A New Time Synchronization Method for Reducing Quantization Error Accumulation Over Real-Time Networks: Theory and Experiments

被引:28
作者
Xu, Xiong [1 ]
Xiong, Zhenhua [1 ]
Sheng, Xinjun [1 ]
Wu, Jianhua [1 ]
Zhu, Xiangyang [1 ]
机构
[1] Shanghai Jiao Tong Univ, Sch Mech Engn, State Key Lab Mech Syst & Vibrat, Shanghai 200240, Peoples R China
基金
中国国家自然科学基金;
关键词
Cascaded networks; distributed systems; IEEE; 1588; Kalman filter; PI clock servo; synchronization; PERFORMANCE ANALYSIS; ETHERNET; INSTRUMENT; ETHERCAT; SYSTEM;
D O I
10.1109/TII.2013.2238547
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In real-time network-based systems with long linear paths, the growth rate of time synchronization error is the major barrier to the scalability of systems even if a transparent clock mechanism of IEEE 1588 is used. This paper is devoted to designing a new time synchronization method for such systems. In the proposed algorithm, a proportional-integral (PI) clock servo is used to achieve the frequency compensation. In order to reduce the growth rate of synchronization error due to the quantization error in timestamping, a Kalman filter is designed based on a state-variable model, which is built for the PI controller-tuned slave clock. In addition, the quantization effect is analyzed and the variance of quantization error is quantitatively estimated for each slave node. Experiments are performed to validate its effectiveness and demonstrate that the peak-to-peak jitter is measured to be only 59.37 ns after four hops, and the growth rate of synchronization error can also be significantly reduced by the presented synchronization method. This indicates that the maximum number of networked nodes can be correspondingly increased.
引用
收藏
页码:1659 / 1669
页数:11
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