JP2007041953A - Backup method for control device, computer program and control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce operation stops, when troubles occur in a control device and increases in cost. <P>SOLUTION: First programs to allow own processing part, which is provided in its own control device 10, to perform operation processing, and second programs to allow another processing part which is provided in another control device 10 to perform operation processing are stored into a storage part 30 that a plurality of control devices 10, which comprise a control system 1 have. For example, if the control system 1 has a first control unit 11 and a second control unit 12, and the first control device 11 is made as its own control 10; and the second control unit 12 is made as the other control device 10, its own processing part becomes a first device CPU 21 and the other processing part becomes a second device CPU 22. In addition, first device programs 61 for the first device, which are the first programs, and first device programs 62 for the second device, which are the second programs, are stored into a first device storage part 31 that the first control device 11 has. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a control device backup method, a control device backup computer program, and a control system. In particular, the present invention relates to a backup method for a control device having a plurality of CPUs, a backup computer program for the control device, and a control system.

  In the conventional control system, various methods are used in order to suppress the stop of the whole control system when a part is broken down. For example, in Patent Document 1, application programs are stored in two storage devices. During normal operation of the control system, an application program in one storage device is executed and data in the storage device is stored. The file is operated while being updated. In addition, when this storage device fails, the control system is operated by executing the application program in the other storage device, but the content of this storage device cannot be rewritten. The control system is operated within a range that can be operated by the application program stored in the storage device without being affected by the failure of the storage device. As a result, even when a storage device storing an application program executed during normal operation fails, the control system can be operated with the application program stored in the other storage device. It can suppress that the whole stops.

JP 2000-10788 A

  However, in the above control system, in addition to a storage device that stores an application program that is executed during normal operation, a storage device that stores an application program that is executed when the storage device fails is newly provided. There must be. For this reason, it has become a factor that costs increase.

  The present invention has been made in view of the above, and a control device backup method and a control device backup computer program capable of reducing stoppage of operation when a control device fails and suppressing an increase in cost, and An object is to provide a control system.

  In order to solve the above-described problems and achieve the object, a backup method of a control device according to the present invention includes a first program that is a program for operating at least the control device of its own in a storage unit included in the control device; A second program that is a program for operating the other control device, and when the other control device is normal, by operating only the first program to operate the own control device, When the control device is abnormal, the control device and the other control device are operated by using the first program and the second program.

  In the present invention, the storage unit stores a first program that is a program for operating its own control device and a second program that is a program for operating another control device. The other control device is operated by the second program. As a result, even when the CPU of another control device fails, the other control device is activated by operating the other control device with the second program stored in the storage unit of the own control device. Can be operated. That is, the operation of the control device can be backed up. Further, in order to operate the control device even when the other control device is abnormal, the other control device is operated by storing a second program for operating the other control device in the storage unit of the own control device. Therefore, it is not necessary to provide a new device for ensuring the operation of the control device, and the operation in the event of an abnormality in another control device is ensured without adding a device. As a result, it is possible to reduce the stop of the operation at the time of failure of the control device and to suppress an increase in cost. Further, according to the computer program for backup of the control device according to the present invention, the above-described backup method of the control device can be realized using a computer.

  Further, the control device backup method according to the present invention further stores a plurality of the second programs for operating the same other control device in a plurality of the storage units included in the plurality of control devices, When another control device is abnormal, the other control device is operated by one second program of the plurality of second programs for each procedure of the second program.

  In the present invention, when other control devices are abnormal, the other control devices are operated by one second program among the plurality of second programs for each procedure of the second program, so that each second program is stored. Among the control devices having the storage unit, the other control devices can be operated by a control device having a sufficient processing capacity. As a result, it is possible to reduce the stoppage of the operation when the control device fails, while suppressing the reduction in processing capacity. Further, according to the computer program for backup of the control device according to the present invention, the above-described backup method of the control device can be realized using a computer.

  In addition, the control system according to the present invention is connected to a plurality of processing units that perform information processing, a plurality of communication units that are connected to the processing unit and can transmit and receive information to and from each other, and the processing unit And a control unit comprising: a plurality of storage units storing a program for causing the processing unit to perform arithmetic processing; at least one of each of the processing units, the communication unit, and the storage unit In the control system having a plurality of devices, the storage unit is the first program that causes the self device processing unit, which is the processing unit of the control device of the self provided with the storage unit, to perform arithmetic processing. The same program and the program causing the other device processing unit, which is the processing unit of the control device different from the control device of the self, to perform arithmetic processing A second program, which is the program for causing the self device processing unit to perform arithmetic processing, is stored, and the self device processing unit performs arithmetic processing only by the first program when the other device processing unit is normal. When the other device processing unit is abnormal, the first program and the second program perform arithmetic processing, and when the other device processing unit is abnormal, the control device is provided with the self device processing unit. The memory included in the control device provided with the self device processing unit by transmitting and receiving information between the communication unit included in the communication device and the communication unit included in the control device provided with the other device processing unit. The control device provided with the other device processing unit is operated by the second program stored in the unit.

  In the present invention, the first program for causing the storage unit to perform arithmetic processing in the own device processing unit of the own control device and the same program as the program for causing the other device processing unit of other control device to perform the arithmetic processing. A second program that causes the self-device processing unit to perform processing is stored. As a result, when the other device processing unit is abnormal, the self device processing unit performs arithmetic processing by the first program and the second program, and even when an abnormality such as a failure of the other device processing unit occurs, the self device processing unit performs the other device. Other control devices having a processing unit can be activated. That is, the operation of the control device can be backed up. Also, in order to operate another control device having the other device processing unit even when the other device processing unit is abnormal, the same program as the program that causes the other device processing unit to perform arithmetic processing in the storage unit of its own control device Since another control device is operated by storing the second program that causes the self-device processing unit to perform arithmetic processing, it is not necessary to provide a new device for ensuring the operation of the control device, and the number of devices is increased. Without this, the operation of another control device is ensured when the other device processing unit is abnormal. As a result, it is possible to reduce the stop of the operation at the time of failure of the control device and to suppress an increase in cost.

  The control system according to the present invention further includes a plurality of second programs that perform the same arithmetic processing as the one program for the other device processing unit, stored in the plurality of storage units, and the other When the device processing unit is abnormal, the plurality of second programs are processed by the plurality of self-device processes connected to the plurality of storage units in which the second program is stored for each arithmetic processing procedure in the second program. It is characterized in that arithmetic processing is performed by any one of the self-device processing units.

  In the present invention, when the other device processing unit is abnormal, any one of the plurality of self-device processing units connected to the plurality of storage units storing the second program for each arithmetic processing procedure of the second program. Since arithmetic processing is performed by the self device processing unit, among the plurality of self device processing units, another control device can be operated by the self device processing unit having a sufficient processing capability. As a result, it is possible to reduce the stoppage of the operation when the control device fails, while suppressing the reduction in processing capacity.

  The control device according to the present invention has an effect that it is possible to reduce the stop of the operation when the control device fails and to suppress the increase in cost.

  Embodiments of a control device backup method, a control device backup computer program, and a control system according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

  FIG. 1 is a block diagram illustrating a schematic configuration of a control system according to the first embodiment of the present invention. The control system 1 shown in FIG. 1 includes a plurality of control devices 10. The control system 1 shown in FIG. 1 as an example of the control system according to the present invention includes three control devices 10. Yes. The three control devices 10 are a first control device 11, a second control device 12, and a third control device 13, and these control devices 10 are electrically connected so that information can be transmitted to each other. Has been. Each control device 10 is connected to an external device 70 of the control system 1 and is provided so as to be able to control these devices 70 by an electrical signal. The device 70 may be any device 70 as long as it can be controlled by the control device 10.

  Each control device 10 includes a CPU (Central Processing Unit) 20 that is a processing unit that performs calculation processing of information, and a network card 40 that is a communication unit that is connected to the CPU 20 and can transmit information to and from the CPU 20. The I / O is connected to the CPU 20 and is connected to the storage unit 30 storing the control program 60 for causing the CPU 20 to perform arithmetic processing, and to the network card 40, and transmits signals to and from the external device 70. One O card 50 is provided for each. The network cards 40 are connected to each other network card 40 and can transmit and receive information to and from each other. The storage unit 30 is a hard disk device, a magneto-optical disk device, a nonvolatile memory such as a flash memory (a storage medium that can only be read such as a CD-ROM), or a RAM (Random Access Memory). Such a volatile memory, or a combination thereof.

  Of the CPUs 20 provided in each control device 10, the CPU 20 provided in the first control device 11 is a first device CPU 21, and the CPU 20 provided in the second control device 12 is a second device CPU 22. The CPU 20 provided in the third control device 13 is a third device CPU23.

  Of the storage units 30 provided in each control device 10, the storage unit 30 provided in the first control device 11 is a first device storage unit 31, and the storage unit 30 provided in the second control device 12 is The second device storage unit 32 is provided, and the storage unit 30 provided in the third control device 13 is a third device storage unit 33.

  Of the network cards 40 provided in each control device 10, the network card 40 provided in the first control device 11 is a first device network card 41, and the network card 40 provided in the second control device 12 is The second device network card 42 is used, and the network card 40 provided in the third control device 13 is the third device network card 43.

  Further, among the I / O cards 50 provided in each control device 10, the I / O card 50 provided in the first control device 11 is a first device I / O card 51, and the second control device 12 includes The I / O card 50 provided is a second device I / O card 52, and the I / O card 50 provided in the third control device 13 is a third device I / O card 53.

  The control program 60 stored in the storage unit 30 is a computer program that implements the backup method of the control device 10 according to the present invention. In addition, this computer program may implement | achieve the backup method of the control apparatus 10 which concerns on this invention with the combination with the computer program already recorded on the computer system. Further, the computer program for realizing the function of the CPU 20 is recorded on a computer-readable recording medium, and the computer program recorded on the recording medium is read by the computer system and executed. A backup method of the control device 10 may be executed. The “computer system” here includes an OS and hardware such as peripheral devices.

  A single storage unit 30 stores a plurality of control programs 60. That is, one storage unit 30 includes a first program that is a control program 60 that causes a self-device processing unit that is a processing unit included in the control device 10 provided with the storage unit 30 to perform arithmetic processing, The control program 60 is a control program 60 that causes the self device processing unit to perform the same arithmetic processing as the control program 60 that causes the other device processing unit that is a processing unit included in the control device 10 different from the own control device 10 to perform arithmetic processing. 2 programs are stored.

  For example, when the self control device 10 is the first control device 11 and the other control device 10 is the second control device 12, the self device processing unit of the first control device 11 is the first device CPU21. The other device processing unit included in the second control device 12 that is another control device 10 is the second device CPU 22. For this reason, the first device storage unit 31 which is the storage unit 30 of the first control device 11 includes a first device program 61 for the first device which is a first program for causing the first device CPU 21 to perform arithmetic processing, and a second device program 61. Control program 60 that causes the device CPU 22 to perform arithmetic processing, that is, the second program that causes the first device CPU 21 to perform the same arithmetic processing as the second device program 64 for the second device stored in the second device storage unit 32. The first device program 62 for the second device is stored.

  Similarly, the second device storage unit 32 of the second control device 12 includes the first program in the case where the second control device 12 is its own control device 10 and the third control device 13 is another control device 10. The second device program 64 for the second device that becomes and the second device program 65 for the third device that becomes the second program are stored. Further, the third device storage unit 33 of the third control device 13 includes the first program when the third control device 13 is the own control device 10 and the first control device 11 is the other control device 10. The third device program 67 for the third device, and the third device program 68 for the first device, which is the second program, are stored.

  In addition, the network card 40 provided in each control device 10 can transmit information to and from the CPU 20 included in the control device 10 provided with the network card 40. Since the network cards 40 provided in the network 10 are connected to each other by a network line (not shown), information can be transmitted between the network cards 40 provided in the other control devices 10.

  For example, the first device network card 41 provided in the first control device 11 can transmit information to and from the first device CPU 21 provided in the first control device 11. Information can also be transmitted between the second device network card 42 provided in 12 and the third device network card 43 provided in the third control device 13. In other words, the first device network card 41 can transmit information to and from the first device CPU 21, the second device network card 42, and the third device network card 43.

  Similarly, the second device network card 42 can transmit information to and from the second device CPU 22, the first device network card 41, and the third device network card 43. The card 43 can transmit information to and from the third device CPU 23, the first device network card 41, and the second device network card 42. Accordingly, the first control device 11, the second control device 12, and the third control device 13 are connected so that information can be transmitted to each other.

  The I / O card 50 provided in each control device 10 can transmit information to and from the CPU 20 included in the control device 10 provided with the I / O card 50. It is electrically connected to an external device 70 of the control device 10, and information can be transmitted to and from the device 70.

  For example, the first device I / O card 51 provided in the first control device 11 can transmit information to and from the first device CPU 21 provided in the first control device 11. Information can also be transmitted to and from the first device 71 that is the device 70 outside the control device 11 and is the device 70 connected to the first control device 11. That is, the first device I / O card 51 can transmit information between the first device CPU 21 and the first device 71. Similarly, the second device I / O card 52 can transmit information to and from the second device CPU 22 and the second device 72, and the third device I / O card 53 has the third device I / O card 53. Information can be transmitted between the device CPU 23 and the third device 73. Accordingly, the first device 71 can be controlled by the first control device 11, the second device 72 can be controlled by the second control device 12, and the third device 73 can be controlled by the third control device 13. It is controllable.

  Note that information is transmitted between these network cards 40 and between the I / O card 50 and the device 70 by connecting them with a wire such as an electric cord capable of transmitting an electric signal. In addition, information may be transmitted wirelessly, such as by transmitting an electrical signal by a carrier wave such as radio waves or infrared rays.

  The control system 1 according to the first embodiment is configured as described above, and the operation thereof will be described below. The control system 1 operates according to a first program stored in each storage unit 30 during normal operation. For example, the first control device 11 during normal operation will be described. The first device CPU 21 performs arithmetic processing using the first device program 61 for the first device stored in the first device storage unit 31. The first device CPU 21 transmits information to and from the first device network card 41. Further, the first device network card 41 includes the second device network card 42 and the third device network card 43. Information is also transmitted to and from. For this reason, the first device CPU 21 also transmits information between the second control device 12 and the third control device 13 via the first device network card 41.

  Further, since the first device CPU 21 is also transmitting information to and from the first device I / O card 51 connected to the first device 71, the first device CPU 21 receives the first device I / O card 51 via the first device I / O card 51. Information is also transmitted to and from one device 71. As a result, the first device CPU 21 performs arithmetic processing by the first device program 61 for the first device based on information from the first device 71, the second control device 12, and the third control device 13. The result of this arithmetic processing by the first device CPU 21 is transmitted to the first device I / O card 51 and is transmitted to the first device 71 via the first device I / O card 51. Accordingly, the first device 71 is controlled by the first control device 11. Further, necessary information among the results of the arithmetic processing by the first device CPU 21 is transmitted to the second control device 12 and the third control device 13 via the first device network card 41.

  Similarly, in the case of the second control device 12 and the third control device 13, during the normal operation of the control system 1, the second control device 12 performs arithmetic processing on the second device CPU 22 by the second device program 64 for the second device. By controlling the second device 72, the third control device 13 controls the third device 73 by causing the third device CPU 23 to perform arithmetic processing by the third device program 67 for the third device.

  On the other hand, when an abnormality occurs in any of the plurality of CPUs 20 included in the plurality of control devices 10, the second program stored in the storage unit 30 also causes the CPU 20 to perform arithmetic processing, and the control system 1. Is operated by the first program and the second program.

  Specifically, during the operation of the control system 1, each CPU 20 provided in the control device 10 is normal when it is normal to each other CPU 20 via each network card 40. A certain signal is transmitted. Thereby, it is recognized that the other CPUs 20 are normal. On the other hand, when an abnormality such as a failure has occurred in each CPU 20, the CPU 20 does not transmit a signal indicating that an abnormality has occurred or send a signal indicating that the abnormality is normal. When one of the CPUs 20 sends an abnormal signal or no signal is sent, the other CPU 20 determines that an abnormality has occurred in the CPU 20. In this case, the second program is stored by the second program that causes the other CPU 20 to perform the same arithmetic processing as the first program that causes the CPU 20 in which an abnormality has occurred to perform the arithmetic processing. The CPU 20 connected to the storage unit 30 performs arithmetic processing.

  For example, when a signal indicating that the second device CPU 22 is normal is not sent from the second device CPU 22 to the first device CPU 21 and the third device CPU 23, the first device CPU 21 and the third device CPU 23 It is determined that an abnormality has occurred in the second device CPU22. When it is determined that an abnormality has occurred in the second device CPU 22 in this way, the second device CPU 22 is a control program 60 that causes the second device CPU 22 to perform arithmetic processing when the second device CPU 22 is normal. The first device program 62 for the second device, which is a control program 60 for causing the first device CPU 21 to perform the same arithmetic processing as the two device program 64, causes the first device CPU 21 to perform the arithmetic processing. In other words, when the first device CPU 21 is a self-device processing unit, the first device CPU 21 has a first device program 61 for the first device that is the first program when the second device CPU 22 that is another device processing unit is abnormal. Then, the arithmetic processing is performed by the second device first device program 62 which is the second program.

  When the second device CPU 22 is abnormal, information is transmitted and received between the first device network card 41 included in the first control device 11 and the second device network card 42 included in the second control device 12, and the first device CPU 21. However, the result of the arithmetic processing performed by the first device program 62 for the second device is transmitted from the first device network card 41 to the second device network card 42. In this case, the second device network card 42 directly transmits information to and from the second device I / O card 52.

  That is, the second device network card 42 can perform input / output switching. When the second device CPU 22 is operating normally, the second device network card 42 transmits information to and from the second device CPU 22, and the second device CPU 22 When the device CPU 22 is abnormal, information is transmitted to and from the second device I / O card 52. Therefore, when the second device CPU 22 is abnormal, the result of the first device CPU 21 performing the arithmetic process using the second device first device program 62 is the first device network card 41 and the second device network card 42. 2 is transmitted to the device I / O card 52. Further, since the second device I / O card 52 is connected to the second device 72, the second device 72 is controlled via the second device I / O card 52.

  As described above, when the second device CPU 22 is abnormal, the first device CPU 21 and the second device I / O card 52 transmit and receive information via the first device network card 41 and the second device network card 42, and The second control device 12 operates when the one device CPU 21 performs arithmetic processing by the first device program 62 for the second device. Thus, the second device 72 connected to the second control device 12 is controlled by the first device CPU 21 that performs arithmetic processing by the second device first device program 62.

  FIG. 2 is an example of a flowchart illustrating a processing procedure of the backup method of the control device according to the first embodiment, and is a flowchart in the first control device. For example, the processing procedure of the backup method of the control device 10 will be described by paying attention to the first control device 11. In the first control device 11 when the control program 60 stored in the storage unit 30 is executed, Then, the first device program 61 for the first device is executed (step ST1). By executing the first device program 61 for the first device, the first device CPU 21 performs arithmetic processing according to the processing procedure of the first device program 61 for the first device, and performs first control according to the result of the arithmetic processing. Since the device 11 operates, the first device 71 connected to the first control device 11 is controlled by the first control device 11.

  Next, transmission is performed between the CPUs 20 through the network cards 40, and it is determined whether an abnormality has occurred in the second device CPU 22 based on a signal for determining whether the CPU 20 is normal (step ST2). . If it is determined by this determination that no abnormality has occurred in the second device CPU 22, the process shifts to processing other than the execution of the control program 60, or the first device first device program 61 is executed again. To do.

  On the other hand, if it is determined that an abnormality has occurred in the second device CPU 22, the second device first device program 62 is executed (step ST3). By executing the first device program 62 for the second device, the first device CPU 21 performs arithmetic processing according to the processing procedure of the first device program 62 for the second device. Further, when the second device CPU 22 is abnormal, the second device network card 42 is switched to transmit information to and from the second device I / O card 52. Therefore, the result of the arithmetic processing performed by the first device CPU 21 using the first device program 62 for the second device is sent to the second device I / O card 52 via the first device network card 41 and the second device network card 42. Communicated. As a result, the second control device 12 operates according to the result of the arithmetic processing in the first device CPU 21, and the second device 72 connected to the second control device 12 is controlled by the second control device 12. . That is, the second control device 12 is operated by the first device CPU 21. When the predetermined processing procedure in the first device program 62 for the second device is completed, the process proceeds to processing other than the execution of the control program 60 as described above, or the first device program 61 for the first device is changed again. Execute.

  Although the above description has been given focusing on the first control device 11, the processing procedure is the same in the second control device 12 and the third control device 13. That is, the second control device 12 controls only the second device 72 when the third device CPU 23 is normal, and controls the second device 72 and the third device 73 when the third device CPU 23 is abnormal. Further, the third control device 13 controls only the third device 73 when the first device CPU 21 is normal, and controls the third device 73 and the first device 71 when the first device CPU 21 is abnormal.

  In the control system 1 described above, since the first program and the second program are stored in the storage unit 30 included in the control device 10, an abnormality is caused by the second program when the CPU 20 included in the other control device 10 is abnormal. The control device 10 provided with the generated CPU 20 can be operated. That is, the operation of the control device 10 is ensured or backed up when the CPU 20 is abnormal. Thereby, the apparatus 70 connected to the control device 10 can be controlled. Further, by storing in the storage unit 30 a second program that causes the CPU 20 connected to the storage unit 30 to perform the same arithmetic processing as the control program 60 for operating the CPU 20 of the other control device 10, Since the control device 10 is operated even when the CPU 20 is abnormal, it is not necessary to provide a new device 70 for ensuring the operation of the control device 10. That is, the operation of the control device 10 provided with the CPU 20 is ensured when the CPU 20 is abnormal without adding the device 70. As a result, it is possible to reduce the stop of the operation at the time of failure of the control device 10 and to suppress an increase in cost. Moreover, since the stop of the operation | movement at the time of failure of the control apparatus 10 can be reduced in this way, the improvement of the reliability of each control apparatus 10 or the control system 1 whole can be aimed at.

  In addition, even if the CPU 20 of one control device 10 fails, the control device 10 having the failed CPU 20 can be operated by the second program stored in the storage unit 30 of the other control device 10 and the CPU 20. Therefore, it is possible to use the CPU 20 that is not highly reliable. Thereby, a recycled product can be used as the CPU 20 provided in the control device 10. As a result, an increase in cost can be more reliably suppressed.

  The control system according to the second embodiment has substantially the same configuration as the control system according to the first embodiment, but a control program that causes the same CPU to perform arithmetic processing is stored in a plurality of storage units. There is a feature. Since other configurations are the same as those of the first embodiment, the description thereof is omitted and the same reference numerals are given. FIG. 3 is a block diagram illustrating a schematic configuration of the control system according to the second embodiment of the present invention. In the control system 80 shown in the figure, a plurality of second programs that perform the same arithmetic processing as the control program 60 for one other apparatus processing unit are stored in the plurality of storage units 30. For example, a control program 60 that performs the same arithmetic processing as the second device program 64 for the second device is stored in both the first device storage unit 31 and the third device storage unit 33, and the first device storage unit 31 stores a second device first device program 62 as a second program in the first device storage unit 31, and the third device storage unit 33 stores a second program in the third device storage unit 33. A third device program 69 for the second device is stored.

  Similarly, a second device program 66 for the first device is stored in the second device storage unit 32 as a control program 60 for performing the same arithmetic processing as the first device program 61 for the first device, and the third device. The storage device 33 stores a first device third device program 68. Further, as the control program 60 for performing the same arithmetic processing as the third device program 67 for the third device, the first device program 63 for the third device is stored in the first device storage unit 31, and the second device storage. The unit 32 stores a second device program 65 for the third device. That is, in the three storage units 30 provided in the three control devices 10, a control program 60 that can operate the other two control devices 10 is stored.

  The control system 80 according to the second embodiment is configured as described above, and the operation thereof will be described below. In the normal operation, the control system 80 according to the second embodiment operates according to the first program stored in each storage unit 30 as in the control system 1 according to the first embodiment.

  On the other hand, when an abnormality occurs in any of the plurality of CPUs 20 included in the plurality of control devices 10, the same arithmetic processing as the control program 60 that performs arithmetic processing when the CPU 20 in which the abnormality has occurred is normal. Since a plurality of second programs for performing the above are stored in the plurality of storage units 30, one of the plurality of CPUs 20 connected to the plurality of storage units 30 in which these second programs are stored is: Arithmetic processing is performed by the second program. That is, the control device 10 in which an abnormality has occurred in the CPU 20 is activated by any one of the plurality of second programs.

  For example, when the second device CPU 22 is abnormal, the second device first device program 62 stored in the first device storage unit 31 of the first control device 11 and the third device storage unit 33 of the third control device 13 are stored. Any one of the stored second device programs for the second device 69 causes the first device CPU 21 or the third device CPU 23 to perform arithmetic processing, whereby the second control device 12 operates. Here, as to which of the first device program 62 for the second device and the third device program 69 for the second device is executed, the load on both the first device CPU 21 and the third device CPU 23 is compared. To judge. That is, among the CPUs 20 that perform arithmetic processing using the control program 60 that operates the second control device 12, the control program 60 that causes the CPU 20 with the smaller load to perform arithmetic processing is executed. In addition, this determination is made by a control program 60 for operating the second control device 12, that is, a procedure of processing of a plurality of second programs in a plurality of storage units 30 in which the control program 60 is stored, or a control This is performed for each control procedure for the device 70 connected to the apparatus 10.

  FIG. 4 is an example of a flowchart illustrating a processing procedure of the backup method of the control device according to the second embodiment, and is a flowchart illustrating a determination procedure of the second program when the second device CPU is abnormal. As an example of the processing procedure described above, the processing procedure when the second device CPU 22 is abnormal will be described. When the second device CPU 22 is abnormal, the second device first device program 62 is stored in the first device CPU 21 or the second device CPU 22. In order to execute the third device program 69 by the third device CPU 23, first, the current load of the first device CPU 21 is detected (step ST11). Next, the current load on the third device CPU 23 is detected (step ST12).

  Next, the detected load of the first device CPU 21 is compared with the load of the third device CPU 23 to determine which load is smaller (step ST13). If it is determined by this determination that the load on the first device CPU 21 is less than or equal to the load on the third device CPU 23, the first device program 62 for the second device stored in the first device storage unit 31 is executed. (Step ST14). Thereby, when the second device CPU 22 is normal, the first device CPU 21 performs arithmetic processing performed by the second device CPU 22. That is, by executing the first device program 62 for the second device, the first device CPU 21 performs arithmetic processing according to the processing procedure of the first device program 62 for the second device, and the result is the first device network card. 41 and the second device network card 42 to the second device I / O card 52. As a result, the second control device 12 operates according to the result of the arithmetic processing in the first device CPU 21, and the second device 72 connected to the second control device 12 is controlled by the second control device 12. . That is, the second control device 12 is operated by the first device CPU 21. When the predetermined procedure in the first device program 62 for the second device is completed, the process shifts to a process other than the execution of the control program 60, or shifts to the next procedure of the control program 60.

  On the other hand, if it is determined that the load on the first device CPU 21 is greater than the load on the third device CPU 23, the second device third device program 69 is executed (step ST15). Thereby, when the second device CPU 22 is normal, the arithmetic processing performed by the second device CPU 22 is performed by the third device CPU 23. That is, by executing the third device program 69 for the second device, the third device CPU 23 performs arithmetic processing according to the processing procedure of the third device program 69 for the second device, and the result is the third device network card. 43 and the second device network card 42 to the second device I / O card 52. Thereby, the second control device 12 operates according to the result of the arithmetic processing in the third device CPU 23, and the second device 72 connected to the second control device 12 is controlled by the second control device 12. . That is, the second control device 12 is operated by the third device CPU23. When the predetermined procedure in the second device third apparatus program 69 is completed, the process proceeds to a process other than the execution of the control program 60 or the process proceeds to the next procedure of the control program 60.

  In the above description, the case where an abnormality occurs in the second device CPU 22 has been described. However, the processing procedure is the same when an abnormality occurs in the first device CPU 21 or the third device CPU 23. That is, when an abnormality occurs in the first device CPU21, the load of the second device CPU22 is compared with the load of the third device CPU23, and when the load of the second device CPU22 is smaller, the first device The second device program 66 is executed, and when the load on the third device CPU 23 is smaller, the third device program 68 for the first device is executed. Further, when an abnormality occurs in the third device CPU 23, the load of the first device CPU 21 is compared with the load of the second device CPU 22, and when the load of the first device CPU 21 is smaller, the third device The first device program 63 is executed, and when the load on the second device CPU 22 is smaller, the second device program 65 for the third device is executed.

  In the control system 80 described above, when the other device processing unit is abnormal, among the plurality of self device processing units connected to the plurality of storage units 30 in which the second program is stored for each arithmetic processing procedure of the second program, One of the self-device processing units performs arithmetic processing. For example, if an abnormality occurs in the second device CPU 22 as the other device processing unit, the second program that is the second program in the first control device 11 or the third control device 13 for each arithmetic processing procedure of the second program. The first device program 62 for the device or the third device program 69 for the second device is connected to the first device CPU 21 or the third device CPU 23 which is a self device processing unit in the first control device 11 or the third control device 13. Of these, arithmetic processing is performed by any one of the CPUs 20.

  As a result, among the CPUs 20 serving as the plurality of self-device processing units, the CPU 20 having a small current load can operate another control device, that is, the second control device 12 in the above example. For this reason, when operating another control device 10 in which an abnormality has occurred in the CPU 20, the control device 10 having the CPU 20 in which the abnormality has occurred can be operated by the CPU 20 having sufficient processing capacity. Even when operating the control device 10 having the CPU 20 in which the occurrence of the problem occurs, it is possible to reduce the decrease in processing capability. As a result, it is possible to reduce the stop of the operation when the control device 10 fails, while suppressing the reduction of the processing capacity.

  In the first embodiment and the second embodiment described above, the control systems 1 and 80 having the three control devices 10 are described. However, the control systems 1 and 80 have two or four or more control devices 10. But you can. In the first embodiment and the second embodiment described above, one control device 10 is provided with one CPU 20, one storage unit 30, one network card 40, and one I / O card 50. A plurality of devices may be provided.

  In the above description, the case where an abnormality such as a failure occurs in the CPU 20 provided in the control device 10 is described. However, the present invention is also applied when an abnormality occurs in the storage unit 30 instead of the CPU 20. May be. Even if an abnormality occurs in the storage unit 30, the control program 60 stored in the storage unit 30 cannot be executed, so that the CPU 20 connected to the storage unit 30 cannot perform arithmetic processing. Even in this case, by applying the present invention, the control device 10 having the storage unit 30 in which an abnormality has occurred can be operated by the CPU 20 of the control device 10 other than the control device 10.

  As described above, the control device backup method, the control device backup computer program, and the control system according to the present invention are useful for a control system having a plurality of control devices. It is suitable for a control system provided so that information can be transmitted.

It is a block diagram which shows the schematic structure of the control system which concerns on Example 1 of this invention. It is an example of the flowchart which shows the process sequence of the backup method of the control apparatus which concerns on Example 1, and is a flowchart in a 1st control apparatus. It is a block diagram which shows schematic structure of the control system which concerns on Example 2 of this invention. It is an example of the flowchart which shows the process sequence of the backup method of the control apparatus which concerns on Example 2, and is a flowchart which shows the determination procedure of the 2nd program at the time of abnormality of 2nd apparatus CPU.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Control system 10 Control apparatus 11 1st control apparatus 12 2nd control apparatus 13 3rd control apparatus 20 CPU
21 First device CPU
22 Second device CPU
23 Third device CPU
30 storage unit 31 first device storage unit 32 second device storage unit 33 third device storage unit 40 network card 41 first device network card 42 second device network card 43 third device network card 50 I / O card 51 first Device I / O Card 52 Second Device I / O Card 53 Third Device I / O Card 60 Control Program 61 First Device First Device Program 62 Second Device First Device Program 63 Third Device First Device program 64 Second device program for second device 65 Second device program for third device 66 Second device program for first device 67 Third device program for third device 68 Third device program for first device 69 Second Third device program for device 70 Device 71 First device 72 Second device 73 Third device 80 Control system

Claims (5)

A storage unit included in the control device stores at least a first program that is a program that operates the control device of itself and a second program that is a program that operates the other control device,
When the other control device is normal, the control device is operated by using only the first program,
A backup method of a control device, wherein when the other control device is abnormal, the control device and the other control device are operated by using the first program and the second program.   Further, a plurality of second programs for operating the same other control device are stored in the plurality of storage units included in the plurality of control devices, and when the other control device is abnormal, 2. The control device backup method according to claim 1, wherein the second control device is operated by one of the plurality of second programs for each procedure. 3.   A computer program for backup of a control device, which causes a computer to execute the backup method for the control device according to claim 1. A plurality of processing units for performing information processing, a plurality of communication units connected to the processing unit and capable of transmitting / receiving information to / from each other, and connected to the processing unit and performing arithmetic processing on the processing unit In a control system having a plurality of control devices each including at least one processing unit, a communication unit, and the storage unit among a plurality of storage units in which programs to be executed are stored,
The storage unit includes at least a first program that is the program that causes the self-device processing unit, which is the processing unit included in the control device of the self provided with the storage unit, to perform arithmetic processing, and the control of the self A second program that is the program that causes the self-device processing unit to perform the same arithmetic processing as the program that causes the other device processing unit that is the processing unit included in the control device different from the device to perform the arithmetic processing. Has been
The self device processing unit performs arithmetic processing only by the first program when the other device processing unit is normal, and performs arithmetic processing by the first program and the second program when the other device processing unit is abnormal. ,
Further, when the other device processing unit is abnormal, information is transmitted between the communication unit included in the control device provided with the self device processing unit and the communication unit included in the control device provided with the other device processing unit. The control device provided with the other device processing unit is activated by the second program stored in the storage unit included in the control device provided with the self device processing unit. Control system characterized by. Further, a plurality of the second programs that perform the same arithmetic processing as the program for one other device processing unit are stored in the plurality of storage units,
When the other device processing unit is abnormal, the plurality of second programs are connected to the plurality of storage units in which the second program is stored for each arithmetic processing procedure in the second program. The control system according to claim 4, wherein arithmetic processing is performed by any one of the device processing units of the device processing units.

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