Progress Report on

CGSE Control System

Project Team of SJTU for AMS-02

Yang Yupu

AMS TIM @NASA JSC, Jan 8-12, 2007

I/O Module

PROFIBUS

PLC

Cryostat

valves Box

Dewar system

Monitoring PC

operator station

Magnet CAB

CGSE = Cryogenic Ground Support Equipment

( Cryo-magnet Avionics Box)

Tasks of CGSE 1 Cooling down the AMS magnet (from 300K to 1.8K)

2 Filling magnet vessel with super-fluid helium (~2500 lit @1.8 K )

CANbus

Contents

1 Hardware System Completed1 Hardware System Completed

2 Software Modules are Ongoing2 Software Modules are Ongoing

2.1 Communicating Module2.1 Communicating Module

2.2 Control Algorithm Module2.2 Control Algorithm Module

2.3 HMI Module2.3 HMI Module

3 Test 3 Test Platform for Super-fluid Helium Experiment

4 Further Works

1 Hardware System Completed1 Hardware System Completed

1.1 Config of S7-410H controller is finished

1.2 Config of ET200-DP stations is finished

1.3 Hardware of Communication is finished1.3 Hardware of Communication is finished

Hardware System CompletedHardware System Completed

Redundant Controller

Distributed I/O Module

Communication Interface

Magnet Data Simulator

CGSE-ValveControl

simulator

Assembly of the Redundant PLC System in SJTU

Redundant PLC

WinCC HMI

Distributed I/O Module

Redundant Frofibus

Config of S7-414H PLC

Structure Config

PLC 414H Config

Field-Bus Config

Distributed I/O Module: Siemens ET-200

2.1 Communicating Module2.1 Communicating Module

1 Communicating Module based on CANbus1 Communicating Module based on CANbus

I/O Module

PROFIBUS

PLC

Cryostat

valves Box

Dewar system

Monitoring PC

operator station

Magnet CAB

CGSE = Cryogenic Ground Support Equipment

( Cryo-magnet Avionics Box)

Tasks of CGSE 1 Cooling down the AMS magnet (from 300K to 1.8K) 2 Filling magnet vessel with liquid helium (~2500 lit @1.8 K )

CANbus

CGSE control system need to get from the magnet the following parameters

(Confirmed at the TIM@cern April 2006)

1. Temperatures of helium cooling flow across the magnet T21, T19 and their difference (T21-T19). (from CAB)

(This temperature difference should be not more 50 K during cooling of the magnet in the range 300-80 K )

2. Helium temperature T07 . (from CAB) ( for control of pumping AMS magnet to super fluid state at 1.8 K ) following parameters for filling up procedure:

3. Signal from helium level meters L02, L03. (CGSE direct from the meters)

4. Pressure in AMS main helium tank P04, P05. (from CAB)

5. Temperatures of the AMS VCS T09-T12 . ( from CAB)

6. AMS temperatures in SFHe Cooling Loop (T01-T06). (from CAB )

7. Position of AMS valves: open or close. (Some from CAB, some from CGSE and new table from SCL/McMahon 5 May,2006)

CAN Master

CAN Master Port

SocketServer Port

Command and Data Transmitting

CAN SlaveTCP_Client

CAN Slave Port

SocketClient port

Control Command and Receive Data

Response and Data

CAN NetEther Net

Display Interface Display InterfaceDisplay Interface

1 CAN Master is mainly used at the connection and communication between CAN networks and TCP/IP networks. It functionally works as an gateway.

2 Function of TCP Client is to Simulate CGSE sending commands to TCP Server (CAN Master) through the TCP/IP networks and receiving its response.

3 CAN Slave is mainly used to simulate the slave node (CAB) of CGSE, and implement the functions such as data-feedback, reading the values of locale data-collection equipment, etc.

Function of CAN Master, TCP_Client and CAN Slave

1 Communicating Module based on CANbus1 Communicating Module based on CANbus

Display Interface of

CAN_Slave

Display Interface of CAN Master

Display Interface ofTCP Client

Testing of communication software in SJTU

CAN MasterTCP_ClientCAN Slave

(CAB of Magnet)

Interface of CGSE-MSEthernet

FrofiBus

EPP-CAN Boxes and temperature sensor

in communication software testing

EPP-CAN Box1

EPP-CAN Box2

CAN Bus

Sensor

Transmeter

2.1 Communicating Module2.1 Communicating Module

2 Communicating Module2 Communicating Module for CAB

CAB

CAN

Ethernet

CAB Simulator

(Linux)

FEP

Magnet_server / CAB_Master

Server socket

FEP Client socket

AMS Block CAB Commands

Server socket

Magnet Data

(Windows)

Magnet Client

OPC

Win CC& OtherModules

EPP-CAN Box

EPP-CAN Box

MagnetCAB Slave

CAN Port

Magnet Client socket

General Scheme of Communicating ModuleCommunicating Module for CAB

CGSE-Magnet Date

CAB Commands

CAB Commands

Before AfterCGSE-Magnet Date

Data format used in the module

Developing work is ongoing

2.2 Control Algorithm Module 2.2 Control Algorithm Module

1 Supervising of Status of I/O Stations

2 Testing PID Control Algorithm of Valves

3 Test Module for OPC Link

4 Object Identification Module

5 Control test for large Delay Temperature Process

6 Modified Smith Control Algorithm

1 Supervising of Status of I/O Stations

2 Testing PID Control Algorithm of Valves

OPC Interaction Module

Functions Diagram of OPC Interaction Module

Communication Based on OPC

3 Test Module for OPC LinkOPC is a important protocol used in control industry for easy linking software which

produced by different developers.

4 Object Identification Module

y(k)= 0.7093y(k-1) + 0.1260y(k-2)+0.1619y(k-3) +0.0007u(k-15)+ 0.0038u(k-16)

Identification Algorithm

Identification Result

Identification Object

Identification Data

5 Control test for large Delay Temperature Process

Control with a high precision for a large delay object is still a challenge in control community. The process of cooling down the Magnet is maybe a large delay control task.

Control test to large Delay Temperature Process(Hardware)

6 Modified Smith Control Algorithm

Structure Diagram of Modified Smith Control System

ObjectPID Controller

AdaptiveSmith

Predictor

Output ofPredictor

(Smith Control Algorithm is a basic method to control delay object, but it is difficult to satisfy for large delay object .)

Simulation Result of Cooling Down for the Magnet

Predictive Result of Modified Smith

Predictor

Predictor Output

Prediction Ahead

Response of System with Modified Smith Predictor

Standard Smith Controller

Our Modified Smith

Controller

2.3 HMI Module2.3 HMI Module

HMI of CGSE Control System Based on Siemens WinCC

4 Control 4 Control Platform for Super-fluid Helium Experiment

In SJTU

Design Requirement

1 Provide a control and measure system for obtaining, maintaining and transmitting super-fluid helium

2 Support the function such as multi-data collecting, display, recording and archiving of the process data

3 Flexible and expandable. Some functional modules in this system are designed to be suitable for other occasions in CGSE

Measurement and Control Platform for super-fluid heliumVB6 Environment

WIN XP

Advantech DLL Driver

PCI 1620 B8-port 232 communicating board

COM1 COM2 COM3 COM4 COM5

Liquid-Level Monitor＃ 2

232

Temperature instrument＃ 2

232

Liquid-Level Monitor＃ 1

232

Temperature instrument＃ 1

232

Sensor of the pressure difference

PCI 1710AI/AO/DI/DO

AI 0COM6

ADAM4522

232

485

ADAM-4017

ADAM-4024

ADAM-4050Flow Meter＃ 1

232

Hardware Schema of the Control Platform

The platform is built under MCGS and VB6 environment upon an industrial computer, which communicates with instruments through PCI boards

HMI

Hardware Assembly of the Control Platform

Controller

Signal Connection Box

Instrument type Quantity Interface

1 Thermometer 9350 4 RS232

2 Pressure Transducer （MPM4730）

3 4~20mA， RS485

3 Pressure Transducer （MPM4760）

3 4~20mA， RS485

4 Pressure difference Transducer（MDM4951）

1 4~20mA

5 Pressure difference Transducer （MDM484A）

1 4~20mA

6 Liquid Level Monitor （ 135-2k）

2 4~20mA， RS232

7 Flow Meter （M Serial） 4 RS232

List of Signal type and interface

Software design

Object Platform design Environment

Strategies design

HMI of Control Platform for Super-fluid Helium Experiment

Experiment Platform For Super-fluid Helium

Differential Pressure

Gas Temperature

Dewar1

Liquid Temperature

Liquid Level Gas Temperature

Pressure Pressure

Liquid Level

Liquid Temperature

Dewar2

Flux

The Control Platform in the working place of Super-fluid

Helium Experiment in SJTU

Dewar 1

Dewar 2

Control Platform

Pipeline of SF Helium

Compressor

4 Further Works

1 Continue to perfect the communication the software

2 Continue to configure the Interface between PLC and mechanical system of CGSE.

3 Continue to develop HMI (Human Machine Interface) software based on Siemens WinCC.

4 Continue to develop software modules for whole integration of CGSE in SJTU

Thank You!