JP2649034B2 - Control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a control device using a computer. More specifically, the present invention proposes a control device capable of processing two tasks in parallel.

[Prior art] The control of a dyeing machine mainly includes temperature control by opening and closing of a heater and cooling water, and opening and closing of a water supply / drain valve for dyeing water and a supply valve of auxiliary agents. A simple program controller is a sequence controller. It was common to control each dyeing machine individually using.

Recently, there have been many methods of centrally controlling a plurality of dyeing machines by connecting them via a program controller or a sequence controller or directly to a digital computer. This is because the centralized control makes it easy to perform computer-based management of the entire factory, such as collection and scheduling of operation data.

[Problems to be solved by the invention]

In order to centrally control a dyeing machine by a digital computer, a skilled technician and a long time are required for developing a program. Skilled technicians need not only computer technicians but also people who are familiar with dyeing and factory operations.

That is, this is a problem common to various fields when a computer is applied to control, but in the case of a dyeing machine control, it is required that the control conditions can be set and changed simultaneously while controlling the dyeing machine. Is done. To cope with this, it is necessary to develop a complicated program incorporating a large number of interrupt processing routines.

When controlling a dyeing machine, there are many control conditions that need to be set in advance, such as temperature control conditions, opening and closing control conditions for water supply and drainage valves, etc., and those condition values are changed from the settings at the start of control There must be things that must be done and we have to be prepared for it. It is preferable to change these conditions without stopping the control of the dyeing machine once started, and it is preferable that the conditions can be changed at any time when the above-mentioned situation can occur.

In the conventional program development, a main program for managing the entire program and various sub-programs (for example, a program for device control, A program for changing values, a program for recording control status, etc.), the timing of interruption to each subprogram, the method of interruption, the conditions for returning to the main program,
The timing and the like had to be designed in detail in advance to prepare for various conditions changes. In addition, if the main program and sub-programs are to be processed in parallel at the time of changing these conditions, it is necessary to assign the load status of the central processing unit (CPU) to various sub-programs and carefully consider memory management in advance. We had to develop very complex programs. Furthermore, the effects on the interrupt processing conditions are expected due to the mechanical response of the control device, etc. Even if the interrupt processing routines of the main program and each subprogram are sufficiently designed, unexpected timing deviations, etc. There is a high possibility that there will be a case where the control of the device once started has to be stopped due to the occurrence of a problem, and in order to increase flexibility such as designing and assembling an interrupt processing routine in anticipation of such an unexpected situation As a result, the interrupt processing routine is further complicated. In addition, there is a disadvantage that the maintainability of the program is significantly reduced.

By using a high-level language with a multitasking scheduler called real-time FORTRAN and real-time BASIC, the above program development effort can be reduced to some extent, but consideration must be given to the program development, such as the task division method and the timing of starting each task. There are many points to be made and development work is not easy.

The present invention has been made in view of such circumstances, and has as its object to provide a control device that can easily develop a program and can perform two tasks in parallel.

[Means for Solving the Problems] A control device according to the present invention receives an interrupt at an arbitrary point during execution of a first task for executing control on a connected control target according to a preset pattern. Means for activating a second task relating to a change or cancellation of the control parameter of the pattern when the means accepts an interrupt, and alternately execute an instruction relating to the second task and an instruction relating to the first task one by one. And a task scheduler having means for executing the task scheduler.

[Action]

When the control device performs control of a control target as a first task, for example, a change of a control pattern is performed in a second task.
When executing through tasks, both tasks are alternately executed one by one by interrupting by a predetermined operation.

〔Example〕

Hereinafter, the present invention will be described in detail with reference to the drawings showing the embodiments.

FIG. 1 is a schematic system diagram when a dyeing machine is controlled by the control device of the present invention. A digital computer 1 for performing two tasks in parallel has a timer mechanism 1 'incorporated therein. The computer 1 is connected to various external devices via an interface 2. A control pattern is input from the operation terminal 3 into which the CRT and the keyboard are incorporated, and an instruction such as the start of operation of the dyeing machine 6 is issued, and control information and instructions to the operator are displayed on the CRT. The printer 4 prints the operating conditions, control patterns, and the like. The proppy disk device 5 stores a program, a control pattern, operation status data, and the like, and can read and use the data as needed.

After supplying the dye and the auxiliary agent to the dyeing machine, the water supply valve 7 is opened and water is supplied according to the control pattern. When the water level is detected by the water level detector 13, the water supply is stopped, and the operation of the circulation pump 11 is started. I do. After the control is temporarily interrupted and the object is charged, the control is resumed, and the temperature signal from the temperature detector 8 and the time signal from the timer mechanism 1 'are read, and the heating steam valve 9, the cooling water valve and the like are read according to the control pattern. Open and close 10.
After the dyeing is completed, the drain valve 12 is opened to drain the liquid.

The computer program mounted on the digital computer 1 has a main program including a task 1 and a task scheduler which is a main part of the present invention, and a sub-program including a task 2.

The task scheduler functions as the above-described “means for accepting an interrupt” and “two stages of executing and executing one instruction at a time”.

Task 1 (first task) is for controlling the dyeing machine, and task 2 (second task) is for inputting a control pattern from the operation terminal 3 and the like.

FIG. 2 shows the flow of the task 1 program. First, for one dyeing machine, the temperature and time are read and compared with the corresponding control patterns, and the steam valve, the cooling water valve, the circulation pump ON / OFF, the water supply valve, the drain valve, Perform water level detection. This process is sequentially performed for all the connected dyeing machines (No. 1 to No. n), and once the circuit is completed, the same procedure is repeated to continue the control.

FIG. 3 is a conceptual diagram of the task 2. As will be described later, this task 2 is started by pressing an interrupt request key or the like of the operation terminal 3. When the task 2 is started, first, the dyeing machine N related to the data to be input is set.
o. A screen prompts you to enter a (number). After the number is entered, the screen prompts to specify the type of operation. The type of operation is selected in order from the left in FIG. 3 (1) from the control patterns stored in the floppy disk.

(2) Set a new control pattern.

(3) Correct the current control pattern.

(4) Cancel the current control pattern.

(5) Write the current control pattern to the floppy disk.

(6) Display the current control pattern on the CRT.

And so on. In accordance with the designation here, necessary processing is performed to assign or display an appropriate control pattern to each dyeing machine.

When the execution of task 2 ends in this way, task 1
Will return to.

FIG. 5 is a flowchart showing the processing procedure of task 1 and task 2 in the control device of the present invention, and FIG. 6 is a conceptual diagram of a task scheduler. In FIG. 6, the "means for accepting an interrupt" is represented as "interrupt monitoring", and the "means for alternately executing one instruction at a time" is represented as "interrupt processing manager".

Before or during the execution of the device control program of the task 1, the task scheduler sets the key of the interrupt request of the keyboard of the operation terminal 3 (pre-defined in FIG. 5 for each type of the task 2). ) Is operated or not (step # 1). When there is a key operation of an interrupt request, a plug of "interrupt request" is set in a predetermined register, but interrupt monitoring determines whether operation is necessary or not by monitoring this flag. It is.

If this operation is not performed, only the execution of task 1 is performed until the control ends (# 5). As described above, the interrupt monitoring of the task scheduler monitors the activation request of the task 2, and when the key of the interruption request related to the activation request is operated, the interruption processing manager is activated and the designated type of the specified type is monitored. After confirming that the processing of the task 2 has not been completed, the task 2 is started (that is, the first instruction is executed (#
3)) Thereafter, task 1 and task 2 are alternately executed one instruction at a time (# 4). Whether or not task 2 has been completed can be determined by “END” in the last line instruction of task 2.

In the present invention, the interrupt processing manager of the task scheduler causes the execution of task 2 and task 1 to be performed alternately, one instruction at a time, as shown in FIG. That is, the instruction of task 1 (INST
If there is an interrupt request or an activation request for task 2 during execution of i, the first instruction 2-1 of task 2 is executed after the execution, and then the next instruction i + 1 of task 1 is executed. In the same manner, the same instruction is repeated until the last instruction 2-n of task 2 is executed and task 2 is completed (# 6). After the task 2 is completed, the process returns to the interrupt monitoring.
Return to running only.

The interrupt processing manager alternately executes the instructions of each task by sending each instruction of task 1 and task 2 to an arithmetic processing register in the CPU of the digital computer 1 one instruction at a time in synchronization with the operation clock.

〔The invention's effect〕

According to the present invention as described above, task 2 can be started at any time during execution of task 1, and tasks 1 and 2 are processed in parallel. Thus, setting of a new control pattern or modification of the pattern relating to task 2 can be performed without interrupting the control of task 1, for example, the dyeing machine. Of course task 1
Does not substantially exist, and when used for control of a dyeing machine, there is no inconvenience caused by a delay in control timing. Further, the control device of the present invention does not require a large number of interrupt processing routines unlike the related art, and does not need to create a large number of tasks in consideration of the timing of each task. It becomes possible to develop programs.

That is, in the control device of the present invention, means for receiving an interrupt at an arbitrary time in the first task is provided, and when the interrupt is received and the second task is started, the program of the first task and the second task is started. Are executed alternately one instruction at a time, and when the processing of the second task is completed, the processing returns to the processing of only the first task. It is not necessary to stop the control once started for any interrupt. Here, there are only two interrupt processing routines (branch processing decision and branch processing end), and the two places are conditions for branch processing decision (= interrupt request).
And the end of the branch processing (= the end of the processing of the second task). Therefore, it is not necessary to design a large number of various interrupt processing routines, and the design of the program is significantly facilitated, and the maintainability of the program is improved.

[Brief description of the drawings]

FIG. 1 is a schematic system diagram when a dyeing machine is controlled by the control device of the present invention. FIG. 2 is a flowchart of task 1 and FIG. 3 is a flowchart of task 2. FIG. 4 is a diagram showing execution timings of tasks 1 and 2, FIG. 5 is a flowchart showing a processing procedure of tasks 1 and 2 of the control device of the present invention, and FIG. 6 is a conceptual diagram of a task scheduler. DESCRIPTION OF SYMBOLS 1 ... Computer, 1 '... Timer mechanism, 2 ... Interface, 3 ... Operation terminal, 7 ... Water supply valve, 8 ... Temperature detector, 9 ... Heating steam valve, 10 ... Cooling water valve , 11 ...
... circulation pump

Continuation of front page (56) References JP-A-51-12493 (JP, A) JP-A-53-23046 (JP, A) JP-A-52-151540 (JP, A) JP-A-56-4803 (JP, A) JP-A-57-111635 (JP, A) JP-A-54-90939 (JP, A)

Claims (1)

(57) [Claims] 1. A means for accepting an interrupt at an arbitrary time during execution of a first task for executing control on a connected control object according to a preset pattern, and Activate a second task for changing or canceling the control parameters of the pattern,
A control device comprising: a task scheduler having means for alternately executing an instruction relating to a task and an instruction relating to a first task one instruction at a time.