Time Synchronization Server for Master-Slave Control Systems
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Solution Overview
Problem
Existing control systems face challenges in synchronizing a first controlled object, typically a robot, with a master control device and a second controlled object, such as other robots, connected via a network, as there is no established configuration to synchronize the master and slave controllers, leading to difficulties in operating them in unison.
Innovation Solution
A control system and method that include a master control device with a first clock unit to control the first object and a slave control device with a second clock unit, where both devices are connected via a network, allowing for the transmission of control information and time synchronization between the master and slave devices to enable precise synchronization of the first and second controlled objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a ring topology is created by connecting a master control device and slave control devices via a network, then the controlled objects can be connected and controlled, but the master and slave controllers cannot be synchronized, making it difficult to operate the first controlled object and second controlled objects in unison
Solution Approach 1:
The patent introduces a time synchronization server as an intermediary component that mediates between the master control device and slave control devices. This server distributes synchronized time information to all controllers, enabling them to operate in unison without requiring complex peer-to-peer synchronization protocols. The intermediary handles the synchronization complexity centrally, allowing individual controllers to simply receive and follow time stamps from the server.
2Measurement precision
If distributed clocks of EtherCAT are used to synchronize slave controllers, then slave synchronization is achieved, but there is no configuration to synchronize the master controller with the slaves
Solution Approach 1:
The time synchronization server is designed to serve multiple functions: it synchronizes slave controllers among themselves (maintaining existing EtherCAT distributed clock functionality) and simultaneously synchronizes the master controller with the slaves. This universal synchronization mechanism eliminates the need for separate synchronization configurations for master and slaves, allowing a single time reference to govern all controllers in the network.
3Productivity
If a PLC or IPC is used as the master control device, then centralized control is achieved, but the system lacks the ability to easily synchronize multiple controlled objects operated by different controllers
Solution Approach 1:
The system implements a feedback mechanism where the time synchronization server continuously monitors and adjusts time information distribution to maintain synchronization across all controllers. Each controller receives time stamps from the server and uses them to synchronize its operations, creating a closed-loop feedback system that automatically maintains synchronization without requiring manual programming adjustments or complex management intervention.
Data Source
AI summary
A control system, includes a master control device configured to control a first controlled object based on time information output from a first clock unit, and a slave control device connected to the master control device via a network and configured to control a second controlled object different from the first controlled object based on control information transmitted from the master control device and time information output from a second clock unit. The time information of the first clock unit and the time information of the second clock unit are time-synchronized.