JPH07253802A - Duplicate system for controller - Google Patents

Abstract

PURPOSE:To prevent a sudden change in output data from an output processing unit that provides an output of transmission data of an active system controller to an external device when other output processing unit is selected in the duplicate system for controllers. CONSTITUTION:When a controller 2 operated in the standby mode transits to the active mode, an arithmetic control board 12 outputs an operation command to an input/output transmission board 11, the input/output transmission board 11 implements initializing processing upon the receipt of the operation command from the arithmetic control board 12 and outputs an initial processing end notice to the arithmetic control board 12 after the end of initializing processing. When the arithmetic control board 12 receives the initializing processing end notice from the input output transmission board 11, the arithmetic control board 12 executes the arithmetic processing and outputs the arithmetic result to the input/output transmission board 11 as arithmetic data and the input/output transmission board 11 outputs arithmetic data to an output processing unit 3 from the arithmetic control board 12 in place of initial data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a redundant system for a control device used in, for example, an automatic control system.

[0002]

2. Description of the Related Art In a conventional redundant system of a redundant control system, arithmetic processing is performed in each operational control board of an active system control device operating in an operating mode and a standby system control device operating in a standby mode. And
Only the calculation result of the operating system control device is output to the output processing device, and is output to a predetermined external device or the like via the output processing device. Then, the operation system control device outputs the calculation result to the output processing device, and at the same time, transmits predetermined data such as the calculation result to the equalization board of the standby system control device through the equalization board at regular intervals. Has been done.

Further, the operating system control device transmits its own abnormality information such as the result of self-diagnosis to the standby system control device via the equalization board, and the standby system control device inputs it via the equalization board. Based on the abnormal information obtained, the arithmetic control board monitors whether there is an abnormality in the operating system control device, and when an abnormality in the operating system control device is detected from the error information, it shifts to the operating mode and operates as the operating system control device. It is designed to do.

When the standby control unit shifts to the operation mode, the operation control board outputs an operation command to the input / output transmission board, and the input / output transmission board executes a predetermined initial process when the operation command is input. After that, the processed data is output to the output processing device.

[0005]

However, in the above-mentioned conventional redundant system of control devices, the standby control device outputs an operation command to the input / output transmission board by the arithmetic and control board when shifting to the operation mode. The input / output transmission board is designed to output a processed data to an output processing device after performing a predetermined initial process when an operation command is input. At this time, since the input / output transmission board has not yet input the calculation data from the calculation control board, the data output to the output processing device as the processing data should be the initial setting values initialized by the initial processing. become.

Therefore, when an abnormality occurs in the operating system control device, the operating system control device stops the output of the transmission data to the output processing device at the time when the abnormality occurs, and the standby system control device starts operating. When the abnormality notification is input from the system control unit, the initial processing of the I / O transmission board is executed and the initial setting value is output to the output processing unit.Therefore, the output data output from the output processing unit to the external device Before the abnormality occurred in the operating system controller, it changed linearly,
Since the output processing device does not output the transmission data from the operating system control device and the standby system control device until the standby system control device outputs the transmission data after the abnormality occurs in the operating system control device, The output processing unit holds the transmission data before the abnormality occurred in the operating system control unit and outputs it as output data, and from this state, the standby system control unit sends the transmission data to the output processing unit after the initial processing is completed. When outputting, the output processing device outputs the initial setting value in order to output the preset initial setting value as transmission data, and then outputs the output value at the time when an abnormality occurs in the operating system control device. Therefore, there is an unsolved problem that the output from the output processing device suddenly changes when the control device is switched.

Therefore, the present invention has been made by paying attention to the above-mentioned unsolved problems of the prior art, and the output data from the output processing device may change suddenly even when the operating system / standby system is switched. It is an object of the present invention to provide a duplex system of a control device that can be continuously switched without a switch.

[0008]

In order to achieve the above object, in a redundant system of control devices according to the present invention, one of two sets of control devices having the same functional configuration is used, and one of them is an operating system control device. In the redundant system of the control device that outputs the processing data of the operating system control device to the external device via the output processing device, the control device includes an arithmetic processing unit that performs arithmetic processing, and an arithmetic processing unit of the arithmetic processing unit. A transmission unit for outputting operation data to the output processing device, and the control device performs an operation process after activating the transmission unit in the operation processing unit when shifting from the standby system control device to the operation system control device. The transmission unit prohibits output of initial data at startup, waits for input of operation data from the operation processing unit, and outputs the operation data as processing data to the output processing device. It is.

[0009]

In the present invention, when shifting from the standby system control device to the operation system control device, the arithmetic processing unit of the control device performs arithmetic processing after activating the transmission unit, and the transmission unit executes the initial data at the time of activation. When the output is prohibited and the operation data from the operation processing unit is input, the operation data is output to the output processing device as the processing data, so that the initial data is output to the output processing device when the operation system control device is entered. This prevents the output data from the output processing device from changing suddenly.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of the present invention. In FIG. 1, reference numerals 1 and 2 perform control calculation as an active system or a standby system, and a control device 3 having the same functional configuration transmits processing data from these two control devices to an external device or the like. In the output processing device 3, in the control devices 1 and 2, one control device operates as an operating system and the other control device operates as a standby system control device.

The control devices 1 and 2 have the same functional configuration, and exchange data between the input / output transmission board 11 as a transmission unit for transmitting processing data to the output processing device 3 and the other control device. It is composed of a digitizing board 15 and an arithmetic control board 12 as an arithmetic processing section for performing a predetermined arithmetic processing to transmit the arithmetic data to the input / output transmission board 11 and for performing a failure diagnosis processing or the like to detect its own abnormality. There is.

When the operation command is input from the arithmetic and control board 12, the input / output transmission board 11 executes predetermined initial processing such as confirmation of connection destination and initial setting,
After completion of the initial processing, an initial processing end notification is output to the arithmetic control board 12, and when arithmetic data is input from the arithmetic control board 12, the arithmetic data is output to the output processing device 3 as transmission data.

The arithmetic and control board 12 operates in the operation mode when the control device operates as the operation system, and operates in the standby mode when the control device operates as the standby system.
Then, the arithmetic and control board 12 performs arithmetic processing by the program setter, and when operating as an operating system, activates the program setter and, for example, as shown in FIG. The set value P (t) is calculated, the set value P (t) is output to the input / output transmission board 11 as calculation data, and the self-monitoring of abnormality is performed. Set value P as
(T) and the elapsed time t as the elapsed time information are periodically transmitted to the standby system control device via the equalization board 15.

On the other hand, when the control device operates in the standby mode, the arithmetic control board 12 receives the abnormality monitoring information from the operating system control device, the arithmetic information and the elapsed time information via the equalization board 15. Input the information and monitor the presence / absence of an abnormality based on the abnormality monitoring information. If the abnormality is normal, input the predetermined information such as the abnormality monitoring information from the next active system control device to detect the abnormality of the active system control device. When it is detected, the operation command is output to the input / output transmission board 11, and the program setter is started based on the elapsed time information input from the operation system control device when the initial processing end notification is input from the input / output transmission board 11. Then, the output value P (t) of the program setter corresponding to the elapsed time information is used as the operation data and the input / output transmission board 11
Output to.

The output processing device 3 receives the transmission data from the operating system control device, outputs it to an external device or the like at a preset predetermined cycle, and when the operating system control device does not output the transmission data, Holds the transmission data at the time of previous input,
This is output to an external device or the like at a predetermined cycle. Next, the processing procedure of the arithmetic control board 12 of the control devices 1 and 2 will be described with reference to FIG.
A description will be given based on the flowchart.

When the arithmetic control board 12 is activated, first in step S1, it is determined whether or not it is in the operation mode. If it is not in the operation mode, the operation control board 12 proceeds to step S2 to calculate the operation data from the operation system control device. And elapsed time information is input via the equalization board 15, and then in step S3, abnormality monitoring information of the operating system control device is input via the equalization board 15.

Then, the process proceeds to step S4, and it is judged whether or not the operating system control device is operating normally based on the input abnormality monitoring information of the operating system control device, and if it is operating normally. To step S9,
Then, it is determined whether or not the process is to be ended. If the process is not to be ended, the process returns to step S1. And step S4
When it is determined that the operating system control device is not operating normally in step S5, the process proceeds to step S5, and the input / output transmission board 11
To the input / output transmission board 11 and then, in step S6, it is determined whether or not the initial processing end notification is input from the input / output transmission board 11. Then, when the initial processing end notification is input from the input / output transmission board 11, the process proceeds to step S7, and the program setting unit sets the set value corresponding to the elapsed time information based on the elapsed time information input from the operation system control device. P (t) is obtained, and the set value P (t) is output to the input / output transmission board 11 as calculation data.

Next, the process proceeds to step S8 to shift the operation mode to the operation mode, and then proceeds to step S9 to determine whether to end the process. If not, the process returns to step S1. When it is determined in step S1 that the operation mode is set, the process proceeds to step S11 to execute the process of a predetermined operating system control device set in advance, and then the process proceeds to step S9 to end the process. If not, the process returns to step S1 if the process is not finished.

Next, the processing procedure of the input / output transmission board 11 will be described with reference to the flowchart shown in FIG. In the input / output transmission board 11, first, in step S21, it is determined whether or not the operation command is input from the arithmetic and control board 12, and if the operation command is not input, the step S21 is performed.
22a, it is determined whether or not the process is to be ended. If the process is not to be ended, the process moves to step S22b to perform a process such as transmission monitoring of the operating system control device, and the process returns to step S21.

When an operation command is input from the arithmetic and control board 12 in step S21, step S2
3, the initial process such as confirmation of the station to be connected and setting of initial data is executed. When the initial process is completed, the process goes to step S24 to output an initial process end notification to the arithmetic and control board 12. Next, in step S25, it is determined whether or not the operation data is input from the operation control board 12, and when the operation data is input from the operation control board 12, the operation proceeds to step S26 and the operation data input to the output control device 3 is determined. Is output, and step S27
Then, it is determined whether or not the process is to be ended. If the process is not to be ended, the process returns to step S25.

Next, the operation of the above embodiment will be described with reference to FIG. 5, which is an explanatory diagram showing the displacement of the output data of the output processing device 3 over time. Now, it is assumed that the control device 1 is operating normally and the control device 2 is operating normally as a standby system. In FIG. 5, the control device 1 is activated at a time point t0, the control device 1 operates normally between the time points t0 and t1, and the arithmetic processing data from the control device 1 according to the passage of time is output from the output processing device 3. Is output as the output data Do.

During this period, the control device 1 starts the program setter at time t0, finds the corresponding set value P (t) from the program setter according to the elapsed time t, and sets the obtained set value P (t). , The elapsed time information and its own abnormality monitoring information are output to the control device 2 via the equalization board 15. In the control device 2, based on the abnormality monitoring information of the control device 1, the control device 1 operates normally. It is determined whether or not there is, and in this case, since the control device 1 is operating normally, it waits for the input of the predetermined information from the control device 1.

When an abnormality occurs in the control device 1 at time t1, the arithmetic and control board 12 of the control device 1
Stops the output of the transmission data to the output processing device 3 and outputs the abnormality monitoring information to the control device 2 as an error via the equalization board 15, and the arithmetic control board 12 of the control device 2 outputs the equal value. The abnormality monitoring information from the control device 1 input via the computerized board 15 recognizes that an abnormality has occurred in the control device 1 and outputs an operation command to the input / output transmission board 11, thereby generating an input / output transmission board. 11 performs a predetermined initial process, and outputs an initial process end notification to the arithmetic and control board 12 after the initial process is completed.

Then, in the arithmetic and control board 12, when the initial processing end notification is input, the elapsed time information input from the control device 1 via the equalization board 15, in this case,
The elapsed time information becomes t1, and based on this t1, the program setter sets the set value P corresponding to the elapsed time t1.
(T1) is obtained and is output to the input / output transmission board 11 as operation data. The input / output transmission board 11 outputs the operation data to the output processing device 3 as transmission data.

At this time, in the output processing device 3, the transmission data is not output from the control device 1 when the control device 1 becomes abnormal at t1. Therefore, the transmission data input before the time t1 is held, and the transmission data is stored. Since the output data Do is output to an external device or the like at a preset cycle, the output data Do has a constant value between the time points t1 and t2 as shown in FIG. 5, and the output processing device 3 is controlled by the control device at the time point t2. From the time point t2 when the transmission data is output from the output processing device 3
Outputs the transmission data from the control device 2 as output data Do.

Therefore, as shown in FIG.
Even when the control device of the standby system is switched, the output data Do from the output processing device 3 does not suddenly change such that the output data Do returns to the initial setting value, and the output data Do can be changed linearly. It is possible to prevent hunting or the like from occurring in the external device or the like due to sudden change in the output data Do at the time of switching.

In the above embodiment, the arithmetic control board 12 has been described as a case where a program setter which outputs a predetermined set value according to the elapsed time is applied. However, the present invention is not limited to this, and the preset process is performed. Arithmetic control board 1 based on external input signals based on programs etc.
It is also possible to execute predetermined processing in step 2.

[0028]

As described above, in the duplex system of the control device according to the present invention, when the standby control device shifts to the active control device, the transmission part is activated in the arithmetic processing part of the control device. After performing post-calculation processing, the transmission unit prohibits the output of initial data at startup, and when the calculation data from the calculation processing unit is input, outputs this calculation data as processing data to the output processing device, thereby controlling the operating system. It is possible to prevent the initial data from being output to the output processing device when shifting to the device, and to prevent a sudden change in the output data from the output processing device at the time of switching.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of a duplex system of a control device according to the present invention.

FIG. 2 is an explanatory diagram showing an example of processing on an arithmetic and control board.

FIG. 3 is a flowchart showing a processing procedure of an arithmetic control board.

FIG. 4 is a flowchart showing a processing procedure of an input / output transmission board.

FIG. 5 is an explanatory diagram for explaining the operation of the present embodiment.

[Explanation of symbols]

 1, 2 control device 3 output processing device 11 input / output transmission board 12 arithmetic control board 15 equalization board

Claims (1)

[Claims] 1. Two sets of control devices having the same functional configuration, one of which is an operating system control device and the other of which is a standby system control device, and processing data of the operating system control device is transmitted to an external device via an output processing device. In a duplex system of a control device that outputs, the control device includes an arithmetic processing unit that performs arithmetic processing and a transmission unit that outputs arithmetic data of the arithmetic processing unit to the output processing device, and the control device is a standby system control device. From the operation control device to the operating system control device, the arithmetic processing unit performs arithmetic processing after activating the transmission unit, and the transmission unit prohibits output of initial data at startup and inputs arithmetic data of the arithmetic processing unit. And outputting the calculated data as processing data to the output processing device.