Andrzej Stec

CPDev Engineering Environment for Modeling, Implementation, Testing, and Visualization of Control Software

The paper presents the CPDev engineering environment, which is a comprehensive set of integrated tools for programming PLCs, PACs, and DCSs, according to the IEC 61131-3 standard. The environment supports various parts of the project development, including modeling (using SysML diagrams), implementation (with IEC 61131-3 textual, graphical, and mixed languages), testing (by textual, table, and performance tests), simulation (in off-line mode), debugging (with tracing variable values and breakpoints), hardware resources configuration, execution (either on the virtual machine or FPGA-based hardware machine), as well as visualization. The CPDev project is designed in a way supporting portability. Therefore, prepared control programs can be run on any supported target platform, such as AVR, ARM, and x86. The environment has a few applications, both industrial and laboratory.

Data Acquisition Server for Mini Distributed Control System

The paper describes PACQ, a distributed control mini system. WWW and data acquisition functionality of PACQ server is presented from the user perspective together with a discussion on security issues. The communication between the server and control modules is modelled with hierarchical timed coloured Petri net. Programmability of the control modules using CPDev environment and their system software is also characterized.

SFC Graphic Editor for CPDev Environment

Process of creating a diagram in a new SFC graphical editor of the CPDev environment, as well as translation to ST textual language, compilation into VMASM executable code, and simulation in CPSim tool are presented. Basic functionalities of the SFC editor are now similar to those of renowned commercial software.

Analysis of Challenge-Response Authentication in a Networked Control System

Analysis of authentication time in challenge-response protocol has been presented here. The protocol has been used in a prototype Networked Control System (NCS) with multiple Plant Control Units (PCU) and Supervisory Control Unit (SCU). The units are programmed in IEC 61131-3 compliant CPDev (Control Program Developer) environment. Global variable manager is used to share common data across the network. The paper presents theoretical estimation of the handshake time during authentication between SCU and PCU. Experiments have been carried out to compare the estimations with a real application.

Tuning Rules of Conventional and Advanced Ship Autopilot Controllers

Ship autopilots are divided into conventional, capable of keeping desired course, and advanced which can track the path connecting waypoints on the route. The paper presents tuning rules for PID controller of conventional autopilot and for PI or state-space controller of advanced one. Single design parameters determining closed-loop dynamics are specified for each of them. The rules are implemented in software of autopilot prototype developed jointly with a Dutch company.

CPDev engineering environment for control programming

Programming a control example by CPDev tool using LD, FBD, and SFC graphical languages of IEC 61131-3 standard is presented. Another example demonstrates the use of data structures and arrays of function blocks in ST textual language. The two parts indicate that CPDev provides now essential functionalities specified in the standard. Remarks how the tool relates to established engineering environments such as CoDeSys, STEP 7, Control Builder F, and ISaGRAF are also given.

Small prototype acquisition system with secure remote data access

The paper describes Small Data Acquisition System, named PACQ, which can be used for collecting data from user-programmable I/O modules and sharing data through a web browser. All connections and data transfers between the client and the server are secure. Due to the resource restrictions only symmetric cryptography and challenge-response protocol could be used, but the solution should be resistant to most of common attacks.

IEC structured text programming of a small Distributed Control System

A prototype environment called CPDev for programming small distributed control-and-measurement systems in Structured Text (ST) language of IEC 61131-3 standard is presented. The environment consists of a compiler, simulator and configurer of hardware resources, including communications. Programming a mini-DCS (Distributed Control System) from LUMEL Zielona Gora is the first application of CPDev.

Ship Maneuvering Model for Autopilot Simulator

The paper presents a ship maneuvering model which can be used in autopilot simulators for testing new algorithms. The ship model implements both ship dynamics and waves. The motion response amplitude operator (RAO) is used for calculating motion disturbances.

Control Program Development in CPDev Using SFC Language, HMI and Runtime Environment

The paper presents the recent approach to SFC development in CPDev engineering environment. A simple sequential tank filling control is described for reference. Using the example, a new SFC editor is presented, together with special function blocks for action management. The development process covers creating a graphical operator HMI which interacts with the SFC control part. It is also shown how the project may be simulated to detect errors. A new scalable runtime supporting large projects with multiple steps and execution paths is presented. The runtime is able to process multiple tasks at a time, so the control and HMI part are executed in parallel at the same machine sharing common variables.