JP4350283B2 - Parallel controller system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a parallel controller system that uses an I / O input / output device, and in which a plurality of controllers that control process input / output for various equipment and devices constituting a plant operate in parallel.
[0002]
[Prior art]
Conventionally, the relationship between the number of controllers and I / O input / output devices is 1: 1 (or 1: N), and the controller performs I / O input / output processing for one I / O input / output device. Was always one.
[0003]
Here, the I / O input / output device is a device that exchanges input / output data with a plurality of input terminals (sensors, etc.) and output terminals (valves, etc.) via transmission.
[0004]
[Problems to be solved by the invention]
In a parallel controller system composed of a plurality of controllers, if the relationship between the number of controllers and I / O input / output devices is 1: N, I / O input / output devices as many as the number of controllers are required. . As a result, the cost increases and the mounting efficiency deteriorates. Therefore, in order to reduce the number of I / O input / output devices included in one parallel controller system, a plurality of controllers can perform I / O input / output processing for one I / O input / output device. Is required.
[0005]
The present invention has been made in view of the above points, and by enabling I / O input / output to / from one I / O input / output device from a plurality of controllers, the cost of the system can be reduced and mounting can be achieved. An object of the present invention is to provide a parallel controller system capable of improving efficiency and further improving the flexibility of system construction.
[0006]
[Means for Solving the Problems]
The present invention according to claim 1 is a parallel controller system in which a plurality of controllers and at least one I / O input / output device for exchanging data with an input end and an output end are mounted on a system bus and operated in parallel. ,
The I / O input / output device includes a shared memory in which data can be written to and read from the controller, and the controller can update the I / O output value by writing data to the shared memory. and it has a means that enables the incorporation of I / O input value by reading the shared memory pair to the direct data writing and reading of the same I / O input and output devices via the system bus from a plurality of controllers It has a feature that can be performed .
[0007]
According to the first aspect of the present invention, the I / O input / output device includes the shared memory, and a plurality of controllers can write to and read from the shared memory of the same I / O input / output device. A plurality of controllers can perform I / O input / output with respect to the same I / O input / output device. As a result, the cost of the parallel controller system can be reduced and the mounting efficiency can be improved. Furthermore, the flexibility of system construction is improved.
[0008]
According to a second aspect of the present invention, there is provided the parallel controller system according to the first aspect, wherein the plurality of controllers are I / O input / output device usage maps indicating usage states of the I / O input / output devices by other controllers. In addition, an I / O input / output device management map indicating the management status of the I / O input / output device is provided, and the operation state is obtained when a plurality of controllers perform input / output processing for the same I / O input / output device. Among these controllers, one controller determined by referring to the I / O input / output device usage map and the I / O input / output device management map is used to start, stop and diagnose the operation of the I / O input / output device . has a management rights for managing controller with administrative rights, characterized in that it comprises means for managing the I / O input-output device.
[0009]
According to the second aspect of the present invention, a plurality of controllers perform input / output processing with respect to the same I / O input / output device (hereinafter, performing input / output processing is expressed as “use”). ) Even in such a case, only one of the controllers can manage, for example, operation start / stop / diagnosis (hereinafter “management right” to manage the I / O input / output device, and “manage the controller to be managed” The system load can be reduced by expressing the controller. Further, by limiting the number of management controllers to one, exclusion is performed for management items that cannot be performed simultaneously from a plurality of controllers.
[0010]
According to the third aspect of the present invention, in the parallel type controller system according to the second aspect, when a controller having the management right becomes unable to continue the management, the other controller acquires the management right and the I / A means for taking over the management of the O input / output device is provided.
[0011]
According to the third aspect of the present invention, when a plurality of controllers use the I / O input / output device, any one of them is always transferred by moving the management right according to the operation state of the controllers. One controller can manage the I / O input / output device. Thus, as long as there is a controller using the I / O input / output device, the I / O input / output processing can be continued. At this time, the load on the system does not increase.
[0012]
According to a fourth aspect of the present invention, in the parallel controller system according to the third aspect, the controller having the management right accesses the I / O input / output device at a constant cycle. The I / O input / output device itself is provided with means for stopping the operation when the input / output device detects that there is no access from any controller for a certain period of time .
[0013]
According to the fourth aspect of the present invention, even when the controller becomes unable to manage the I / O input / output device, the I / O input / output device itself stops operating, so that The end can be notified that the controller cannot be controlled. As a result, the input end and the output end operate in a safe direction, and safety can be guaranteed.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following drawings, the same symbols indicate the same or corresponding parts.
[0015]
(First embodiment)
The first embodiment is directed to a parallel controller system in which a plurality of controllers and one or more I / O input / output devices are mounted on a system bus in the same unit. Here, the I / O input / output device is a device that exchanges input / output data with a plurality of input terminals (sensors, etc.) and output terminals (valves, etc.) via transmission.
[0016]
The system configuration of the first embodiment is shown in FIG. As shown in the figure, in the parallel controller system 1, a controller (1) 11, a controller (2) 13, and an I / O input / output device (A) 15 are mounted on a system bus 2.
[0017]
The I / O input / output device (A) 15 includes a shared memory 16 in which data can be written and read from the controller (1) 11 and the controller (2) 13. Data on the shared memory 16 is exchanged with actual output terminals (valves or the like) 3 or input terminals (sensors or the like) 4 as I / O input / output values. In the figure, 5 is a flow of output data from the controller (1) 11 and the controller (2) 13 to the output terminal (valve etc.) 3, and 6 is a controller (1) 11 from the input terminal (sensor etc.) 4 and the controller. (2) A flow of input data to 13.
[0018]
The I / O output value is updated by writing data from the controller (1) 11 and the controller (2) 13 to the shared memory 16 of the I / O input / output device (A) 15, respectively. Further, the I / O input value is captured by reading the data in the shared memory 16 of the I / O input / output device (A) 15 from the controller (1) 11 and the controller (2) 13, respectively. As described above, the shared memory 16 can perform writing / reading via the system bus 2 from all the controllers in the same unit.
[0019]
As described above, according to this embodiment, a plurality of controllers can perform I / O input / output with respect to the same I / O input / output device. As a result, the cost of the parallel controller system can be reduced and the mounting efficiency can be improved. Furthermore, the flexibility of system construction is improved.
[0020]
(Second Embodiment)
Next, a second embodiment of the present invention will be described. In this embodiment, in the parallel controller system shown in the first embodiment, the I / O input / output device does not operate autonomously, and the controller needs to manage operation start / stop / diagnosis and the like. Target the system.
[0021]
Here, the controller also has a shared memory, and the operation state of the controller, the use state of the I / O input / output device (described later), and the management state of the I / O input / output device (described later) are written on the shared memory. Thus, such information can be referred to from other controllers.
[0022]
The system configuration of the second embodiment is shown in FIG. As shown in the figure, a controller (1) 21, a controller (2) 23, and an I / O input / output device (A) 25 are mounted on the system bus 2.
[0023]
The controller (1) 21 includes a CPU 26, a ROM 27, a RAM 28, and a system bus control circuit unit 2 a, which are connected by an internal main bus 29. The system bus control circuit unit 2a includes a system bus control circuit 2b and a shared memory 2c. The controller (1) 23 includes a CPU 2d, a ROM 2e, a RAM 2f, and a system bus control circuit unit 2h, which are connected by an internal main bus 2g. The system bus control circuit unit 2h includes a system bus control circuit 2i and a shared memory 2j.
[0024]
The I / O input / output device (A) 25 includes a system bus control circuit unit 2k and a transmission control circuit 2n. (Note that the I / O input / output device (A) 25 does not have a CPU, ROM, or RAM.) The system bus control circuit unit 2k includes a system bus control circuit 2L and a shared memory 2m. The shared memory 2m is connected to the I / O via the transmission control circuit 2n.
[0025]
In this embodiment, since the I / O input / output device (A) 25 does not operate autonomously, the controller (1) 21 and the controller (2) 23 start the operation of the I / O input / output device (A) 25. Manage stop and diagnosis. The controller (1) 21 and the controller (2) 23 perform management by giving a request to the I / O input / output device (A) 25 via the system bus 2. At this time, even if a plurality of controllers, that is, the controller (1) 21 and the controller (2) 23 use the same I / O input / output device (A) 25, any one controller has the management right. The management controller manages the operation start / stop / diagnosis of the I / O input / output device (A) 25.
[0026]
Here, the management controller is determined as follows.
(1) When a plurality of controllers are simultaneously activated, management rights are acquired in the order of priority within the unit (for example, physical position within the unit).
(2) When a plurality of controllers are in an operating state with a time difference, the controller that has previously been in the operating state preferentially acquires the management right.
[0027]
In order to realize this, an “I / O I / O device usage map (hereinafter referred to as“ I / O usage map ”) indicating the usage status of the I / O I / O device by the controller and I / O I / O by the controller An “I / O input / output device management map (hereinafter referred to as“ I / O management map ”) indicating the management status of the device is used. The I / O usage map is a list indicating which controller uses which I / O input / output device, and all the controllers have the same contents. The I / O management map is a list that shows which I / O I / O devices are managed by which controller. Each controller creates an I / O usage map and the operating status of its own controller / other controllers. To do. The created result is written on the shared memory so that it can be referenced from other controllers. On the shared memory of the controller, the operation state (stop state or normal operation) of the controller and the I / O management map are written.
[0028]
Taking the configuration in FIG. 3 as an example, the flow of management right acquisition will be described. The configuration shown in FIG. 3 allows a plurality of controllers to input / output a plurality of I / O input / output devices. Three controllers on the system bus 2, that is, controller (1) 31, controller (2) 32, controller (3) 33, and two I / O input / output devices, that is, I / O input / output devices (B) 34 The I / O input / output device (A) 35 is mounted. The I / O input / output device (B) 34 and the I / O input / output device (A) 35 have a shared memory 37 and a shared memory 36, respectively. Further, the controller (1) 31, the controller (2) 32, and the controller (3) 33 also each have a shared memory, though not shown.
[0029]
As shown in FIG. 3, the controller (1) 31 in slot 1, the controller (2) 32 in slot 2, and the controller (3) 33 in slot 3 use the I / O input / output device (B) 34 in slot 4. If the controller (2) 32 in the slot 2 and the (3) 33 in the slot 3 use the I / O input / output device (A) 35 in the slot 5, the I / O usage map is as shown in FIG. become. (In the following figures, the I / O usage map and the 1/6 management map will be described as superimposed. The usage status is indicated by a circle, and the usage and management status is indicated by a circle.) This I / O usage map is engineering. The common information is sent to all the controllers, that is, the controller (1) 31, the controller (2) 32, and the controller (3) 33.
[0030]
The management right is acquired based on the I / O usage map when the controller changes from the stopped state to the operating state.
[0031]
Each controller searches the I / O usage map to determine whether the I / O input / output device used by the controller is being used by another controller. When the controller is used by another controller, the contents of the I / O management map in the shared memory of the controller are referred to, and if the management right is not acquired by the controller, the own controller acquires the management right. If the management right has already been acquired, the management right is not acquired. Here, this search process starts from a controller with a smaller slot number according to the priority in the unit.
[0032]
Since the controller (1) 31 in the slot 1 uses the I / O input / output device (B) 34 in the slot 4, it searches for another controller that uses the slot 4. It can be seen that the controller (2) 32 in the slot 2 and the controller (3) 33 in the slot 3 use the I / O input / output device (B) 34 in the slot 4. With reference to the I / O management map of slot 2 and slot 3 and no management right being acquired, the controller (1) 31 in slot 1 is the I / O input / output device (B) 34 in slot 4. Get management rights. The acquired state is shown in FIG.
[0033]
Since the controller (2) 32 in the slot 2 uses the I / O input / output device (B) 34 in the slot 4 and the I / O input / output device (A) 35 in the slot 5, the slot 4 and the slot 5 Search for other controllers using. It can be seen that the controller (1) 31 in the slot 1 and the controller (3) 33 in the slot 3 use the I / O input / output device (B) 34 in the slot 4. With reference to the I / O management map of slot 1 and slot 3, the controller (1) 31 of slot 1 has acquired the management right, so the I / O input / output device (B) 34 of slot 4 Don't get management rights. In addition, it can be seen that the controller (3) 33 in the slot 3 uses the I / O input / output device (A) 35 in the slot 4, but since the management right has not been acquired, the I / O input in the slot 5 is not obtained. The management right of the output device (A) 35 is acquired. The acquired state is shown in FIG.
[0034]
The same search is performed for the controller (3) 33 in the slot 3, but the I / O input / output device (B) 34 in the slot 4 and the I / O input / output device (A) 35 in the slot 5 already have the management right. Because it has been acquired, management rights are not acquired. FIG. 7 shows the final management right acquisition state.
[0035]
If the controllers start in the order of slot 1, slot 3, and slot 2 with the same configuration, the controller (1) 31 in slot 1 has the right to manage the I / O input / output device (B) 34 in slot 4. Since the controller (3) 33 in the slot 3 obtains the management right of the I / O input / output device (A) 35 in the slot 5 in order, it becomes as shown in FIG.
[0036]
As described above, according to this embodiment, even when a plurality of controllers use I / O input / output devices, only one controller performs management, thereby reducing the load on the system. It can be reduced. (Traffic on the system bus can be reduced.)
Further, by limiting the number of management controllers to one, the management items that cannot be simultaneously performed by a plurality of controllers (initialization accompanied by transmission stop, diagnosis that requires memory writing, etc.) can be taken out.
[0037]
(Third embodiment)
Next, a third embodiment of the present invention will be described. This embodiment targets the same system as the second embodiment described above.
[0038]
In this embodiment, when the management controller is changed from the operating state to the stopped state, the managed I / O input / output device is used in addition to the managed I / O input / output device. If there is, the management right is abandoned without stopping the operation of the I / O input / output device. Otherwise, if the I / O input / output device is used and there is no active controller, the operation of the I / O input / output device is stopped and the management right is abandoned.
[0039]
Each controller monitors the acquisition status of the management right for the I / O I / O device used by the controller, and acquires the management right when the controller that has acquired the management right gives up the management right. . When there are a plurality of controllers from which management rights can be acquired, the priority order is followed.
[0040]
Even if a management controller fails and becomes unmanageable without giving up the management right, it is assumed that the other controller has given up the management right. Acquire management rights.
[0041]
An example in which the controller (2) 32 in the slot 2 is stopped and the controller (3) 33 in the slot 3 is stopped from the state of FIG. 9 will be described.
[0042]
When the controller (2) 32 in the slot 2 is stopped, the right to manage the I / O input / output device (B) 34 in the slot 4 and the I / O input / output device (A) 35 in the slot 5 Give up. The controller (1) 31 in slot 1 and the controller (3) 33 in slot 3 using the I / O input / output device (B) 34 in slot 4 are the I / O input / output device (B) 34 in slot 4. Detects abandonment of management rights. Since there are a plurality of controllers using the I / O input / output device (B) 34 in the slot 4, the controller (1) 31 in the slot 1 having a high priority obtains the management right.
[0043]
The controller (3) 33 in the slot 3 that uses the I / O input / output device (A) 35 in the slot 5 detects the abandonment of the management right of the I / O input / output device (A) 35 in the slot 5. Since the controller using the I / O input / output device (A) 35 in the slot 5 is only the controller (3) 33 in the slot 3, the controller (3) 33 in the slot 3 acquires the management right. At this time, the operations of the I / O input / output device (B) 34 in the slot 4 and the I / O input / output device (A) 35 in the slot 5 do not stop. The acquired state is shown in FIG.
[0044]
Here, when the controller (3) 33 in the slot 3 is stopped, the management right of the I / O input / output device (A) 35 in the slot 5 that was held is abandoned. Since the controller (2) 32 in the slot 2 that uses the I / O input / output device (A) 35 in the slot 5 is already in a stopped state, the management right cannot be acquired. For this reason, the controller of the slot 3 gives up the management right of the I / O input / output device (A) 35 of the slot 5 and at the same time stops the operation. The state shown in FIG. 11 is obtained. In this state, the operation of the I / O input / output device (B) 34 in the slot 4 is continued, but the operation of the I / O input / output device (A) 35 in the slot 5 is stopped.
[0045]
As described above, according to this embodiment, when a plurality of controllers use I / O input / output devices, the management right is always moved according to the operation state of the controllers, so that One controller can manage the I / O input / output device. Thus, as long as there is a controller using the I / O input / output device, the I / O input / output processing can be continued. At this time, the load on the system does not increase.
[0046]
(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described. This embodiment is directed to a system having a circuit in which the I / O input / output device monitors the presence / absence of access from another controller in the system of the second embodiment described above. That is, as shown in FIG. 12, the I / O input / output device (A) 25 has an access monitoring circuit 41.
[0047]
In this embodiment, the I / O input / output device (A) 25 has an access monitoring circuit 41 that monitors whether or not the controller is accessing via the system bus 2, and when there is no access for a certain period of time. Has a mechanism to stop operation. The controller (1) 21 and the controller (2) 23 managing the I / O input / output device (A) 25 access the I / O input / output device (A) 25 at a constant cycle. .
[0048]
In the state where the management right cannot be taken over to another controller and the management controller fails and becomes unmanageable without giving up the management right, the I / O I / O device (A) 25 This mechanism works and the I / O input / output device (A) 25 itself stops the operation.
[0049]
As described above, according to this embodiment, even if the controller cannot manage the I / O input / output device, the input / output terminal Notifies the output end that the controller cannot be controlled. As a result, the input end and the output end operate in a safe direction, respectively, to ensure safety.
[0050]
【The invention's effect】
As described above, according to the parallel controller system of the present invention, input / output processing of I / O data can be performed from a plurality of controllers to the same I / O input / output device. Since the plurality of controllers have a function of sharing the I / O input / output device, it is possible to reduce the cost of the parallel controller system and improve the mounting efficiency. Also, safety can be ensured by operating in a safe direction when I / O input / output processing cannot be performed.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a parallel controller system according to a first embodiment of the present invention.
FIG. 2 is a block diagram showing a configuration of a parallel controller system according to a second embodiment of the present invention.
FIG. 3 is a block diagram showing another configuration of the parallel controller system according to the second embodiment of the present invention (a configuration when a plurality of controllers input / output a plurality of I / O input / output devices). .
FIG. 4 is a diagram showing an I / O usage map according to the second embodiment of the present invention.
FIG. 5 is a diagram showing an I / O usage map and an I / O management map (a state in which a controller in slot 1 acquires management rights for an I / O input / output device in slot 4) according to the second embodiment of the present invention; .
FIG. 6 is a diagram showing an I / O usage map and an I / O management map (a state in which a controller in slot 2 acquires management rights for an I / O input / output device in slot 5) according to the second embodiment of the present invention; .
FIG. 7 is a diagram showing an I / O usage map and an I / O management map (final management right acquisition state) in the second embodiment of the present invention.
FIG. 8 shows an I / O usage map and an I / O management map (the state of management right acquisition when the controller is started in the order of slot 1, slot 3, and slot 2) in the second embodiment of the present invention. Figure.
FIG. 9 is a diagram showing an I / O usage map and an I / O management map (a state where the controller in the slot 2 is operating and has acquired management rights) in the third embodiment of the present invention.
FIG. 10 is a diagram showing an I / O usage map and an I / O management map (a state where the controller in the slot 2 is stopped and the management right is abandoned) in the third embodiment of the present invention.
FIG. 11 is a diagram showing an I / O usage map and an I / O management map (a state where the controller in the slot 3 is stopped and the management right is abandoned) in the third embodiment of the present invention.
FIG. 12 is a block diagram showing a configuration of a parallel controller system according to a fourth embodiment of the present invention.
[Explanation of symbols]
1 ... Parallel controller system 2 ... System bus 3 ... Output end (valve etc.)
4 ... Input terminal (sensor, etc.)
5 ... Output data flow 6 ... Input data flow 11 ... Controller (1)
13 ... Controller (2)
15 ... I / O input / output device (A)
16 ... Shared memory 21 ... Controller (1)
23 ... Controller (2)
25. I / O input / output device (A)
26 ... CPU
27 ... ROM
28 ... RAM
29 ... Internal main bus 2a ... System bus control circuit 2b ... System bus control circuit 2c ... Shared memory 2d ... CPU
2e ... ROM
2f ... RAM
2g ... Internal main bus 2h ... System bus control circuit unit 2i ... System bus control circuit 2j ... Shared memory 2k ... System bus control circuit unit 2L ... System bus control circuit 2m ... Shared memory 2n ... Transmission control circuit 31 ... Controller (1)
32 ... Controller (2)
33 ... Controller (3)
34 ... I / O input / output device (B)
35 ... I / O input / output device (A)
36 ... Shared memory 37 ... Shared memory 41 ... Access monitoring circuit

Claims (4)

In a parallel controller system in which a plurality of controllers and at least one I / O input / output device that exchanges data with an input end and an output end are mounted on a system bus and operated in parallel.
The I / O input / output device includes a shared memory in which data can be written to and read from the controller, and the controller can update the I / O output value by writing data to the shared memory. writing and has a means that enables the incorporation of I / O input value by reading the data, the data directly against a plurality of controllers in the shared memory of the same I / O input and output devices via the system bus and parallel controller system, characterized in that it comprises means it becomes possible to perform the reading. 2. The parallel controller system according to claim 1, wherein the plurality of controllers includes an I / O input / output device usage map indicating a use state of the I / O input / output device by another controller and the I / O input / output device. has I / O input-output device management map indicating the management status of each, when the plurality of controllers performs input and output processing for the same I / O input-output device, among the controllers became operational state One controller determined with reference to the I / O I / O device usage map and the I / O I / O device management map manages the operation start, stop, and diagnosis of the I / O I / O device. A parallel controller system comprising a management right, and a controller having the management right includes means for managing the I / O input / output device. 3. The parallel controller system according to claim 2, wherein when a controller having the management right becomes unable to continue management, another controller acquires the management right and takes over the management for the I / O input / output device. A parallel controller system comprising means.   4. The parallel controller system according to claim 3, wherein the controller having the management right accesses the I / O input / output device at a fixed period, and the I / O input / output device is operated for a fixed time. A parallel controller system comprising means for stopping the operation of the I / O input / output device itself when it is detected that no controller has accessed.

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