CN1420661A - Controller - Google Patents
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- Publication number
- CN1420661A CN1420661A CN02142534A CN02142534A CN1420661A CN 1420661 A CN1420661 A CN 1420661A CN 02142534 A CN02142534 A CN 02142534A CN 02142534 A CN02142534 A CN 02142534A CN 1420661 A CN1420661 A CN 1420661A
- Authority
- CN
- China
- Prior art keywords
- processor
- control
- communication
- controller
- bridge
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40032—Details regarding a bus interface enhancer
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/14—Handling requests for interconnection or transfer
- G06F13/16—Handling requests for interconnection or transfer for access to memory bus
Abstract
To provide a controller capable of the Internet connection while securing real time properties of control. The controller is provided with a bridge LSI 130 connected to a control processor 120 and to a communication processor 110, a memory 140 connected to the LSI 130, a system bus interface 160 for connecting the controller to an object 400 to be controlled through a system bus 200, and a network interface 150 for connecting the controller to a terminal 20 through the Internet 10.
Description
Technical field
The present invention relates to be used for generating equipment, traffic control system, the controller of water control system etc. up and down.
Background technology
Along with popularizing of technique of internet in recent years, owing to have by the terminal that equipment monitor is used and be connected to the advantage that the internet just can carry out equipment monitor anywhere, carry out the thing that remote monitoring is expectation so apparatus control system is connected with the internet.
Therefore, in existing equipment, on the local area network (LAN) (following LAN slightly) of surveillance, be provided with and connect the server of using the internet and realize and being connected of internet.Yet, because being set, private server exist system price high and unusual occasion takes place at the circuit of LAN, shortcoming that can't the surveillance equipment state of a control, recently, as the expanding unit of controller, the system of the module that is used for connecting the internet has also appearred on system bus carrying.
In addition, as in Te Kaiping (JP-A-) 11-150550 communique, putting down in writing, exist, in order to support the intercommunication mutually of dedicated control system network and generalized information system network, possess be connected to be used for and control device between the 1st communication controler of control system network of transmitting-receiving control data, be connected to the 2nd communication controler that is used for computer and the interconnective information network of ancillary equipment, and the facility that CPU is carried out be used for the protocol conversion apparatus of the protocol conversion of transceive data between the 1st and the 2nd communication controler.In addition, open in the flat 9-128255 communique the spy and to disclose a kind of programmable logic controller (PLC), its formation comprises the 2nd processor of the 1st processor of controlling usefulness and the usefulness of communicating by letter, to the 1st processor of control usefulness with the data communication of at least one external system in the application program of collecting carry out in the mode that can adjust the communication task period of taking over Control Parameter.
Above-mentioned prior art, owing to be connected with system bus, the processing of equipment interface and the processing of network interface two aspects all must be handled by CPU, existence can not guarantee the problem of the real-time controlled.
In addition, in the device of in Te Kaiping (JP-A-) 11-150550 communique, being put down in writing, carry out the problem that exists controller not control in real time by CPU owing to be used for the protocol conversion of between the 1st and the 2nd communication controler transceive data.In addition, open in the facility of putting down in writing in the flat 9-128255 communique the spy, have control with 2 processors of the usefulness of communicate by letter, but the processor processing communication task of control usefulness is difficult to guarantee the real-time controlled, for the not consideration of processing of internet etc.
Summary of the invention
The present invention's the 1st purpose is to provide a kind of real-time of controlling can guaranteed, and can connect the controller of internet.
The 2nd purpose of the present invention is to provide a kind of real-time of controlling can guaranteed, and can suppress the controller that system cost improves.
For achieving the above object, controller of the present invention is characterised in that its formation comprises: the control processor, the communication processor, the bridge-type LSI that is connected respectively with processor with processor and communication with above-mentioned control, the memory that is connected with this bridge-type LSI, the system bus interface that is connected, with processor controlling object is monitored and controls with cause control with processor through bridge-type LSI and above-mentioned control, the network interface that is connected, carries out Internet traffic with cause communication with processor and terminal with processor through bridge-type LSI and above-mentioned communication.
On the other hand, controller of the present invention is characterised in that and comprises: the control processor, the communication processor, the bridge-type LSI that is connected respectively with processor with processor and communication with above-mentioned control, the memory that is connected with this bridge-type LSI, the system bus interface that is connected, with processor controlling object is monitored and controls with cause control with processor through bridge-type LSI and above-mentioned control, the internet interface that is connected, carries out Internet traffic with cause communication with processor and terminal with processor through bridge-type LSI and above-mentioned communication.
In addition, above-mentioned communication comprises with the formation of the software of processor: firmware, comprise the real-time OS of Network Interface Driver, and comprise fttp, the middleware software of the Internet Protocol of ttp etc., communication task etc.
In addition, above-mentioned control comprises with the formation of the software of processor: firmware comprises the real-time OS of controlling object interface drive program, middleware software, control task etc.
Description of drawings
Fig. 1 is the pie graph of the control system of one embodiment of the invention.
Fig. 2 is the pie graph of the controller of present embodiment.
Fig. 3 is the flow chart of control with the control and treatment of processor.
The flow chart that Fig. 4 handles with the supervision of processor for communication.
Fig. 5 is the flow chart of communication with the processing of the operation of processor.
Embodiment
The controller that utilizes Fig. 1 to Fig. 5 that one embodiment of the invention are used with Equipment Control below is that example is illustrated.As shown in Figure 1, the controller 100 of present embodiment (being also referred to as CPU board 100) is connected with equipment interface 300 through system bus 200.The network interface 150 of controller 100 through the internet 10 be used for the equipment monitor of surveillance equipment state of a control and be connected with terminal 20, the equipment interface 300 of controller 100 (being also referred to as controlling object interface 300) is connected with equipment 400 as controlling object.Herein, internet 10 also can be an Intranet.
Be provided with communication and use 120 two processors of processor with processor 110 with controlling in controller 100, these two processors are connected with the bridge-type LSI130 that realizes with gate array respectively, are connected with memory 140 through bridge-type LSI130.Control is connected with system bus interface 160 through bridge-type LSI130 with processor 120.Control and monitor by the system bus 200 that is connected with system bus interface 160 and 300 pairs of equipment 400 of equipment interface, and as described later, the FEEDBACK CONTROL state is stored in the memory 140 as controlling object.This data transmit-receive is undertaken by mutual assigned address.
On the other hand, communication is connected with network interface 150 through bridge-type LSI130 with processor 110.Bridge-type LSI130, to control processor 120 and system bus interface 160, memory 140 links switching, system bus interface 160 is connected cut-out with memory 140, to communication processor 110 and network interface 150, memory 140 connects switching, and network interface 150 is connected cut-out with memory 140.This connection is switched, connect cut off be by control with processor 120, communication is with processor 110, terminal 20 grades will have and be provided with and setting that the control signal of the formation of data sends to bridge-type LSI130 switching bridge-type LSI130 inside is carried out.
Like this, control in order to guarantee real-time control, does not communicate processing with processor 120, and communication communicates processing with processor 110, becomes the multiprocessor that called function disperses.Communication is with processor 110, to 10 terminals that connect 20 send the up-to-date facility information that is stored in the memory 140 through the internet.Like this,, connect communication with processor 110 and internet 10,, can carry out equipment monitor and control from desirable place so the degree of freedom that the place is set of controller increases through network interface 150 because equipment monitor is connected to 10 with terminal 20.
Utilize Fig. 2 that the communication that is arranged in the controller 100 is illustrated with processor 110 and the software formation of control with 120 two processors of processor below.
Control has firmware 121 with processor 120, real-time OS122, and middleware software 124, the software of control task 125 is provided with equipment interface driver 123 (being also referred to as controlling object equipment interface driver 123) among the OS122 in real time.Be provided with interruption 101 interfaces between processor between OS112 and real-time OS122 in real time.
Initialization process self check when communication is carried out the power supply input with the firmware 111 of processor 110 and control together with the firmware 121 of processor 120 etc.
Like this, because communication processor 110, through being provided with the http that is used for handling communication task 116 specially, the middleware software 114 of the Internet Protocol of ftp etc. is connected to internet 10, control processor 120, be connected to equipment 400 through being used for the middleware software 124 of processing controls task 125 specially, if so can solve in the past in CPU inside http has been installed, just must handle in real time communication and control, because to communication and control is to carry out sequential processes, the problem that controller can't be controlled in real time.
2 processors, self contained function normally, for monitor and control mutually between must get contact and synchronous occasion, at OS112 in real time with carry out between processor between OS122 in real time and interrupting 101.In addition, also can utilize the contact of memory interface to replace interrupting between sort processor.
Flow chart to the concrete processing of the software of this formation is illustrated below.The flow chart of the control and treatment of processor 120 of control shown in Fig. 3.
Control is with processor 120, after S500 finishes to utilize 121 initialization of carrying out, by the indication of control beginning, the operator downloaded to control program in the memory 140 in advance read from memory 140 and begin and handle.
As handle beginning, according to this control program, in S510,, " reading " requirement is proposed the equipment interface on the system bus 200 300 in order to obtain the status data of equipment.Receive the equipment interface of reading to require 300, in S520, the input data of receiving equipment controlling object, the i.e. status data of equipment.
In S530, the status data that receives is transferred to CPU100 as reply data.The control that receives data in S540, in that the value of reading in is stored (being also referred to as preservation) in memory 140, in S550, is carried out calculation process according to control program according to the data of reading with processor 120.In S560, this operation result is proposed data as the control indication to equipment interface 300 write requirement.Receive data and write the equipment interface 300 of requirement, in S570, carry out essential control to Equipment Control object dateout according to this requirement.
Like this, control is with processor 120, by repeat to guarantee the real-time controlled from the processing of S510 to S570 repeatedly with cycle of several milliseconds to hundreds of milliseconds.
Utilize Fig. 4, Fig. 5 that the communication process flow process of communication with processor 110 illustrated below.Fig. 4 illustrates the flow process that communication is handled with the supervision of processor 110, and Fig. 5 illustrates the example of flow process of the processing of operation.
As shown in Figure 4, communication is with processor 110, and is same with processor 120 with control, after the initialization that utilizes firmware 111 to carry out, in S600, reads signal procedure from memory 140, in S610, waits for the requirement of self terminal 20.
In S620, pass on requirement as receive data from terminal 20, communication processor 110, in S630, passing on the data that requirement will store (being also referred to as preservation) equipment state in memory 140 according to data reads, in S640, bridge-type LSI130 is transferred to terminal 20 with data through network interface 150 and internet 10.
,, can not hinder control to handle herein, equipment is monitored with the control program of processor 120 because 10 communication process is to be handled with processor 110 by communication through the internet.Its result with the occasion that the processing of the some cycles of processor 120 is hindered because of certain reason, can prevent that the real-time of controlling from can not guarantee in control, and the device of equipment destroys and causes social infringement the such as cut off the water in the worst occasion.
, communicate by letter herein, in S630, carrying out the occasion that memory is read, compete with the memory bus between the processor 120, can hinder the processing of some cycles, worry the real-time of meeting damage control as generation and control with processor 110.Therefore, in the present embodiment, for using processor 120 from control and communicating by letter with the memory access of 110 liang of sides of processor, the expense by bridge-type LSI130 absorbs reference to storage improves the runnability of holder bus.In addition, can be created on and store in the built-in high-speed cache of control with processor 120 temporarily and effectively apply flexibly the program of high-speed cache, or in the occasion that the memory bus competition takes place, because the once amount of visit to memory of communication with processor 110 limited, so also can guarantee the real-time controlled even occasion that memory bus competes takes place.
Utilize Fig. 5 that the example of carrying out operation of equipment through the internet is illustrated below.The same with the occasion of supervision shown in Figure 4 about communication with reading in of the initialization of processor 110 and program.
See monitoring data in Fig. 4, observer's (being also referred to as the operator) in S700, sends the indication that changes parameter in the occasion that must change the Equipment Control parameter above operation screen on terminal 20 or the like.The indication of this parameter modification in S710,10 sends to object controller 100 from terminal 20 through the internet.
Communication is with processor 110, in S720, as receives the parameter modification requirement of self terminal 20, then in S730, sends interrupt signal 101 between processor by control with processor 120, gets in touch with regard to changing parameter.
Receive the communication of the replying processor 110 of parameter modification permission, requirement according to terminal 20, in S750, the data of the parameter region of change memory 140, carry out interrupt signal 101 between processor once again, sending replying that data change finishes with processor 120 to control when, in S760, send replying of parameter modification end to terminal 20.
Herein, the time of calculating parameter change reference to storage 140, may influence the occasion of control in the time of judging with the real-time processing of processor 120 to the visit of memory 140, can restriction be set to the parameter amount of change, by the amount of the parameter of control cycle time set change to control with processor 120 change parameters.Its result is even from the occasion of terminal change Control Parameter, also can guarantee the real-time of controlling.
According to the present invention, because two CPU modules are set in controller, by bridge-type LSI carry out and memory between switching and control with processor and do not carry out common communication process, can be in the real-time that guarantees control, can monitor and control the internet.
Claims (8)
1. controller, it is characterized in that comprising: the control processor, the communication processor, the bridge-type LSI that is connected respectively with processor with processor and communication with above-mentioned control, the memory that is connected with this bridge-type LSI, be used for the system bus interface that is connected with controlling object through system bus, be used for the network interface that is connected with terminal through the internet.
2. controller, it is characterized in that comprising: the control processor, the communication processor, the bridge-type LSI that is connected respectively with processor with processor and communication with above-mentioned control, the memory that is connected with this bridge-type LSI, the system bus interface that is connected, with processor controlling object is monitored and controls with cause control with processor through bridge-type LSI and above-mentioned control, the internet interface that is connected, carries out Internet traffic with cause communication with processor and terminal with processor through bridge-type LSI and above-mentioned communication.
3. as the controllers of claim 1 or 2 records, it is characterized in that above-mentioned communication comprises with the formation of the software of processor: firmware, comprise the real-time OS of Network Interface Driver, comprise middleware software, the communication task of the Internet Protocol of fttp, ttp etc.
4. the controller as putting down in writing in any one in the claim 1 to 3 is characterized in that above-mentioned control comprises with the formation of the software of processor: firmware comprises the real-time OS of controlling object interface drive program, middleware software, control task.
5. the controller as putting down in writing in any one in the claim 1 to 4, it is characterized in that being provided with above-mentioned control with the real-time OS of processor and communication with the processor interrupt interface between the real-time OS of processor, or memory interface.
6. the controller as putting down in writing in any one in the claim 1 to 4 is characterized in that for from the memory access of above-mentioned control with the processor and usefulness processor two sides that communicate by letters, by the expense of bridge-type LSI absorption reference to storage.
7. the controller as putting down in writing in any one in the claim 1 to 4, it is characterized in that above-mentioned control has built-in high-speed cache with preparation implement, during to memory access, can store with processor and usefulness processor two sides that communicate by letter in control in aforementioned cache temporarily.
8. the controller as putting down in writing in any one in the claim 1 to 4 is characterized in that during to memory access, above-mentioned communication being limited with the once amount of visit of processor to memory with processor and usefulness processor two sides that communicate by letters in control.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001353962A JP4117123B2 (en) | 2001-11-20 | 2001-11-20 | controller |
| JP353962/2001 | 2001-11-20 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1420661A true CN1420661A (en) | 2003-05-28 |
| CN100356747C CN100356747C (en) | 2007-12-19 |
Family
ID=19165886
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB021425345A Expired - Fee Related CN100356747C (en) | 2001-11-20 | 2002-09-20 | Controller |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP4117123B2 (en) |
| KR (1) | KR100949168B1 (en) |
| CN (1) | CN100356747C (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100377019C (en) * | 2003-09-02 | 2008-03-26 | 华中科技大学 | Push-in type multishaft motion controller |
| CN101462518B (en) * | 2007-12-17 | 2011-01-12 | 株式会社日立制作所 | Vehicle electronic system and vehicle |
| CN106062646A (en) * | 2014-03-14 | 2016-10-26 | 欧姆龙株式会社 | Control device |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070073854A1 (en) * | 2005-09-19 | 2007-03-29 | Tobias Lindquist | Communication terminals having multiple processors and methods of operating the same |
| JP2009164665A (en) * | 2007-12-28 | 2009-07-23 | Mitsubishi Electric Corp | Communication system and communication adapter |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0573508A (en) * | 1991-09-17 | 1993-03-26 | Matsushita Graphic Commun Syst Inc | Multiprocessor system |
| JPH0685867A (en) * | 1992-09-03 | 1994-03-25 | Fujitsu Ltd | Remote power-on control system |
| JPH07219607A (en) * | 1994-02-02 | 1995-08-18 | Mitsubishi Heavy Ind Ltd | Digital controller |
| CN1137646A (en) * | 1995-06-05 | 1996-12-11 | 北京航空航天大学 | Node interconnecting adapter |
| AU6334496A (en) * | 1995-06-15 | 1997-01-15 | Intel Corporation | Architecture for an i/o processor that integrates a pci to pci bridge |
| BE1009813A3 (en) * | 1995-09-29 | 1997-08-05 | Philips Electronics Nv | Programmable logic controller. |
| US5717691A (en) * | 1995-10-30 | 1998-02-10 | Nec Usa, Inc. | Multimedia network interface for asynchronous transfer mode communication system |
| US5982362A (en) * | 1996-05-30 | 1999-11-09 | Control Technology Corporation | Video interface architecture for programmable industrial control systems |
| JP3327123B2 (en) * | 1996-06-04 | 2002-09-24 | トヨタ自動車株式会社 | Integrated control system for work robots |
| KR100196386B1 (en) * | 1996-12-04 | 1999-06-15 | 김형벽 | Main processor module for vessel auto control |
| JPH10228418A (en) * | 1997-02-18 | 1998-08-25 | Canon Inc | Memory controller and memory controlling method |
| KR100481995B1 (en) * | 1997-07-29 | 2005-07-07 | 삼성중공업 주식회사 | Target system |
| JPH11146466A (en) * | 1997-11-11 | 1999-05-28 | Toshiba Corp | Plant monitor and control system |
| US6205152B1 (en) * | 1997-12-31 | 2001-03-20 | Samsung Electronics Co., Ltd. | Frame relay-to-ATM interface circuit and method of operation |
| US6272398B1 (en) * | 1998-09-21 | 2001-08-07 | Siebolt Hettinga | Processor-based process control system with intuitive programming capabilities |
| JP2001014026A (en) * | 1999-06-30 | 2001-01-19 | Matsushita Electric Works Ltd | Operation managing device, operation management system, and recording medium on which program of operation managing device is recorded |
-
2001
- 2001-11-20 JP JP2001353962A patent/JP4117123B2/en not_active Expired - Lifetime
-
2002
- 2002-09-20 CN CNB021425345A patent/CN100356747C/en not_active Expired - Fee Related
- 2002-11-19 KR KR1020020071917A patent/KR100949168B1/en active IP Right Grant
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100377019C (en) * | 2003-09-02 | 2008-03-26 | 华中科技大学 | Push-in type multishaft motion controller |
| CN101462518B (en) * | 2007-12-17 | 2011-01-12 | 株式会社日立制作所 | Vehicle electronic system and vehicle |
| CN106062646A (en) * | 2014-03-14 | 2016-10-26 | 欧姆龙株式会社 | Control device |
| US10228675B2 (en) | 2014-03-14 | 2019-03-12 | Omron Corporation | Controlling one or more devices upon detecting abnormal behavior |
| CN106062646B (en) * | 2014-03-14 | 2019-11-08 | 欧姆龙株式会社 | Control device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4117123B2 (en) | 2008-07-16 |
| KR100949168B1 (en) | 2010-03-23 |
| CN100356747C (en) | 2007-12-19 |
| JP2003158780A (en) | 2003-05-30 |
| KR20030041804A (en) | 2003-05-27 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20071219 Termination date: 20210920 |