A Reliable Real-Time Transport Protocol for Networked Control
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AReliableReal-TimeTransportProtocolforNetworked Control Systems over Wireless Networks (Research Master) ATHESISSUBMITTEDTO THE SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE OF QUEENSLAND UNIVERSITY OF TECHNOLOGY IN FULFILMENT OF THE REQUIREMENTS FOR THE DEGREE OF MASTER OF INFORMATION TECHNOLOGY (RESEARCH) Xiaohan Shi School of Electrical Engineering and Computer Science Queensland University of Technology December 11, 2012 Copyright in Relation to This Thesis !c Copyright 2012 by Xiaohan Shi. All rights reserved. Statement of Original Authorship The work contained in this thesis has not been previously submitted to meet requirements for an award at this or any other higher education institution. To the best of my knowledge and belief, the thesis contains no material previously published or written by another person except where due reference is made. Signature: QUT Verified Signature Date: i ii To my family iii iv Abstract Deploying wireless networks in networked control systems (NCSs) has become more and more popular during the last few years. As a typical type of real-time control systems, an NCS is sensitive to long and nondeterministic time delay and packetlosses.However,thenatureof the wireless channel has the potential to degrade the performance of NCS networks in many aspects, particularly in time delay and packet losses. Transport layer protocols could play an important role in providing both reliable and fast transmission service to fulfill NCS’s real-time transmission requirements. Unfortunately, none of the existing transport protocols, including the Transport Control Protocol (TCP) and the User Datagram Protocol (UDP), was designed for real-time control applications. Moreover, periodic data and sporadic data are two types of real-time data traffic with different priorities in an NCS.Duetothelackofsupportfor prioritized transmission service, the real-time performance for periodic and sporadic data in an NCS network is often degraded significantly, particularly under congested network conditions. To address these problems, a new transport layer protocol called Reliable Real-Time Transport Protocol (RRTTP) is proposed in this thesis. As a UDP-based protocol, RRTTP inherits UDP’s simplicity and fast transmission features. To improve the reliability, a retransmission and an acknowledgement mechanism are designed in RRTTP to compensate for packet losses. They are able to avoid unnecessary retransmission of the out-of-date packets in NCSs, and collisions are unlikely to happen, and small transmission delay can be achieved. Moreover, a prioritized transmission mechanism is also designed in RRTTP to improve the real-time performance of NCS networks under congested traffic conditions. Furthermore, the proposed RRTTP is implemented in the Network Simulator 2 for comprehensive simulations. The simulation results demonstrate that RRTTP outperforms TCP and UDP in terms of real-time transmissions in an NCS over wireless networks. v vi Keywords Network Control System, Real-Time, Transport Protocol, Packet Loss, End-to-end Delay, Peri- odic Traffic, Sporadic Traffic, Quality-of-Service, Wireless Network vii viii Acknowledgments This thesis would not have been possible without the support of many people. First of all, I want to express my sincere gratitude to my principal supervisor, Prof. Glen Tian, for his patience, motivation, enthusiasm, and immense knowledge. His guidance helped me in all the time of this research and writing of this thesis. Besides, I would like to give many thanks to my associate supervisors: Dr. Gus Tian and Dr. Ernest Foo, who gave me numerous good advice, read my revisions, and helped make sense of the confusions. Also, special thanks to the Discipline of Networks and Communications, School of Electrical Engineering and Computer Science, Science and Engineering Faculty, Queensland University of Technology for providing me with the support, workstations and software needed to produce andcompletemythesis.Andfinally, thanks to my family and friends who endured this long process with me, always offering support and love. ix x Table of Contents Abstract v Keywords vii Acknowledgments ix List of Figures xvi List of Tables xvii 1Introduction 1 1.1 Background . 1 1.2 Motivation and Research Problems . ..... 2 1.3 ResearchObjectives.............................. .. 4 1.4 Significance of Study . .5 1.5 Contribution . 5 1.6 Limitations of Study . .5 1.7 RelatedPublication .............................. .. 6 2RelatedWork 7 2.1 Network Control Systems . .. 7 2.2 Existing Problems . .9 2.2.1 Time Delay in Networked Control Systems . ... 9 2.2.2 Packet Loss in Network Control Systems . ... 12 xi 2.3 Existing Solutions . .. 12 2.3.1 Control Perspective Solution . ... 13 2.3.2 Network Perspective Solution . .. 13 2.4 Summary of Literature Review . ... 18 3ProtocolDesign 21 3.1 A UDP-based Protocol Design . .. 22 3.2 RRTTPPacketFormat .............................. 22 3.3 Retransmission and Acknowledgement Mechanisms in RRTTP......... 24 3.3.1 Retransmission Mechanism . 24 3.3.2 Acknowledgement Mechanism . 27 3.4 Prioritized Transmission Service in RRTTP . ........ 31 4RRTTPPerformanceEvaluation 37 4.1 Simulation Settings . .. 38 4.2 CriteriaMetrics ................................. .39 4.3 CaseOne ..................................... 40 4.3.1 Simulation Scenario Specifications . .... 40 4.3.2 Simulation Results . 41 4.3.3 Analysis and Evaluations . .41 4.4 CaseTwo ..................................... 44 4.4.1 Simulation Scenario Specifications . .... 44 4.4.2 Simulation Results . 45 4.4.3 Analysis and Evaluations . .46 4.5 CaseThree .................................... 48 4.5.1 Simulation Scenario Specifications . .... 49 4.5.2 Simulation Results . 49 4.5.3 Analysis and Evaluations . .51 xii 4.6 Case Four . 52 4.6.1 Simulation Scenario Specifications . .... 52 4.6.2 Simulation Results . 52 4.6.3 Analysis and Evaluations . .54 4.7 Summary of Protocol Evaluation . .... 55 5Conclusion 57 Literature Cited 61 xiii xiv List of Figures 1.1 Components that compose an NCS. .. 2 2.1 A typical NCS setup and information flow . ..... 8 2.2 Distributed control system with three delays . .......... 10 2.3 Time spent sending message from a source node to a destination node . 10 3.1 Position of the RRTTP in the TCP/IP stack . ...... 22 3.2 Fields in the header of RRTTP design . .... 23 3.3 Retransmission of a data packet. ..... 25 3.4 Policy for data packets that fail the checksum . ......... 28 3.5 Policy for out-of-order ACK packets . ...... 29 3.6 Policy for out-of-order data packets . ....... 29 3.7 Retransmission of an ACK packet . ... 30 3.8 Packet validation detection process on the source host . ............. 31 3.9 Packet validation detection process on the destination host . 32 3.10 State transition in the RRTTP sender . ....... 33 3.11 State transition in the RRTTP receiver . ........ 34 4.1 Network topology in simulations . ..... 38 4.2 Average end-to-end delay (ms) in case one. ....... 42 4.3 The proportion of effective packets in case one . ......... 42 4.4 Average end-to-end delay (ms) in case two . ....... 46 4.5 The proportion of effective packets in case two . ......... 47 xv 4.6 Average end-to-end delay for sporadic data packets in case three . 50 4.7 The proportion of effective sporadic data packets in casethree. 50 4.8 Average end-to-end delay (ms) for sporadic packets in case four . 53 4.9 The proportion of effective sporadic packets in case four............53 xvi List of Tables 4.1 The case studies match-up . .. 38 4.2 Basic network specifications for simulations . .......... 39 4.3 Number of channel errors in each scenario in case one . .......... 40 4.4 Average end-to-end delay in case one . ..... 41 4.5 The proportion of effective packets in case one . ......... 42 4.6 Traffic load and network capacity utilisation ratio in case two . 45 4.7 Average end-to-end delay (ms) in case two . ....... 46 4.8 The proportion of effective packets in case two . ......... 46 4.9 Number of channel errors in each scenario in case three . ........... 49 4.10 Average end-to-end delay for sporadic data packets in case three . 49 4.11 The proportion of effective sporadic data packets in case three . 50 4.12 Control periods for each scenario in case four . .......... 52 4.13 Average end-to-end delay (ms) for sporadic packets in case four . 52 4.14 The proportion of effective sporadic packets in case four . 53 xvii xviii Chapter 1 Introduction This thesis concentrates on improving real-time performance of Networked Control Systems (NCSs) over wireless networks. The main objectives of this research include providing a reliable and fast transmission service, as well as a prioritized transmission service that improves Quality-of-Service (QoS) of the real-time data in control systems. In order to achieve these objectives, a new transport layer protocol is proposed. The rest of this chapter introduces the background and motivation of this research, which is followed by the research objectives and significance. 1.1 Background NCSs have been widely used around the world in the fields of manufacturing and industrial process control. As Figure 1.1 shows, a typical networked control system consists of five components: a plant, plant sensors, plant actuators, controllers and communication networks. The network in an NCS links the other four components togetherandprovidesdatatransmission service in between them. Initially, the communication network development in NCSs started with the traditional centralized point-to-point network architecture.