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Difference between DCS and RTU

DCS distributed control system: you can control the system within a certain given facility from different locations, either control room or other places, and you should keep in mind this facility could be a in several locations but yet, hard-wired interconnected. while
RTU (remote Terminal Unit): you can control the system remotely through internet or a secure satellite connection which in not recommended for sensitive operations/process but it is ok for stand alone and not crucial systems. and more.

DCS as part of SAS (Substation Automation System) is based on local control of relays, meters and switchgear and automation as per required logic and programs that could be hardwired for serial protocols (like DNP 3.0) or through fiber optic when UCA 2.0 or IEC 61850 protocols are used.
For RTU, it's just interface between substations' I/O signals and dispatching center (SCADA) through communication links and specific protocols (such as IEC 101,104, Indactic, DNP 3.0, etc.). In other words, RTU has no controlling role by itself, but DCS as part of SAS has all programmed control logic within substations and without even connecting to dispatching center.

For Electrical Network Distribution, a System is required for controlling, Load dispatch as well as monitoring. Therefore Distribution Management System (DMS) or DCS to be adopted as an integrated System. They are simply like SCADA. Composed from Hardware, software, interfacing means & communication media / protocol as indicated above.
RTU (remote Terminal Unit) include Processor and all the required interfacing facilities as well as I/O(s) Modules.

The brief description of such system may be as follows:
The Substation prescribed Signals (MV switchgears, Transformer, Substation Auxiliary Equipment, etc.) to be hardwired to a marshaling box to Interface Cubicle where RTU located, RTU to be patched to the interface plate. Via the selected media “say FOC” the signals will be transferred to the DMC/DCS Control Centre. Accordingly, the real time status of the NW can be monitored and controlling can be achieved from remote.

The aforesaid Signals to be listed and sorted as per the required application to facilitate system configuration, integration and programming (unique address, function, type, is it required for control, monitor or both, which is digital & which is analogue, etc.).

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