sensors and switches......Page 110 Pneumatic actuators......Page 112 Linear pneumatic actuators......Page 113 Hydraulic actuators......Page 114 Hydraulic motors and rotary actuators......Page 116 Operating principle......Page 117 Basic types......Page 118 IEC 60870-5 protocols......Page 382 Piezoelectric motors......Page 119 Multilayer piezoelectric benders......Page 120 FSK bus......Page 489 Further Reading......Page 121 Operating principle......Page 123 Non-remote memory access (NORMA) multiprocessors......Page 676 Transmission gate and tristate buffer......Page 126 Full-duplex transmission mode......Page 128 Logic-BIST......Page 365 Magnetic proximity sensors and switches......Page 129 Fiber-optic proximity sensor or switch......Page 130 Data communication......Page 372 Ultrasonic transducers......Page 131 Simple logic module......Page 231 Immersion transducers......Page 132 Linear and rotary variable differential transformers......Page 133 INPUT/OUTPUT DEVICE DRIVERS......Page 541 Routing tracks......Page 235 Rotary shaft valves......Page 138 Special valves......Page 139 Steam conditioning valves......Page 140 Human-machine Interfaces in SCADA systems......Page 543 Valve accessories......Page 142 Check valves......Page 143 Swing check valves......Page 145 Device Driver status......Page 146 MOSIX......Page 690 HART devices......Page 152 Manifold valves......Page 153 Float switch......Page 154 Flow valves......Page 155 Gas flow switches and liquid flow switches, volumetric......Page 156 Further Reading......Page 158 CHAPTER 18 - Industrial control system operation routines......Page 258 SINGLE-CORE MICROPROCESSOR UNITS......Page 159 Industrial motherboards......Page 348 Prediction......Page 160 Block diagram of a microprocessor unit......Page 161 Scheduling policies......Page 679 Intel Architecture registers......Page 162 Industrial personal computers and workstation computers......Page 353 The fetch, decode, execute engine......Page 165 Processor cache......Page 166 MMX technology......Page 167 Memories......Page 168 Sequential logic module......Page 169 Microprocessor interrupt operations......Page 171 Bus-off......Page 370 Interrupt process......Page 173 Number of connectable AS-Interface slaves......Page 473 Drive......Page 331 Interrupt vectors......Page 174 Model predictive control......Page 782 Internal models and robust controls......Page 177 Basic input/output interfaces......Page 178 The basic input interface......Page 179 Bus operations......Page 181 Address phase......Page 182 Data phase......Page 183 Bus system arbitration......Page 184 Interrupt routing......Page 185 BIST, header, latency, CLS......Page 186 Mathematical modeling......Page 297 Cache coherence......Page 189 Multithreading......Page 190 Types and architectures......Page 191 Homogeneous and heterogeneous multicore processors......Page 192 Cell processor......Page 194 The synergistic processing element (SPE)......Page 195 Intel and AMD multicore architectures......Page 196 Core microarchitecture......Page 199 Cache memories......Page 200 Cooperative caching technique......Page 202 Typical transaction on the SBF......Page 203 Elements of the shared bus fabric......Page 204 Crossbar interconnection system......Page 205 Network-on-chip for multicore processors......Page 206 Software implementation......Page 208 Inter-core communication......Page 210 Interrupt control......Page 211 Scheduling I/O resources......Page 212 Multicore programming compilers......Page 213 Multicore communication API......Page 214 Hyper-Threading Technology......Page 216 Further Reading......Page 217 CHAPTER 6 - Programmable-logic and application-specific integrated circuits (PLASIC)......Page 219 Kernel......Page 220 Basic input/output system (BIOS)......Page 722 Classification of signals......Page 221 Dynamic memory allocation......Page 222 Minimizing interrupt response time......Page 605 Standard-cell design......Page 223 Gate-array design......Page 224 CSMA/CD protocol......Page 366 The ASIC design flows......Page 225 Preemptive multitasking......Page 228 Iterative identification......Page 230 Combinatorial logic module......Page 232 SCSI (small computer system interface) ports......Page 236 The functional model......Page 237 Antifuse programming technology......Page 238 Programmable-logic devices (PLD)......Page 240 User-programming switch technologies......Page 241 ASIC packaging technologies......Page 242 DIAGNOSIS ROUTINES......Page 576 Programmable peripheral I/O ports......Page 245 Programmable interrupt controller chipset......Page 247 HDLC controller......Page 585 Direct memory access controller chipset......Page 252 Active cycle......Page 254 Further Reading......Page 256 PLC components and architectures......Page 259 Task scheduling and synchronization......Page 260 Multiplexing transmission modes......Page 556 Extension lines......Page 262 Timers and counters......Page 263 System address......Page 264 I/O addresses......Page 265 Image table addresses......Page 266 Designs of human-machine interactions......Page 531 I/O bus......Page 267 Programming......Page 270 Ladder diagram instructions......Page 272 Compact......Page 273 CNC software......Page 278 Machine control unit......Page 279 CNC control mechanism......Page 280 CNC coordinate system......Page 281 SINGLE-PROCESSOR BOOT SEQUENCES......Page 475 Cutter radius compensation......Page 285 Programming methodologies......Page 287 CNC part programming languages......Page 291 Logical inference......Page 292 Random-number generators......Page 293 Defuzzification......Page 294 Interrupt handlers......Page 295 Fuzzy control modeling......Page 296 Network bridging algorithms......Page 448 Fuzzy three-term (PID-like) controllers......Page 299 A case study of fuzzy industrial controls......Page 301 The direct fuzzy controller......Page 302 Supervisory fuzzy controller......Page 303 Further Reading......Page 305 PID control mechanism......Page 307 PID controller implementation......Page 308 Proportional control......Page 310 Active hubs......Page 363 Combined PID control......Page 311 PID controller tuning rules......Page 312 PCI (peripheral component interconnect) bus......Page 313 PID controller software design......Page 314 BPC (BATCH PROCESS CONTROL) CONTROLLERS......Page 317 ANSI/ISA-88......Page 319 ANSI/ISA-95......Page 320 Batch control systems......Page 321 Data collection......Page 774 Managing batch processes......Page 323 Batch data handler......Page 324 User-machine interfaces in local control systems......Page 534 PCI-ISA bridges......Page 325 Batch control center and batch planning......Page 326 Hierarchical and plant-unit neutral recipes......Page 327 SMC (SERVO MOTION CONTROL) CONTROLLERS......Page 329 Servo control systems......Page 330 Typical human-machine interface software system architecture......Page 371 Motor......Page 332 PCI-PCI bridge numbering: step 1 (the Linux approach)......Page 333 Network communication requirements......Page 337 Device install and configure routines......Page 338 Servo motors......Page 339 DC motors......Page 341 Resolvers......Page 342 Further Reading......Page 343 CHAPTER 9 - Industrial computers......Page 345 Industrial single-board computers......Page 349 Master boot record (MBR)......Page 352 Interface models......Page 525 Industrial computer configurations......Page 354 INDUSTRIAL COMPUTER PERIPHERALS AND ACCESSORIES......Page 356 Further Reading......Page 359 Introduction......Page 360 CAN systems......Page 361 Power supplies and repeaters......Page 364 Message-based communication......Page 368 Routable (routed) and non-routable (non-routed) protocols......Page 373 Industrial simulation software......Page 374 Field data interface devices......Page 375 The second-generation of network operating system: control plane modularity......Page 692 Network routing processes......Page 376 Contention communication model (peer-to-peer)......Page 377 Field instrumentation......Page 378 SCADA software and firmware......Page 379 DNP3 protocols......Page 380 System topology......Page 383 Addressing......Page 384 UCA protocols......Page 385 STEP 1: regular vulnerability assessments......Page 386 SCADA system reliability......Page 387 Calibration methods......Page 388 QoS (quality of service) and redundancy......Page 389 Industrial Ethernet hardware......Page 390 Link master......Page 503 IGMP snooping......Page 392 Memory access control......Page 648 Linkages......Page 505 Industrial Ethernet network communication......Page 393 Profinet......Page 394 Power over Ethernet......Page 395 Industrial Ethernet network redundancy......Page 397 INDUSTRIAL ENTERPRISE NETWORKS......Page 399 User-defined datatypes......Page 716 Industrial enterprise networking example: Texas Instruments......Page 401 LAN architectures......Page 402 Star......Page 404 Routers......Page 405 LAN protocols......Page 406 LAN media-access methods......Page 408 Virtual local area network (VLAN)......Page 409 Service-based VLANs......Page 410 Port-based VLAN configuration (layer 1, physical layer oriented)......Page 412 Implementing VLAN......Page 413 VLAN standards......Page 415 Wireless local area network (WLAN)......Page 416 Wireless router......Page 417 Wireless networking operational modes......Page 418 Direct sequence spread spectrum (DSSS)......Page 419 Frequency roaming for wireless networking......Page 420 Frequency interference in wireless networking......Page 421 Wireless networking industrial solutions......Page 422 Further Reading......Page 423 Overview......Page 427 USB hubs......Page 430 Round-robin (RR) scheduling......Page 431 Overview......Page 432 Control phase......Page 435 Basic router configuration......Page 440 Protocols and algorithms for network routing......Page 441 Routing tables......Page 442 Routing protocols......Page 443 Open Shortest Path First (OSPF) ......Page 444 Border Gateway Protocol (BGP)......Page 445 The distance-vector routing approach......Page 446 Network bridges......Page 447 Simple prioritized interrupt handler......Page 449 Network gateways......Page 451 Enable and disable interrupts......Page 636 Data tunneling......Page 452 Protocol gateways......Page 453 Security gateways......Page 454 Specifications and configurations of network gateways......Page 455 Industrial network repeaters......Page 456 Serial interface repeaters......Page 457 Specifications and configurations of network repeaters......Page 458 Further Reading......Page 459 CHAPTER 12 - Field interfaces......Page 460 HUMAN-MACHINE INTERACTIONS......Page 461 AS-Interface safety at work......Page 463 AS-Interface architecture: type 2......Page 464 AS interface slaves......Page 465 Principles and mechanisms......Page 466 Master-slave principle......Page 467 NUMA and NORMA memory management......Page 468 Information and data structure......Page 469 The operating phases......Page 470 Interface functions......Page 471 Systems and environments......Page 472 User-machine interface software......Page 539 Connectivity......Page 474 Device drivers......Page 624 HART communication protocol......Page 479 Wired HART networks......Page 482 Memory-mapped read and write......Page 484 Fault location by structural analysis......Page 485 Demodulator for receiving data......Page 487 Bus for split-range operation......Page 488 Fieldbus systems......Page 490 Foundation Fieldbus......Page 491 Profibus......Page 497 ControlNet......Page 498 PVM system......Page 704 Fieldbus networks and protocols......Page 499 The application layer......Page 500 Foundation Fieldbus......Page 501 Foundation Fieldbus H1......Page 502 UNIX semantics......Page 712 Blocks......Page 504 Foundation Fieldbus HSE......Page 506 Layered communications model......Page 507 Profibus Fieldbus......Page 508 Message-passing interface (MPI)......Page 509 Physical layer......Page 510 Network topology......Page 511 Data-link layer......Page 512 Profibus device management......Page 513 Generic station description (GSD)......Page 514 Function block model......Page 515 Further Reading......Page 519 CHAPTER 14 - Data transmission interfaces......Page 549 Models for human-machine interactions......Page 520 Model behaviors......Page 522 Determinism and high-speed message passing......Page 604 User factors: task, knowledge, and ability......Page 524 Functional models......Page 526 Stuck-at fault testing......Page 529 Design process......Page 532 USER-MACHINE INTERFACES......Page 533 IDE (integrated drive electronics) ports......Page 568 Industrial control pendants......Page 536 Typical human-machine interface software library modules......Page 540 Further Reading......Page 547 DATA TRANSMISSION BASICS......Page 550 Electric and electromagnetic signal transmission modes......Page 555 Mechanistic models......Page 768 I/O buses......Page 557 PCI bus configurations......Page 558 PCI bus interrupts......Page 559 ISA (industry standard architecture) bus......Page 560 USB (universal serial bus) bus......Page 562 Attachment of USB devices......Page 563 Firewire or IEEE-1394 Bus......Page 564 IEEE-488 bus......Page 565 AGP (accelerated graphics port) port......Page 566 RS-232......Page 573 RS-422......Page 574 RS-499 and RS-530......Page 575 Universal synchronous/asynchronous receiver-transmitter (USART)......Page 578 USART asynchronous mode......Page 580 Device driver content......Page 581 USART synchronous master reception......Page 582 SDLC controller......Page 583 BIOS......Page 591 Boot program......Page 594 Initiate hardware components......Page 596 Microprocessors in multiprocessor systems......Page 598 Boot sequence of a multiprocessor system......Page 600 Real-time operating systems for single-microprocessor platforms......Page 607 Scheduling algorithms......Page 608 Cooperative multitasking......Page 610 Task types......Page 611 Task stack and heap......Page 612 Full-replication algorithm......Page 613 Task states......Page 614 Task creation and termination......Page 615 Task queue......Page 616 Task context switch......Page 617 Task scheduler of common operating systems......Page 619 The task scheduler of real-time operating systems......Page 620 Task threads......Page 622 PCI BIOS functions......Page 626 Interrupt-driven I/O......Page 627 Interrupt overview......Page 628 Vectored interrupts......Page 629 Interrupt latency......Page 630 Network protocol simulation software......Page 789 Non-nested interrupt handler......Page 631 Nested interrupt handler......Page 632 Re-entrant nested interrupt handler......Page 634 Prioritized interrupt handler......Page 635 Self-calibration......Page 755 Interrupt service routines......Page 639 MEMORY MANAGEMENT......Page 640 Paging......Page 641 Swapping......Page 642 Segmentation......Page 644 Static memory allocation......Page 645 Paging......Page 646 Dual-mode operation......Page 647 Event notification service......Page 649 Event triggers and broadcasts......Page 650 Message passing......Page 651 Access......Page 652 Message queue types......Page 653 Pipes......Page 654 SEMAPHORES......Page 657 Semaphore depth and priority......Page 658 Creating a semaphore......Page 659 Signaling......Page 660 Mutex......Page 661 Multiplex......Page 662 TIMER......Page 663 Kernel timers......Page 664 Working mechanism......Page 665 Timeout interval......Page 666 Self-test......Page 668 Task timers......Page 669 Timer creation and expiration......Page 670 Further Reading......Page 671 CHAPTER 17 - Distributed operating systems......Page 673 Shared-memory multiprocessors......Page 674 Heavyweight processes to lightweight processes......Page 678 Dynamic partitioning......Page 680 Intelligent modeling methods......Page 771 Hand-off scheduling......Page 681 Some remarks......Page 682 PCI address spaces......Page 734 Migration algorithm......Page 683 Process control......Page 684 Barrier locks......Page 685 Event brokers......Page 686 Interprocess communications......Page 687 MULTICOMPUTER OPERATING SYSTEMS......Page 688 Generic kernel design......Page 693 Parallel operating systems......Page 696 Parallel operating facilities......Page 698 Coupling and transparency......Page 699 Device component test routines......Page 700 Implementation......Page 701 Algorithms......Page 702 Dynamic process group in PVM with UNIX......Page 706 Remote procedure call (RPC)......Page 707 External data representation (XDR)......Page 709 Using RPC......Page 710 Distributed file systems (DFS)......Page 711 Remote service......Page 713 Parallel file system......Page 714 Process group......Page 715 Point-to-point communication......Page 717 Global computation routines......Page 718 Further Reading......Page 719 SELF-TEST ROUTINES......Page 721 System booting self-test routines......Page 723 System shutdown self-test routines......Page 724 Embedded processors in SoC architecture......Page 726 Hardware-based embedded processor self-test......Page 728 Software-based embedded processor self-test......Page 731 Delay fault testing......Page 732 PCI configuration headers......Page 735 PCI I/O and PCI memory addresses......Page 736 PCI-PCI bridges......Page 737 PCI-PCI bridges: configuration cycles and bus numbering......Page 738 PCI-PCI bridge numbering: step 3 (the Linux approach)......Page 740 PCI-PCI bridge numbering: step 4 (the Linux approach)......Page 741 PCI firmware......Page 742 Combinational fault diagnosis method......Page 746 Fault database: fault table and fault dictionary......Page 747 Fault location by edge-pin testing......Page 748 Generating tests to distinguish faults......Page 749 Guided-probe testing......Page 750 Fault detectors and fault recorders......Page 751 Fiber-optic fault locators......Page 752 System NVM read and write routines......Page 753 Fault/error log routines......Page 754 Accuracy......Page 758 Temperature calibrations......Page 759 Pressure calibrations ......Page 760 Position calibrations......Page 761 Scale calibrations......Page 762 Further Reading......Page 764 CHAPTER 19 - Industrial control system simulation routines......Page 766 MODELING AND IDENTIFICATION......Page 767 Qualitative models......Page 769 Industrial system modeling......Page 770 Online adaptation......Page 772 Predefined adaptation......Page 773 Identification calculations......Page 775 Industrial process simulation......Page 776 Qualities, test, and evaluation......Page 777 Industrial system simulation......Page 778 Global synchronization and node tasking......Page 779 Communication models......Page 780 Industrial control simulation......Page 781 Physical-model-based control......Page 783 Events......Page 786 Continuous simulation software......Page 787 Network simulators......Page 788 Computer-based circuit layout editor......Page 790 SIMULINK......Page 791 ModelSim......Page 793 Further Reading......Page 794 A......Page 796 B......Page 797 C......Page 798 D......Page 801 E......Page 803 F......Page 804 G......Page 806 I......Page 807 L......Page 810 M......Page 811 N......Page 815 P......Page 816 R......Page 819 S......Page 821 T......Page 825 V......Page 826 Z......Page 827

Control engineering seeks to understand physical systems, using mathematical modeling, in terms of inputs, outputs and various components with different behaviors. It has an essential role in a wide range of control systems, from household appliances to space flight. This book provides an in-depth view of the technologies that are implemented in most varieties of modern industrial control engineering.

A solid grounding is provided in traditional control techniques, followed by detailed examination of modern control techniques such as real-time, distributed, robotic, embedded, computer and wireless control technologies. For each technology, the book discusses its full profile, from the field layer and the control layer to the operator layer. It also includes all the interfaces in industrial control systems: between controllers and systems; between different layers; and between operators and systems. It not only describes the details of both real-time operating systems and distributed operating systems, but also provides coverage of the microprocessor boot code, which other books lack.

In addition to working principles and operation mechanisms, this book emphasizes the practical issues of components, devices and hardware circuits, giving the specification parameters, install procedures, calibration and configuration methodologies needed for engineers to put the theory into practice.

• Documents all the key technologies of a wide range of industrial control systems
• Emphasizes practical application and methods alongside theory and principles
• An ideal reference for practicing engineers needing to further their understanding of the latest industrial control concepts and techniques