JP2007124680A - Data transmission method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a data transmission method with which data can be properly exchanged between control devices in a control system wherein control devices each for controlling a process are connected via a network. <P>SOLUTION: In the case of transmitting data from a control device constructed from a controller and a transmitter to another control device via a network constructed from one transmission line, if reception data equal with or more than a fixed number are received from the network in a concentrated manner within a predetermined time, the receiving-side control device stops receiving data from the network and after the lapse of a fixed time, data reception prohibition is canceled. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a data transmission method for transmitting and receiving data between control devices in a control system in which control devices for controlling processes are connected via a network.

  For example, in a power plant or a power transmission / distribution plant, a plurality of control devices are provided, and these control devices are connected via a network so that data is transmitted and received between the control devices.

  FIG. 12 is a configuration diagram of a control system in which two control devices are connected to a network having a duplexed transmission path. The control devices 1a and 1b are respectively composed of control controllers 2a and 2b and transmission devices 3a and 3b. Each transmission device 3a and 3b is connected by a network 11 composed of redundant transmission lines 10a and 10b. Has been. A case where data is transmitted from the control device 1a to the control device 1b in such a control system will be described.

  Now, let the transmission side control device be the control device 1a and the reception side control device be the control device 1b. The control controller 2a of the transmission side control device 1a creates the latest process data by the control calculation process. The transmission device 3a of the transmission side control device 1a receives the latest process data created by the control arithmetic processing of the control controller 2a for each transmission cycle, and transmits it to the network 11 constituted by the transmission paths 10a and 10b.

The transmission device 3b of the reception side control device 1b receives data from the transmission lines 10a and 10b constituting the network 11, and inputs the received data to the control controller 2b. In this way, data transmission is performed between the control devices 1a and 1b.

  FIG. 13 is a flowchart showing a transmission processing procedure of the transmission apparatus 3a on the transmission side. The transmission-side transmission device 3a monitors the data transmission cycle (S100). When the data transmission cycle is detected, the latest process data is input from the controller 2a as transmission data to the transmission memory (S101). Next, one transmission path is selected from the redundant transmission paths 10a and 10b of the network 11 (S102), and data transmission is executed for the selected transmission path (S103). Then, it is determined whether or not the transmission has been made to all the redundant transmission lines 10a and 10b (S104), and Steps S3 to S5 are repeatedly executed until the transmission to all the transmission lines 10a and 10b is completed.

  FIG. 14 is a flowchart showing a reception processing procedure of the reception-side transmission apparatus 3b. The receiving side transmission device 3b determines whether or not data is received from any of the transmission paths 10a and 10b of the network 11 (S200). When data reception is detected, the received data is input to the reception memory ( S201).

  Next, it is determined whether or not the control cycle of the receiving-side controller 2b has been detected (S202). When the control cycle of the receiving-side control controller 2b is detected, the latest reception that has been input to the receiving memory up to that point is detected. Data is output to the controller 2b (S203).

  In this way, in the control system shown in FIG. 12, the transmission device 3a of the transmission side control device 1a transmits data to all the transmission paths 10a and 10b of the network 11, and the transmission device 3b of the reception side control device 1b. In this case, data is received from any one of the transmission paths 10a and 10b.

  FIG. 15 is a configuration diagram of a control system in which two control devices are connected to a network having one transmission path. The control devices 1a and 1b are respectively configured by control controllers 2a and 2b and transmission devices 3a and 3b. Each transmission device 3a and 3b is connected by a network 11 configured by a single transmission path 10. A case where data is transmitted from the control device 1a to the control device 1b in such a control system will be described.

  The control controller 2a of the transmission side control device 1a creates the latest process data by the control calculation process. The transmission device 3a of the transmission-side control device 1a receives the latest process data created by the control arithmetic processing of the control controller 2a for each transmission cycle, and transmits it to the network 11 configured by the transmission path 10.

  In the transmission device 3b of the reception-side control device 1b, data is received from the transmission path 10 constituting the network 11, and the received data is input to the control controller 2b. In this way, data transmission is performed between the control devices 1a and 1b.

  FIG. 16 is a flowchart showing a transmission processing procedure of the transmission apparatus 3a on the transmission side. The transmission-side transmission device 3a monitors the data transmission cycle (S100). When the data transmission cycle is detected, the latest process data is input from the controller 2a as transmission data to the transmission memory (S101). Next, the count value of the transmission cyclic counter is incremented (S102), added to the transmission data (S103), and then data transmission is executed to the transmission line 10 (S110).

  FIG. 17 is a flowchart showing the reception processing procedure of the reception-side transmission apparatus 3b. The receiving side transmission device 3b determines whether or not there is data reception from the transmission line 10 of the network 11 (S200). When data reception is detected, the count value of the cyclic counter added to the received data is extracted (S201). ), And compared with the count value of the previous reception counter (S202).

  If the count value of the cyclic counter in the received data is larger, the received data is input to the reception memory (S203), and the count value of the cyclic counter in the received data at this time is set to the next time. It is stored in the previous reception counter for comparison (S204).

  On the other hand, if the count value of the cyclic counter of the received data is equal to or smaller than the count value of the previous reception counter in the determination of step S202, the process of steps S203 and S204 is passed without inputting the received data. That is, the received data is discarded.

  Thereafter, it is determined whether or not a control cycle with the controller 2b has been detected (S210). If the control cycle has been detected, the latest received data input to the reception memory is output to the controller 2b ( S211).

  As described above, in the control system shown in FIG. 15, the transmission device 3a of the transmission side control device 1a transmits the transmission data with the cyclic count value added thereto, and the reception side control device 1b receives the signal from the transmission line 10. The latest process data is received by determining the count value of the received data.

  FIG. 18 is a configuration diagram of a control system in which three control devices are connected to a network having one transmission path. The control devices 1a, 1b, and 1c are configured by control controllers 2a, 2b, and 2c and transmission devices 3a, 3b, and 3c, respectively, and each transmission device 3a, 3b, and 3c is configured by one transmission line 10. The network 11 is connected. A case where data is transmitted from the control devices 1a and 1b to the control device 1c in such a control system will be described.

  The control controllers 2a and 2b of the transmission side control devices 1a and 1b create the latest process data by the control calculation process. The transmission devices 3a and 3b of the transmission side control devices 1a and 1b receive the latest process data created by the control arithmetic processing of the control controllers 2a and 2b for each transmission cycle, and transmit them to the network 11 configured by the transmission path 10. .

  In the transmission device 3c of the reception-side control device 1c, data is received from the transmission path 10 constituting the network 11, and the received data is input to the control controller 2c. In this way, data transmission is performed between the control devices 1a and 1b and the control device 1c.

  FIG. 19 is a flowchart showing a transmission processing procedure of the transmission apparatus 3a on the transmission side. The transmission-side transmission device 3a monitors the data transmission cycle (S100). When the data transmission cycle is detected, the latest process data is input from the controller 2a as transmission data to the transmission memory (S101). And data transmission is performed with respect to the transmission line 10 (S110).

  FIG. 20 is a flowchart illustrating a reception processing procedure of the reception-side transmission apparatus 3b. The receiving side transmission device 3b determines whether or not there is data reception from the transmission line 10 of the network 11 (S200). When data reception is detected, the reception data is input to the reception memory (S201).

  Next, it is determined whether or not the control cycle of the receiving-side controller 2b has been detected (S202). When the control cycle of the receiving-side control controller 2b is detected, the latest reception that has been input to the receiving memory up to that point is detected. Data is output to the controller 2b (S203).

  As described above, in the control system shown in FIG. 18, the transmission devices 3a and 3b of the transmission side control devices 1a and 1b transmit data to the transmission line 10 of the network 11, and the transmission device 3c of the reception side control device 1c. Then, data is received from the transmission line 10. As a result, the latest process data created by the control devices 1a and 1b is transmitted to the control device 1c.

  FIG. 21 is a configuration diagram of a control system in which two control devices whose components are duplicated are connected to a network having one transmission path. The control devices 1a and 1b are duplicated, and the control device 1a includes control controllers 21a and 21b and transmission devices 31a and 31b. The control device 1b includes the control controllers 22a and 22b and the transmission device 32a. , 32b. The transmission devices 31a and 31b and the transmission devices 32a and 32b are connected by a network 11 constituted by a single transmission line 10, and in the redundant control devices 1a and 1b, the plant is controlled by the control controllers 21a and 22a which are main systems. Is controlled. A case where data is transmitted from the control device 1a to the control device 1b in the duplex operation state in such a control system will be described.

  The control controllers 21a and 21b of the transmission-side control device 1a with the redundant (duplicated) components create the latest process data through the control calculation process. The transmission devices 31a and 31b of the transmission-side control device 1a receive the latest process data created by the control arithmetic processing of the control controllers 21a and 21b for each transmission period, and transmit the latest process data to the network 11 configured by the transmission path 10.

  The transmission devices 32a and 32b of the reception-side control device 1b receive data from the transmission path 10 that configures the network 11, and input the received data to the control controllers 22a and 22b. In this way, data transmission is performed between the control devices 1a and 1b.

  FIG. 22 is a flowchart showing a transmission processing procedure of the transmission apparatuses 31a and 31b. The transmission-side transmission devices 31a and 31b monitor the data transmission cycle (S100). When the data transmission cycle is detected, the latest process data is input as transmission data from the control controllers 21a and 21b to the transmission memory ( S101). Further, the redundant operation state (main system / secondary system) of the controller 21a, 21b is input (S102), and the redundant operation state (main system / secondary system) is added to the transmission data (S103). That is, the master data is added as a redundant operation state to the transmission data created by the control controller 21a which is the master system, and the slave data is set as the redundancy operation state to the transmission data created by the control controller 21b which is the slave system. Is added. And data transmission is performed with respect to the transmission line 10 (S110).

  FIG. 23 is a flowchart showing a reception processing procedure of the reception-side transmission apparatuses 32a and 32b. The receiving side transmission devices 32a and 32b determine whether or not there is data reception from the transmission path 10 of the network 11 (S200), and when data reception is detected, the transmission side control controllers 21a and 21b added to the received data. The redundant operation state is taken out (S201).

  Next, it is determined whether or not the redundant operation state in the received data is the main system (S202). If the redundant operation state is the main system, the received data is input to the reception memory (S203). When the redundant operation state is a secondary system, the received data is not input. Thereafter, the control cycle of the controller 22a, 22b is determined (S210). When the control cycle is reached, the latest received data input to the reception memory is output to the controller 22a, 22b (S211). .

  Thus, in the control system shown in FIG. 21, the transmission devices 31a and 31b of the transmission-side control device 1a transmit data to the transmission path 10 of the network 11, and the transmission devices 32a and 32b of the reception-side control device 1b. In this case, data is received from the transmission line 10 when it is the main system. As a result, the latest process data created by the control device 1a is transmitted to the control device 1b.

  FIG. 24 is a configuration diagram of a control system in which a plurality of control devices including an asynchronous duplication control device and a monitor display device are connected to a hierarchical network constituted by one transmission path. Asynchronous duplex control devices 1a and 1b are respectively composed of control controllers 2a and 2b and transmission devices 3a and 3b. Each transmission device 3a and 3b is connected by a network 11 composed of one transmission line 10. Has been. Further, the control device 1c is configured by a control controller 2c and transmission devices 3c and 3d. The transmission device 3c is connected to a network 11 configured by a transmission path 10, and the transmission device 3d is configured by a transmission path 15. Connected to the connected network 16. Furthermore, the monitor display device 18 is connected to a network 16 constituted by a transmission path 15. A case where data is transmitted from the control devices 1a and 1b to the control device 1c and the monitoring display device 18 in such a control system will be described.

  The control controllers 2a and 2b of the transmission side control devices 1a and 1b create the latest process data by the control calculation process. The transmission devices 3a and 3b of the transmission side control devices 1a and 1b receive the latest process data created by the control arithmetic processing of the control controllers 2a and 2b for each transmission cycle, and transmit them to the network 11 configured by the transmission path 10. .

  Here, since the control devices 1a and 1b are asynchronous duplex control devices and perform the same control calculation processing, the data to be transmitted from the transmission devices 3a and 3b to the network 11 configured by the transmission path 10 is The same data, there is no distinction between main / subordinate.

  In the transmission device 3c of the reception-side control device 1c, data is received from the transmission path 10 constituting the network 11, and the received data is input to the control controller 2c. In this way, data transmission is performed between the control devices 1a and 1b and the control device 1c.

  On the other hand, the transmission device 3d of the control device 1c receives from the control controller 2c the data of both systems of the asynchronous duplex 1 system / 2 system received by the transmission device 3c from the transmission devices 3a, 3b of the network 11 for each transmission period. Then, the data is transmitted to the network 16 constituted by the transmission path 15. The monitor / display device 18 receives the data of both asynchronous and redundant 1-system / 2-system from the transmission line 15 constituting the network 16 and switches and displays the data on its own monitor / display device 18.

  In this way, in the control system shown in FIG. 24, the transmission devices 3a and 3b of the asynchronous transmission side control devices 1a and 1b transmit data to the transmission line 10 of the network 11, and the transmission of the reception side control device 1c. The device 3c receives data from the transmission line 10. Then, data is transmitted from the transmission device 3d to the transmission path 15 of the network 16, and the data is transmitted to the monitoring display device 18. As a result, the latest process data created by the control devices 1 a and 1 b is transmitted to the control device 1 c and the monitoring display device 18.

  FIG. 25 is a configuration diagram of a control system in which a plurality of redundant (redundant) control devices are connected to a network having a redundant (redundant) transmission path. Redundant control devices 1a and 1b are composed of control controllers 2a and 2b and transmission devices 3a and 3b. Each transmission device 3a and 3b is connected to a network 11 of redundant transmission lines 10a and 10b. ing. The redundant control devices 1c and 1d are composed of control controllers 2c and 2d and transmission devices 3c and 3d. Each transmission device 3c and 3d is connected to the network 11 of the redundant transmission lines 10a and 10b. It is connected. In the redundant control devices 1a and 1b, the plant is controlled by the control controller 2a of the control device 1a in which the redundant (redundant) operation state is the main system. A case where data is transmitted from the control devices 1a and 1b to the control devices 1c and 1d in the redundant operation state in such a control system will be described.

  In FIG. 25, the transmission devices 3a and 3b of the redundant transmission side control devices 1a and 1b receive the latest process data created by the control arithmetic processing of the redundant control controllers 2a and 2b for each transmission cycle. It transmits to the network 11 comprised by the transmission lines 10a and 10b. Further, the transmission devices 3c and 3d of the redundant receiving side control devices 1c and 1d input data received from the transmission lines 10a and 10b constituting the network 11, and output them to the redundant control controllers 2c and 2d. Thus, data transmission is performed between the control devices 1a and 1b and the control devices 1c and 1d.

  FIG. 26 is a detailed block diagram of the receiving side control devices 1c and 1d in FIG. The receiving main transmission device 3c of the receiving control device 1c, which is a redundant main system, outputs data to the arithmetic input memory 6c of the main controller 2c via the shared memory 4c. The main system controller 2c executes the control calculation process 26 based on the data in the calculation input memory 6c, and outputs the result to the calculation result memory 7c.

  Similarly, the slave transmission device 3d of the reception-side control device 1d, which is a redundant slave device, outputs data to the arithmetic input memory 6d of the standby controller 2d via the shared memory 4d. The reception-side controller 2d performs a control calculation process 26 based on the data in the calculation input memory 6d, and outputs the result to the calculation result memory 7d.

  The contents of the calculation input memory 6c of the master controller 2c are tracked by the tracking process 27 in the calculation input memory 6d of the slave controller 2d. For this reason, the memory contents of the master controller 2c and the slave controller 2d always match.

  As described above, in the control system shown in FIG. 25, the transmission devices 3a and 3b of the transmission side control devices 1a and 1b transmit data to the transmission paths 10a and 10b of the network 11, and receive side control devices 1c and 1d. The transmission devices 3c and 3d receive data from the transmission lines 10a and 10b, respectively. Then, by the tracking process 27, the memory contents of the master controller 2c and the slave controller 2d are matched.

  However, the data transmission method in such a control system has the following problems. In the data transmission method in the control system shown in FIG. 12, as shown in FIG. 13, since the transmission apparatus 3 a performs data transmission to both the transmission paths 10 a and 10 b of the network 11, The processing load on both the transmission device 3a and the reception-side transmission device 3b increases. That is, since data transmission is performed with respect to a plurality of redundant transmission paths 10a and 10b, the transmission side transmission apparatus 3a and the reception side transmission apparatus increase as the number of redundant transmission paths 10 increases. Both processing loads of 3b increase and processing congestion occurs. This processing congestion can be avoided by setting the data transmission cycle to the network 11 to a long time, but this causes a problem that the responsiveness of the entire process control network 11 is lowered.

  In the data transmission method in the control system shown in FIG. 15, as shown in FIG. 17, only when the count value of the cyclic counter of received data is larger than the count value of the previous reception counter in the reception process of the receiving side transmission apparatus 3b. Since the data is input as “updated data”, the data transmission between the control devices is stopped when the cycle counter is always smaller than the count value of the previous reception counter. There is a problem of end.

  In the data transmission method in the control system shown in FIG. 18, one or more transmission devices 3a and 3b out of the plurality of transmission devices 1a and 1b are in an abnormal operation, and are in a state where continuous data transmission processing is performed. If it falls, the reception-side transmission device 3c causes a traffic jam in the processing of the abnormal reception data. That is, when a traffic jam occurs, the transmission data from the transmitting transmission devices 3a and 3b that are normally transmitted cannot be received by the receiving transmission device 3c. As a result, there is a problem that the latest transmission data of the transmission-side control controllers 3a and 3b performing the repetitive calculation cannot be received.

  In the data transmission method in the control system shown in FIG. 21, process data is transmitted to the transmission line 10 from all the redundant transmission devices 31a and 31b of the transmission side control device 1a. As the number of control devices 1 connected to the network 11 increases, retransmission due to a data transmission collision occurs. Thereby, there exists a problem that the responsiveness of the data transmission between control apparatus 1a, 1b falls.

  In the control system shown in FIG. 24, the asynchronous duplex control devices 1a and 1b are configured to prevent malfunction and malfunction of the interlock signal, but the network 16 has a large number of monitoring display signals. Since the two data having the same contents received from both the asynchronous duplex 1-system and 2-system are switched and displayed on the display device 18 side, the transmission amount of the networks 11 and 16 increases, and the performance of the networks 11 and 16 increases. There is a problem that will decrease.

  As shown in FIG. 26, the data transmission method in the control system shown in FIG. 25 is performed by tracking the calculation input memory 6c of the master controller 2c to the calculation input memory 6d of the slave controller 2d. The internal memories of the master controller 2c and the slave controller 2d are made to coincide with each other. For example, as shown in FIG. 27, the transmission paths of the transmission devices 3a and 3b and the slave transmission device on the reception side When the 3d transmission line is in a transmission line failure state, when switching between the main system and the slave system occurs, there is a problem that the contents of the calculation result memory change suddenly.

  An object of the present invention is to provide a data transmission method capable of appropriately transmitting and receiving data between control devices in a control system in which control devices that control processes are connected via a network.

  The data transmission method according to the invention of claim 1 is a data transmission method for transmitting data from a control device constituted by a control controller and a transmission device to another control device via a network constituted by one transmission path. The reception-side control device prohibits data reception from the network when a predetermined number or more of received data is centrally received within a predetermined time from the network, and cancels the data reception prohibition after a predetermined time has elapsed. Features.

  In the data transmission method according to the first aspect of the present invention, when the transmission device of the reception side control device centrally receives a predetermined number or more of data within a predetermined time, the transmission device from the network for a certain period of time. Data reception is prohibited. As a result, the abnormal data is discarded, and no congestion occurs in the data reception process in the transmission apparatus. It is also possible to receive data from data that is normally transmitted.

  According to the second aspect of the present invention, there is provided a data transmission method in which a redundant control device constituted by a plurality of control controllers and a plurality of transmission devices is made redundant through a network constituted by one transmission line. In the data transmission method for transmitting data to the control device, the redundant transmission side control device transmits the redundant operation state and transmission data when the redundant operation state of the self is the main system, When the activated operation state is a subordinate system, only the redundant operation state is transmitted.

  In the data transmission method according to the invention of claim 2, when the operation state of the redundant control device is the main system, the redundant operation state and data are transmitted, and the operation state of the control device is the sub system Only the redundant operation state is transmitted. Thereby, in the transmission device of the receiving side control device, it is possible to monitor the operation state of the transmission device values of all redundant transmission side control devices and to reduce the traffic on the network. Therefore, the number of redundant control devices that can be connected to the same network can be increased.

  According to a third aspect of the present invention, there is provided a data transmission method in which two asynchronous control devices, each of which is composed of a control controller and a transmission device, are duplicated via a network composed of one transmission line. In the data transmission method for transmitting data to the control device, the reception-side control device is based on the 1st / 2nd system failure state and the 1st / 2nd system manual selection signal state in the asynchronous duplex transmission side control device, Received data from a normal system of the 1 system / 2 system is input.

  In the data transmission method according to the third aspect of the present invention, the receiving side control device uses the same data received from both the 1st system and the 2nd system of the asynchronous duplexing transmitting side control device as a failure of the transmitting side control device. Depending on the status and the 1/2 manual selection signal status, switching is performed so that normal data is input. As a result, the data having the same content can be narrowed down to one, the transmission amount on the network can be reduced, and the network performance deterioration can be prevented.

  According to a fourth aspect of the present invention, there is provided a data transmission method through a network constituted by transmission lines multiplexed from respective control devices duplicated by two control devices constituted by a control controller and a transmission device. In the data transmission method for transmitting data to the redundant control device, the redundant reception side control device inputs the data from the transmission side control device to the shared memory of its own transmission device, and the contents of the shared memory Is temporarily stored in the reception buffer of its own controller, and it is monitored whether or not the transmission path between its own transmission apparatus and the transmission apparatus on the transmission side is in a normal state. The data received from the transmission device on the transmission side is transferred to the calculation input memory of the control controller from the control controller. Characterized in that the use memory perform the tracking process.

  In the data transmission method according to the invention of claim 4, the contents of the reception buffer are monitored only when the transmission failure state of the transmission line between the own transmission device and the transmission device of the transmission side control device is monitored and determined to be normal. Is transferred to the calculation input memory of the control controller. As a result, even when the master / slave switching of the receiving-side control device occurs when there is a transmission path failure between the slave transmission device of the receiving-side control device and the transmission device of the sending-side control device. As a result, the contents of the calculation result memory do not change suddenly, and the control for maintaining the current state can be continued.

  As described above, according to the present invention, it is possible to appropriately transmit and receive data between control devices in a control system in which control devices that control processes are connected via a network.

  According to the first aspect of the present invention, even when an abnormal transmission apparatus exists on the network and a large amount of data is transmitted, no congestion occurs in the data reception process in the transmission apparatus, and Data from the data being transmitted can also be received.

  According to the second aspect of the present invention, since it is possible to monitor the operation state of all of the redundant transmission side transmission values in the reception side transmission apparatus as in the prior art and to reduce traffic on the network, It is possible to increase the number of redundant control devices that can be connected to the.

  According to the invention of claim 3, two data having the same contents received from both systems of the transmission side control device 1 / system 2 of the asynchronous duplex are used as the failure state of the transmission side control device and the system 1/2 system manual selection signal. By switching according to the state and narrowing down two pieces of data with the same content to one, it is possible to reduce the amount of transmission on the network and prevent a decrease in network performance.

  According to the fourth aspect of the present invention, when switching between the master / slave system of the reception-side control device occurs when the reception-side slave transmission device and the transmission-side transmission device are in a transmission path failure state. However, the contents of the calculation result memory do not change suddenly, and the control for maintaining the current state can be continued.

  Embodiments of the present invention will be described below. FIG. 1 is a flowchart showing a transmission processing procedure of the data transmission method according to the first embodiment of the present invention. This first embodiment shows a transmission processing procedure when data is transmitted from the control device 1a to the control device 1b in the control system shown in FIG. 12, and redundant data transmission is performed for each transmission cycle. This is performed by sequentially switching the converted transmission paths.

  In FIG. 1, the transmission device 3a monitors the data transmission cycle (S100), and when the data transmission cycle is detected, the latest process data is input from the controller 2a as transmission data to the transmission memory (see FIG. 1). S101).

  Next, the count value of the transmission transmission path selection counter is incremented (S102), the remainder obtained by dividing the incremented transmission transmission path selection counter value by the number of redundant transmission paths is obtained, and the remainder transmission path is determined. Information for performing data transmission is set (S103). Then, the transmission data input in step S101 is transmitted to the transmission path determined in step S103 (S105).

  For example, when the redundant transmission path is a duplex system, the remainder is obtained by dividing the count value of the transmission path selection counter by 2. In this case, the remainder is 0 or 1. When the remainder is 0, the transmission data is output to the transmission line 10a, which is the 0th transmission line, and when the remainder is 1, the transmission data is output to the transmission line 10b, which is the first transmission line.

  Thereafter, the processing from step S100 to step S105 is repeatedly executed for each transmission cycle. As a result, data transmission performed for each transmission cycle can be sequentially switched and transmitted to each redundant transmission path.

  On the other hand, the data reception process in the receiving side transmission apparatus 3b is to execute the reception process shown in FIG. 14 as in the prior art. Whenever data is received from the network 11, the transmission data is input and controlled. It outputs to the controller 2b for every period. Thereby, the data transmission from the control apparatus 1a to the control apparatus 1b is implemented.

  According to the first embodiment, data transmission is performed by switching the transmission path to be transmitted among the redundant transmission paths for each transmission cycle, so that the minimum amount of transmission processing / reception processing in the transmission apparatus is performed. It becomes possible to process in time.

  Therefore, it is possible to transmit a large amount of process data per unit time while using the redundant transmission path without waste. In addition, when focusing on one of the redundant transmission paths, the amount of data transmitted using the transmission path per unit time decreases, so the traffic (transmission volume) on the transmission path can be reduced. It becomes.

  Next, a second embodiment of the present invention will be described. FIG. 2 is a flowchart showing a transmission processing procedure of the data transmission method according to the second embodiment of the present invention. This second embodiment shows a transmission processing procedure in the case where data is transmitted from the control device 1a to the control device 1b in the control system shown in FIG. 12, and the first embodiment shown in FIG. In step S104, a failure of the redundant transmission line is determined, and when a failure is detected, data is transmitted to a normal transmission line.

  In FIG. 2, the transmission device 3a monitors the data transmission cycle (S100), and when the data transmission cycle is detected, the latest process data is input from the controller 2a as transmission data to the transmission memory (see FIG. 2). S101).

  Next, the count value of the transmission transmission path selection counter is incremented (S102), the remainder obtained by dividing the incremented transmission transmission path selection counter value by the number of redundant transmission paths is obtained, and the remainder transmission path is determined. Information for performing data transmission is set (S103).

  Then, it is determined whether or not the transmission path determined in step S103 is normal (S104). If the transmission path is not normal, the process returns to step S102. If the transmission path is normal, the process returns to step S103. The transmission data input in step S101 is transmitted to the determined transmission path (S105).

  Thereafter, the processing from step S100 to step S105 is repeatedly executed for each transmission cycle. Thereby, the data transmission performed for every transmission cycle can be performed by sequentially switching only the healthy transmission paths among the redundant transmission paths.

  According to the second embodiment, when there is an abnormality in any of the redundant transmission paths, data is transmitted using only the normal transmission path, so that the controllability and responsiveness of the entire system are achieved. Can be suppressed.

  Next, a third embodiment of the present invention will be described. FIG. 3 is a flowchart showing a reception processing procedure of the data transmission method according to the third embodiment of the present invention. This third embodiment shows a reception processing procedure when data is transmitted from the control device 1a to the control device 1b in the control system shown in FIG. 15, and in the data transmission processing of the transmission device on the transmission side. The data after the cyclic counter to be added has completed one round can be normally received.

  The transmission process in the transmission apparatus 3a is the same as the conventional transmission process shown in FIG. That is, as shown in FIG. 16, when the transmission cycle is detected (S100), the latest process data is input from the controller 2a as transmission data to the transmission memory (S101), and the transmission cyclic counter is incremented ( After adding to the transmission data (S102), data transmission is executed to the transmission line 10 (S110).

  Here, since the transmission cyclic counter is updated by the increment process, it automatically updates to 1, 2, 3,... After the initial value (= 0) automatically after one round. To go. Thereafter, data transmission is performed for each transmission cycle by repeatedly executing the processing from step S100 to step S110 for each transmission cycle.

  When the cyclic counter makes a round, the transmission apparatus on the transmission side transmits the initial value (= 0) of the cyclic counter, and then transmits the transmission data at the initial value (= 0) of the cyclic counter.

  On the other hand, the reception process in the reception side transmission apparatus 3b is performed according to the reception process procedure shown in FIG. In FIG. 3, the receiving side transmission apparatus 3b monitors data reception (S200), and when receiving data from the transmission line 10 is detected, the value of the cyclic counter added to the received data is extracted (S201). Then, it is checked whether or not the value of the cyclic counter is the initial value (= 0) (S202).

  If the value of the cyclic counter in the reception data is other than the initial value (= 0), the previous reception counter value of the previous reception counter is compared (S203), and the value of the cyclic counter in the reception data is greater. If it is larger (in the case of updated new data), the received data is input to the reception memory (S204). Then, the value of the cyclic counter in the reception data at this time is stored in the previous reception counter (S205), and used as the previous reception count value for the next comparison.

  On the other hand, if the value of the cyclic counter in the received data is the initial value (= 0) in the process of step S202, the process proceeds to step S205. That is, it is determined that the cyclic counter on the transmission side has completed a cycle, and the received cyclic count value (= 0) is stored in the previous reception counter for comparison so that the next reception data can be input (S205). ).

  In the process of step S203, if the value of the cyclic counter of the received data is the same as or smaller than the count value of the previous reception counter, the received data is not input (the received data is discarded), and the next The process proceeds to step S210.

  In the process of step S210, it is checked whether or not a control cycle with the control controller has been detected (S210). If the control cycle is detected, the latest received data input to the reception memory is sent to the control controller 2b. Output (S210).

  In the above description, when the initial value (= 0) is detected by checking whether the value of the cyclic counter of the received data is the initial value (= 0) in the process of step S202, the cycle in the received data is detected. Although the value of the click counter is stored in the previous reception counter as the previous reception count value for the next comparison, the procedure may be shifted to the process of inputting the received data to the reception memory (S204).

  According to the third embodiment, when the cyclic counter added in the data transmission process in the transmission apparatus on the transmission side makes a round, the transmission data whose cyclic counter value is the initial value (= 0) is transmitted and received. In the data reception process of the side transmission apparatus, when the reception data of the initial value (= 0) of the cyclic counter is received, the previous reception counter of the reception side transmission apparatus is initialized (= 0). It is possible to normally receive the received data transmitted after the counter makes a round.

  Next, a fourth embodiment of the present invention will be described. FIG. 4 is a flowchart showing a transmission processing procedure of the data transmission method according to the fourth embodiment of the present invention. The fourth embodiment shows a transmission processing procedure when data is transmitted from the control device 1a to the control device 1b in the control system shown in FIG. 15, and in the transmission processing of the transmission device 3a. When the value of the cyclic counter to be added is completed, transmission data of the initial value (= 0) of the cyclic counter is transmitted a plurality of times.

  That is, when the receiving side transmission apparatus 3b operates according to the reception processing procedure shown in FIG. 3, the data of the initial value (= 0) of the cyclic counter transmitted by the transmitting side transmission apparatus is received due to some transmission abnormality. When the transmission apparatus cannot receive the data, the reception-side transmission apparatus 3b cannot set the count value of the previous reception counter to the initial value, and the data transmission between the control apparatuses thereafter stops. It corresponds to.

  In FIG. 4, the transmission apparatus 3a monitors the data transmission cycle (S100), and when the data transmission cycle is detected, the latest process data is input from the controller 2a as transmission data to the transmission memory (see FIG. 4). S101). Then, the count value of the transmission transmission path selection counter is incremented (S102) and added to the transmission data (S103).

  Next, it is checked whether or not the value of the cyclic counter for transmission is an initial value (= 0) (S105). If the value is other than the initial value (= 0), data transmission is executed to the transmission line 10 (S110). ). On the other hand, if the value of the cyclic counter for transmission is the initial value (= 0), data transmission is performed a plurality of times on the transmission line 10 (S111 to S113). For example, data transmission is performed five times continuously. Execute. Thereafter, data transmission is performed for each transmission cycle by repeatedly executing the processing of steps S100 to S113 for each transmission cycle.

  On the other hand, the data reception process in the receiving side transmission apparatus 3b is the same as the third embodiment, and the process described in FIG. 3 is performed, and the data is input every time data is received from the network 11. And it outputs to the control controller 2b for every control period.

  According to the fourth embodiment, when the cyclic counter added in the transmission process of the transmission apparatus on the transmission side makes a round, the transmission data of the initial value (= 0) of the cyclic counter is transmitted a plurality of times. Even if a transient transmission error occurs on the path 10, the receiving side transmission apparatus 3b can set the count value of the previous reception counter to the initial value, and the cyclic counter that is transmitted after that has completed one round. Data can be received normally.

  Next, a fifth embodiment of the present invention will be described. FIG. 5 is a flowchart showing a reception processing procedure of the data transmission method according to the fifth embodiment of the present invention. The fifth embodiment shows a reception processing procedure when data is transmitted from the control device 1a to the control device 1b in the control system shown in FIG. 15, and is equal to or less than a predetermined threshold value. When the value of the cyclic counter is received, it is determined that the cyclic counter has made a round, and the value of the cyclic counter is set in the previous reception counter of the receiving side transmission apparatus 3b.

  In FIG. 5, the receiving side transmission apparatus 3b monitors data reception (S200), and when the reception of data from the transmission line 10 is detected, the value of the cyclic counter added to the received data is extracted (S201). Then, it is checked whether or not the value of the cyclic counter is the initial value (= 0) (S202).

  If the value of the cyclic counter in the reception data is other than the initial value (= 0), the previous reception counter value of the previous reception counter is compared (S203), and the value of the cyclic counter in the reception data is greater. If it is larger (in the case of updated new data), the received data is input to the reception memory (S204). Then, the value of the cyclic counter in the reception data at this time is stored in the previous reception counter (S205), and used as the previous reception count value for the next comparison.

  Here, in the process of step S203, if the value of the cyclic counter of the reception data is the same as or smaller than the count value of the previous reception counter, the value of the cyclic counter of the reception data is further determined in advance. It is checked whether it is less than the value (S207). If the value of the cyclic counter is less than or equal to the threshold value, it is determined that the cyclic counter of the transmitting side transmission device has made a round, and the received data is input to the reception memory (S204). If it is larger than the threshold value, the received data is not input (the received data is discarded), and the process proceeds to the next step S210.

  On the other hand, if the value of the cyclic counter in the received data is the initial value (= 0) in the process of step S202, the process proceeds to step S205. That is, it is determined that the cyclic counter on the transmission side has completed a cycle, and the received cyclic count value (= 0) is stored in the previous reception counter for comparison so that the next reception data can be input (S205). ).

  In the process of step S210, it is checked whether or not a control cycle with the control controller has been detected (S210). If the control cycle is detected, the latest received data input to the reception memory is sent to the control controller 2b. Output (S210).

  In the above description, when the initial value (= 0) is detected by checking whether the value of the cyclic counter of the received data is the initial value (= 0) in the process of step S202, the cycle in the received data is detected. Although the value of the click counter is stored in the previous reception counter as the previous reception count value for the next comparison, the procedure may be shifted to the process of inputting the received data to the reception memory (S204).

  According to the fifth embodiment, when data equal to or less than a predetermined threshold is received as the count value after one cycle of the cyclic counter, the cyclic data is cycled by inputting the received data. Later data can be received normally. In addition, there is no hindrance to the processing load on the transmission device and the increase in traffic on the network during one cycle of the cyclic counter. Can be implemented.

  Next, a sixth embodiment of the present invention will be described. FIG. 6 is a flowchart showing a reception processing procedure of the data transmission method according to the sixth embodiment of the present invention. The sixth embodiment shows a reception processing procedure when data is transmitted from the control devices 1a and 1b to the control device 1c in the control system shown in FIG. When a predetermined number or more of received data is centrally received within a predetermined time from the network, data reception from the network is prohibited and the data reception prohibition is canceled after a lapse of a certain time. The data transmission processing procedure in the transmitting side transmission apparatuses 3a and 3b is the same as the conventional processing procedure shown in FIG.

  In FIG. 6, the receiving side transmission apparatus 3b monitors data reception (S200). When reception of data from the transmission path 10 is detected, the received data is input to the reception memory (S201), and the network 11 The data reception counter from is incremented (S202).

  Next, it is checked whether or not a control cycle with the controller 2c has been detected (S210). If a control cycle has been detected, the latest received data that has been input to the reception memory is output to the controller 2c. Then, the data reception counter is cleared to 0 (S212).

  On the other hand, if the control cycle is not detected in the control cycle detection check in step S210, data is detected after the detection of the previous control cycle in order to check whether or not a large amount of data that should not have been received is received. It is checked whether or not the number of times of reception is equal to or greater than a certain number (S220). If reception of a certain number or more is detected, data reception from the network 11 is prohibited (S221), and data reception is prohibited. The time information is saved (S222).

  Next, it is checked whether or not data reception from the network 11 is currently prohibited (S225). If it is prohibited, it is further checked whether or not a certain time has passed since the reception was prohibited (S226). If this result indicates that a certain time has elapsed, data reception from the network 11 is permitted (S227). As a result, data can be received from the network 11 again, and the latest transmission data transmitted thereafter can be received. After the above process is completed, the process returns to the check process S200 with data reception from the transmission line 10 again, and thereafter the process is repeated.

  According to the sixth embodiment, if data of a predetermined number or more is received in a concentrated manner within a predetermined time, data reception from the network is prohibited for a certain period of time. Even when a transmission device exists and transmits a large amount of data, the abnormal data can be discarded. Therefore, no congestion occurs in the data reception process in the transmission apparatus, and data from data that is normally transmitted can be received.

  Next, a seventh embodiment of the present invention will be described. FIG. 7 is a flowchart showing a reception processing procedure of the data transmission method according to the seventh embodiment of the present invention. This seventh embodiment shows a transmission processing procedure when data is transmitted from the redundant control device 1a to the redundant control device 1b in the control system shown in FIG. When the self-redundant operation state is the primary system, the transmission-side control device 1a transmits the redundant operation state and transmission data, and when the self-redundant operation state is the slave system, Only the operation state is transmitted.

  In FIG. 7, the transmission devices 31a and 32b monitor the data transmission cycle (S100). When the data transmission cycle is detected, first, the redundant operation state (primary / subordinate) of the controller is input. (S101).

  Next, this redundant operation state is checked (S102). If it is the main system, the latest process data is input as transmission data from the controller 2a to the transmission memory (S102), and the redundant operation state is added to the transmission data. (S104). On the other hand, if the operation state of the controller 2a is the slave system, the transmission data is set to the redundant operation state = slave system only (S105). Thereafter, the transmission data created in the process of step S104 or step S105 is transmitted to the transmission line 10 (S110). Thereafter, data transmission is performed for each transmission cycle by repeatedly executing the processing from step S100 to step S110 for each transmission cycle.

  The reception processing of the receiving side transmission devices 32a and 32b is the same as the conventional one shown in FIG. The reception-side transmission devices 32a and 32b receive the process data transmitted from the main-side transmission device among the transmission-side transmission devices 31a and 32b, pass it to the control controllers 22a and 22b, and transmit the process data from the slave-side transmission device. By monitoring the reception state of the transmitted data (redundant operation state information), it is possible to determine whether the slave control device continues normal operation.

  According to the seventh embodiment, the transmission data from the transmission device in the redundant control device is used as the redundant operation state and process data when the redundant operation state of the redundant control device is the main system. When the redundant operation state is a slave system, only the redundant operation state is set, so that it is possible to monitor the operation state of all redundant transmission side transmission device values in the reception side transmission device as in the conventional case. In addition, the traffic on the network 11 can be reduced. For this reason, it is possible to increase the number of redundant control devices that can be connected to the same network 11.

  In the above description, in the case of a control system in which two control devices are connected to a network having a duplex transmission path (first embodiment, second embodiment), a network having one transmission path is used. In the case of a control system in which two control devices are connected (third embodiment, fourth embodiment, and fifth embodiment), three control devices are connected to a network having one transmission line. In the case of the control system (sixth embodiment), in the case of a control system in which two control devices whose components are duplicated are connected to a network having one transmission path (seventh embodiment), Although the respective data transmission methods have been described, the data transmission methods in the first to seventh embodiments can be applied to each control system.

  In this case, in the transmission process of the transmission apparatus when the control apparatus is not made redundant, the redundant operation state = main system information is added to the transmission data for transmission. As a result, a redundant control device and a non-redundant control device can be mixed and connected to the network 11, and traffic on a redundant or non-redundant transmission path can be minimized. Furthermore, the number of these control devices connected to the network 11 can be increased.

  Further, it is possible to perform normal data transmission between the control devices without increasing traffic on the network 11 during one cycle of the cyclic counter used for data transmission, and continuously transmit data on the network. Even when an abnormal device exists, transmission between normal devices becomes possible.

  Next, an eighth embodiment of the present invention will be described. FIG. 8 is a block diagram showing the processing contents of the receiving side control device 1c in the data transmission method according to the eighth embodiment of the present invention. In the eighth embodiment, in the control system shown in FIG. 24, each of the duplicated asynchronous control devices 1a, 1b is connected to another control device 1c via the network 11 constituted by one transmission line 10. The processing contents of the receiving side control device 1c in the data transmission method for transmitting data are shown, and the receiving side control device 1c is in the failure state of the 1 system / 2 system in the asynchronous duplex transmission side control devices 1a, 1b. In addition, based on the manual selection signal state of the 1 system / 2 system, the reception data from the normal system of the 1 system / 2 system is input.

  In FIG. 8, the receiving side transmission device 3c receives two data having the same contents from the asynchronous duplex transmitting side transmission devices 3a and 3b from the network 11 constituted by the transmission path 10, and outputs the data to the receiving side controller 2c. The data is stored in the reception buffers 12A and 12B, respectively.

  The reception side controller 2c is provided with a condition determination processing unit 23, a data switching processing unit 24, and an output clear processing unit 25. In the condition determination processing unit 23, the failure state and 1 system of the transmission side control devices 3a and 3b are detected. / 2 system manual selection signal state is monitored, and condition 1 and condition 2 are created based on the result. Based on condition 1, the data switching processing means 24 selects and outputs the normal one of the reception buffers 12A and 12B. Further, the output clear processing means 25 determines that both 1-system / 2-system of the transmission side control devices 1a, 1b are abnormal based on the condition 2, and clears the data.

  FIG. 9 is a circuit diagram of the condition determination logic of the condition determination processing means 23. Now, it is assumed that the transmission side control device 1b is selected as the main system. In this case, the manual selection signal of the control device 1b is input to the AND circuit 13A and the OR circuit 14.

  Further, the failure signal of the transmission side transmission device 3b is inputted to the AND circuit 13A, and the failure signal of the transmission side transmission device 3a is inputted to the OR circuit 14. Further, the AND circuit 13B is configured such that the failure signal of the transmission side transmission device 3a and the failure signal of the transmission side transmission device 3b are input to the AND circuit 13A. When both of the transmitting side transmission devices 3a and 3b are faulty, the condition 2 is satisfied by the AND circuit 13B.

  Now, when both of the transmission apparatuses 3a and 3b are normal, the output of the AND circuit 13B is “0”, so the condition 2 is not satisfied. The output of the AND circuit 13A is also “0”, and the output of the knot circuit 17A is “1”. On the other hand, since the output of the OR circuit 14A is “1”, the output of the AND circuit 13C is “1”, and the reception buffer 12B of the transmission side control device 1b selected by the manual selection signal as the condition 1 is selected.

  In this state, if the transmitting side transmission device 3b fails, the output of the AND circuit 13B is “0”, so the condition 2 is not satisfied. The output of the AND circuit 13A is “1”, and the output of the knot circuit 17A is “0”. On the other hand, since the output of the OR circuit 14 is “1”, the output is “0” of the AND circuit 13C. Accordingly, the output of the knot circuit 17B becomes “1”, and the reception buffer 12A of the transmission side control device 1a is selected. That is, when the transmission side transmission device 3b fails while the transmission side control device 1b is selected by the manual selection signal, the reception buffer 12A of the transmission side control device 1a is selected as the condition 1.

  On the other hand, when the transmission side transmission device 3a fails while the transmission side control device 1b is selected by the manual selection signal, the reception buffer 12B of the transmission side control device 1b is selected as it is as the condition 1. When both of the transmitting side transmission apparatuses 3a and 3b are faulty, the condition 2 is established by the AND circuit 13B.

  The data switching unit 24 selects the reception buffer 12 that is not faulty based on the condition 1 and outputs it to the output clear processing unit 25. The output clear processing means 25 clears the output data when the condition 2 is satisfied.

  According to the eighth embodiment, in the receiving side control device, the two data having the same contents received from both the first and second systems of the asynchronous duplexing sending side control device are stored in the failure state of the transmitting side control device. Since the switching is performed according to the manual selection signal state of the 1 system / 2 system, two data having the same contents can be narrowed down to one. In addition, it is possible to reduce the transmission amount on the network 11 and prevent the performance of the network from being lowered.

  Next, a ninth embodiment of the present invention will be described. FIG. 10 is a block diagram showing the processing contents of the receiving side control devices 1c and 1d in the data transmission method according to the ninth embodiment of the present invention. The ninth embodiment is a control apparatus on the receiving side in a data transmission method for transmitting data from redundant control apparatuses 1a and 1b to redundant control apparatuses 1c and 1d in the control system shown in FIG. The processing contents 1c and 1d are shown.

  That is, the redundant reception side control devices 1c and 1d input the data from the transmission side control devices 1a and 1b to the shared memories 4c and 4d of their own transmission devices, and the contents of the shared memories 4c and 4d are transferred to their own. The data is temporarily stored in the reception buffers 5c and 5d of the control controllers 2c and 2d, and it is monitored whether or not the transmission path between the own transmission apparatus and the transmission apparatus 3a and 3b is in a normal state. Only when the data received from the transmitting side transmission devices 3a and 3b is transferred from the reception buffers 5c and 5d to the calculation input memories 7c and 7d of the control controllers 2c and 2d, The tracking processing is performed on the arithmetic input memory of the slave control device.

  In FIG. 10, the redundant reception-side main transmission device 3c outputs data to the reception-side main controller 2c via the shared memory 4c. The reception side main controller 2c is provided with a reception buffer 5c, and the contents of the shared memory 4c of the reception side main transmission device 3c are temporarily stored in the reception buffer 5c.

  Further, the reception-side main controller 2c is provided with a buffer transfer determination processing means 20, which monitors the failure state of the transmission path between the own transmission device 3c and the transmission-side transmission devices 3a and 3b, and is normal. If it is determined that, the contents of the reception buffer 5c are transferred to the calculation input memory 6c. When the self controller is the master controller, the tracking process 27 is performed on the arithmetic input memory of the slave controller.

  Similarly, the redundant reception side slave transmission device 3d outputs data to the reception side slave control controller 2d via the shared memory 4d. The reception side secondary controller 2d is provided with a reception buffer 5d, and the contents of the shared memory 4d of the reception side secondary transmission device 3d are temporarily stored in the reception buffer 5d.

  Further, the reception side slave controller 2d is provided with a buffer transfer determination processing means 20, which monitors the failure state of the transmission path between its own transmission device 3d and the transmission side transmission devices 3a and 3b. If it is determined that there is, the contents of the reception buffer 5d are transferred to the calculation input memory 6d.

  FIG. 11 is a flowchart showing the calculation processing contents of the buffer transfer determination processing means 20. The receiving side control controllers 2c and 2d temporarily store the data from the receiving side transmission devices 3c and 3d in the receiving buffer (S100), and refer to the cyclic counter added by the transmitting side transmission device (S101).

  Next, the value of the cyclic counter when the previous data is received from the same transmission apparatus 3a, 3b is compared with the value of the cyclic counter when the current data is received (S102). If larger, the data stored in the reception buffers 5c and 5d are transferred to the calculation input memories 7c and 7d (S103). On the other hand, if not, transfer processing of the data stored in the reception buffers 5c and 5d is not performed (S104). Next, the value of the cyclic counter received this time is stored in the previous reception cyclic counter storage area (S105).

  For example, when the transmission line failure shown in FIG. 27 occurs between the own transmission apparatuses 3c and 3d and the transmission-side transmission apparatuses 3a and 3b, the shared memory 4c of the reception-side main transmission apparatus 3c transmits Although the latest process data is received from the side transmission apparatus, the shared memory 4d of the reception side secondary transmission apparatus 3d has a failure, and therefore holds the state of the process data before the failure.

  In this state, when the redundant control of the receiving side control devices 1c and 1d occurs, the latest process data from the transmitting side transmission devices 3a and 3b is stored in the arithmetic input memory before the system switching. 6c, and the control calculation processing 26 is performed with the data and the result is output. However, after the system is switched, the old process data is transferred from the shared memory 4d of the old standby transmission device 3d to the old standby control controller 2d The latest process data input to the arithmetic input memory 6d and input from the old regular system by the tracking process 27 before switching the system is rewritten to old process data. For this reason, the result of the control calculation process 26 may change suddenly.

  However, since the reception buffer 5d is provided between the shared memory 4d of the transmission device 3d and the calculation input memory 6d of the control device 2d, and the buffer transfer determination processing means 20 is provided, the transmission-side regular transmission device 3a It is possible to determine that the transmission state of is abnormal. Accordingly, the contents of the reception buffer 5d are not transferred to the calculation input memory 6d, and the contents of the calculation input memory 6d are kept tracked from the old regular system when in the old standby state. It is possible to prevent changes.

  According to the ninth embodiment, the reception buffer and the buffer transfer determination processing means are provided between the shared memory and the calculation input memory of the reception-side transmission apparatus, and the buffer transfer determination processing means uses the own transmission apparatus and The transmission failure state between the transmission side transmission device is monitored, and the content of the reception buffer is transferred to the operation input memory of the controller only when it is determined to be normal, so that the reception side secondary transmission device and the transmission side transmission device Even if there is a transmission line fault condition between and the main controller / subordinate system of the receiving side control device, the contents of the calculation result memory will not change suddenly, and the control for maintaining the current state can be performed. It is possible to continue.

The flowchart which shows the transmission processing procedure of the data transmission method which concerns on the 1st Embodiment of this invention. The flowchart which shows the transmission processing procedure of the data transmission method which concerns on the 2nd Embodiment of this invention. The flowchart which shows the reception processing procedure of the data transmission method which concerns on the 3rd Embodiment of this invention. The flowchart which shows the transmission processing procedure of the data transmission method which concerns on the 4th Embodiment of this invention. The flowchart which shows the reception processing procedure of the data transmission method which concerns on the 5th Embodiment of this invention. The flowchart which shows the reception processing procedure of the data transmission method which concerns on the 6th Embodiment of this invention. The flowchart which shows the reception processing procedure of the data transmission method which concerns on the 7th Embodiment of this invention. The block diagram which shows the processing content of the receiving side control apparatus in the data transmission method which concerns on the 8th Embodiment of this invention. The circuit diagram of the condition determination logic of the condition determination process means in 8th Embodiment of this invention. The block diagram which shows the processing content of the receiving side control apparatus in the data transmission method which concerns on the 9th Embodiment of this invention. It is a flowchart which shows the reception process of the control apparatus which shows 10th Embodiment of this invention. It is a block diagram of the conventional control system (the 1), and is a block diagram of the conventional control system which connected two control apparatuses to the network which has a duplexed transmission line. The flowchart which shows the transmission processing procedure of the conventional transmission apparatus shown in FIG. 13 is a flowchart showing a reception processing procedure of the conventional transmission apparatus shown in FIG. It is a block diagram of the conventional control system (the 2), and is a block diagram of the conventional control system which connected two control apparatuses to the network which has one transmission line. The flowchart which shows the transmission processing procedure of the conventional transmission apparatus shown in FIG. The flowchart which shows the reception processing procedure of the conventional transmission apparatus shown in FIG. It is a block diagram of the conventional control system (the 3), and is a block diagram of the conventional control system which connected three control apparatuses to the network which has one transmission line. 19 is a flowchart showing a transmission processing procedure of the conventional transmission apparatus shown in FIG. 19 is a flowchart showing a reception processing procedure of the conventional transmission apparatus shown in FIG. It is a block diagram of the conventional control system (the 4), and is a block diagram of the conventional control system which connected the two control apparatuses by which the component was duplicated to the network which has one transmission line. The flowchart which shows the transmission processing procedure of the conventional transmission apparatus shown in FIG. The flowchart which shows the reception processing procedure of the conventional transmission apparatus shown in FIG. FIG. 7 is a configuration diagram of a conventional control system (No. 5), and is a configuration of a control system in which a plurality of control devices including an asynchronous duplex control device and a monitor display device are connected to a hierarchical network constituted by one transmission line. Figure. It is a block diagram of the conventional control system (the 6), and is a block diagram of a control system in which a plurality of redundant (redundant) control devices are connected to a network having a redundant (redundant) transmission path. The block diagram of the receiving side control apparatus in the conventional control control system shown in FIG. FIG. 26 is an explanatory diagram when a failure occurs in the conventional control system shown in FIG. 25.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Control apparatus, 2 ... Control controller, 3 ... Transmission apparatus, 4 ... Shared memory, 5 ... Reception buffer, 6 ... Calculation input memory, 7 ... Calculation result memory, 10 ... Transmission path, 11 ... Network, 12 ... Reception Buffer, 13 ... AND circuit, 14 ... OR circuit, 15 ... Transmission path, 16 ... Network, 17 ... Knot circuit, 20 ... Buffer transfer judgment processing means, 21, 22 ... Control controller, 23 ... Condition judgment processing means, 24 ... Data switching processing means, 25 ... output clear processing means, 26 ... control calculation processing, 27 ... tracking processing

Claims (4)

  In a data transmission method for transmitting data from a control device constituted by a control controller and a transmission device to another control device via a network constituted by one transmission path, the reception-side control device transmits a predetermined time from the network. A data transmission method characterized by prohibiting data reception from the network when a predetermined number or more of received data is centrally received, and canceling the data reception prohibition after a predetermined time has elapsed.   In a data transmission method for transmitting data from a redundant control device configured by a plurality of control controllers and a plurality of transmission devices to another redundant control device via a network configured by one transmission path, The redundant transmission side control device transmits the redundant operation state and transmission data when its own redundant operation state is the primary system, and the redundant control state when its own redundant operation state is the secondary system. A data transmission method characterized by transmitting only the operation state.   In a data transmission method for transmitting data from each asynchronous control device duplexed by two control devices composed of a control controller and a transmission device to another control device via a network composed of one transmission path The receiving-side control device determines whether the 1-system / 2-system from the normal system based on the 1-system / 2-system failure state and the 1-system / 2-system manual selection signal state in the asynchronous-duplex transmission-side control apparatus. A data transmission method comprising inputting received data.   Data is transmitted from each control device duplexed by two control devices constituted by a control controller and a transmission device to another redundant control device via a network constituted by multiplexed transmission lines. In the data transmission method, the redundant reception side control device inputs the data from the transmission side control device to the shared memory of its own transmission device, and temporarily stores the contents of the shared memory in the reception buffer of its own control controller. Monitoring whether the transmission path between its own transmission apparatus and the transmission apparatus on the transmission side is in a normal state, and only when the transmission path is in a normal state, the transmission from the reception buffer to the calculation input memory of the controller The data received from the side transmission device is transferred, and if it is the master control device, the tracking processing is performed on the arithmetic input memory of the slave control device. Data transmission method according to claim.

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