JP5050701B2 - Wireless control system - Google Patents

Description

  The present invention relates to a radio control system, and more particularly to improving the reliability of the control system.

  In recent years, for example, it has been proposed to configure a process control system in industrial automation as a wireless control system using wireless communication as disclosed in Patent Document 1. This is because the sensors such as temperature and flow rate cannot be installed at the optimal position in the plant due to the limitation of communication distance and wiring routing due to the conventional control system being configured as a wired network, and control accuracy This is to eliminate the inconvenience of lowering.

  Prior art documents related to such a conventional radio control system include the following.

JP 2003-023621 A JP 2006-318148 A

  FIG. 9 is a block diagram showing a configuration of a conventional radio control system. In FIG. 9, the controller 1 has a wireless communication function, and controls the control nodes 8 to 10 such as valves and heaters installed in the plant based on the target value and the measurement data received from the wireless nodes 5 to 7. . The relay nodes 2 to 4 have a wireless communication function and transfer measurement data received from the wireless nodes 5 to 7 to the controller 1. The wireless nodes 5 to 7 are installed in the plant, and have a sensor function for measuring physical quantities such as temperature and flow rate and a wireless communication function for wirelessly transmitting these measurement data. The control nodes 8 to 10 are installed in the plant and have a control function for controlling physical quantities such as temperature and flow rate and a wireless communication function for communicating with the controller 1 and the relay nodes 2 to 4.

  The controller 1 is connected to the relay node 2 via a wireless network line (hereinafter referred to as wireless line) CN101, connected to the relay node 3 via the wireless line CN102, and connected to the relay node 4 via the wireless line CN103. The network NW 100 is connected to a central monitoring device (not shown) and other control devices.

  The relay node 2 is connected to the radio node 5 via the radio line CN106, is connected to the control node 8 via the radio line CN107, and is connected to the relay node 3 via the radio line CN104. The relay node 3 is connected to the radio node 6 via the radio line CN108, is connected to the control node 9 via the radio line CN109, and is connected to the relay node 4 via the radio line CN105. The relay node 4 is connected to the wireless node 7 via the wireless line CN110, and is connected to the control node 10 via the wireless line CN111.

  FIG. 10 is an operation explanatory diagram of the radio control system of FIG. In this wireless control system, a feedback control loop is configured in which the wireless node measures physical quantities such as temperature and flow rate, and the controller converges to a target value based on the measurement data to operate the control node so that the plant is optimally operated. ing.

  As shown in FIG. 10, the controller 1, the radio node 5, and the control node 8 constitute a control loop LP100, and the controller 1, the radio node 6, and the control node 9 constitute a control loop LP200, and the controller 1, the radio node 7, The control node 10 constitutes a control loop LP300.

  FIG. 10 shows the operation of the control processing LI100 in which the wireless node 5 transmits measurement data to the controller 1 via the relay node 2, and the control processing in which the controller 1 transmits control data to the control node 8 via the relay node 2. The operation of LO100 is shown. The control processes LI100 and LO100 constitute a control loop LP100.

  Similarly, the control processes LI200 and LO200 constitute a control loop LP200, and the control processes LI300 and LO300 constitute a control loop LP300. Since the control loops LP200 and LP300 have the same configuration as the control loop LP100, the description thereof is omitted.

  FIG. 11 is a flowchart for explaining the operation of the control loop LP100 of the radio control system of FIG. First, in step S101, the wireless node 5 measures physical quantities such as flow rate and temperature. In step S <b> 102, the wireless node 5 transmits measurement data of physical quantities such as flow rate and temperature to the relay node 2 using the wireless communication function.

  At this time, it is assumed that the wireless node 5 operates in synchronization with a “macro cycle” that is the least common multiple of each control cycle of a “control cycle” that is a time interval necessary for the control loop to operate for one cycle.

  In step S <b> 103, the relay node 2 transmits the measurement data received from the wireless node 5 to the controller 1. Incidentally, Steps S101 to S103 describe the operation of the control process LI100 of FIG.

  In step S104, the controller 1 is configured to control the control node 8 based on the measurement data received from the relay node 2 so as to converge to a preset target value and operate the plant optimally. Information "control data" is calculated.

  In step S <b> 105, the controller 1 transmits the calculated control data to the control node 8. In step S106, the relay node 2 transmits the control data received from the controller 1. Incidentally, Steps S104 to S106 describe the operation of the control process LO100 of FIG.

  In step S107, the control node 8 operates based on the control data received from the relay node 2. As an example in which the control node 8 operates based on the control data, for example, there is an operation in which the valve changes the opening degree based on the control data to adjust the flow rate.

  For this reason, since the control node 8 operates based on the control data calculated by the controller 1, it is possible to converge on a preset target value and to operate the plant optimally. The control loops LP200 and LP300 perform the same operation as the control loop LP100.

  FIG. 12 is an explanatory diagram of a control loop schedule in the wireless control system of FIG. In FIG. 12, a control loop LP100 composed of the control processing LI100 and the control processing LO100, a control loop LP200 composed of the control processing LI200 and the control processing LO200, and a control loop composed of the control processing LI300 and the control processing LO300. Each LP 300 is scheduled to occur within a macro cycle. Note that any specific method for creating a schedule may be used, and a description thereof is omitted here.

  When a plurality of control loops are scheduled to occur in a macro cycle in this way, the radio control system processes a plurality of control loops at the same time, and measurement data transferred from a plurality of radio nodes is preset. It is possible to control a predetermined control node such as a valve or a heater so that the target value is converged and the plant is optimally operated.

  However, in such a wireless control system, when radio communication or instability occurs due to an obstacle in a plant or the like causing an obstruction due to radio waves or communication, data transmitted from a wireless node, a control device, or a relay node May not reach the controller or may not reach the controller within the macro cycle period due to a delay in the data transfer rate, and data necessary for the control loop may be lost, preventing optimal operation of the plant, etc. It was.

  On the other hand, in the conventional radio control system, the controller obtains control data using the latest measurement data received from the radio node instead of the missing data, or the measurement missing from the latest measurement data. It is possible to compensate for missing data by calculating control data from estimated data obtained by estimating data.

  However, according to this method, in the case of a control loop in which the preset target value changes rapidly, the control data is calculated by using the latest measured data or estimated value instead of the missing data. However, if the control node is controlled, the value may deviate greatly from the target value.

  Here, the operation of the radio control system in which a control loop in which the target value changes rapidly when data is lost and a control loop in which the target value maintains a constant value will be described. FIG. 13 is an explanatory diagram showing the transition of the target value of the radio control system of FIG.

  In FIG. 13, a trend straight line CV100 representing a transition of the target value of the control loop LP100 is shown, a trend straight line CV200 representing a transition of the target value of the control loop LP200 is shown, and a trend curve CV300 representing a transition of the target value of the control loop LP300 is shown. Show.

  In the control loops LP100 and LP200, the target value is constant as shown by the trend lines CV100 and CV200. For this reason, even if wireless communication becomes unstable due to radio interference and data is lost, the controller uses the latest measurement data received from the wireless node in place of the missing data, or is lost from the latest measurement data. Data loss can be compensated by estimating control data and calculating control data.

  On the other hand, in the control loop LP300, as indicated by the trend curve CV300, the target value does not substantially change in the periods PT100 and PT102, so it is effective to compensate for the lack of data with the latest measurement data. Therefore, if wireless communication becomes unstable and data loss occurs, supplementation with the latest received measurement data cannot cope with a sudden change in the target value, and the target value may be greatly exceeded.

  In a control loop in which the preset target value changes rapidly, if radio interference or communication failure occurs and wireless communication becomes unstable and data is lost, the method of complementing with the latest measurement data received is the target. Cannot cope with sudden changes in value. For this reason, the target value may be greatly exceeded. On the contrary, the control loop becomes unstable, and the optimal control of the plant cannot be performed, thereby reducing the reliability of the control system.

  The present invention solves the above-described problems, and an object of the present invention is to realize a wireless control system capable of improving the reliability of the control system.

In order to achieve such a problem, the invention according to claim 1 of the present invention is:
In a wireless control system that performs data transmission between a node and a controller via a wireless network and controls the control processing period of each node based on the amount of change in data,
A controller that compares the amount of change of the data with a predetermined amount set in advance, obtains schedule setting information for controlling the schedule of the control processing period based on the comparison result, and transmits to the transmission destination node,
The schedule setting information is
When the change amount of the data is smaller than a predetermined amount set in advance, the period of the control processing period is lengthened, and the setting information is set so that a plurality of the control processing periods do not overlap each other. To do.

The invention according to claim 2
The radio control system according to claim 1 , wherein
The controller is
A storage unit for storing the data and route information;
A wireless communication unit for performing wireless communication;
The calculation control unit is configured to obtain the schedule setting information based on a comparison result between a change amount of the measurement data and a predetermined amount set in advance.

The invention described in claim 3
The radio control system according to claim 2 , wherein
The arithmetic control unit is
Compare the change amount of the data with the predetermined amount,
Based on the comparison result, the schedule setting information for changing the schedule of the control processing period of each node is obtained,
The schedule setting information is transmitted to a destination node.

The invention according to claim 4
In the radio control system according to any one of claims 1 to 3 ,
The node is
A wireless node having a sensor function for measuring a physical quantity and setting a schedule for a control processing period based on the schedule setting information is provided.

The invention according to claim 5
In the radio control system according to any one of claims 1 to 3 ,
The node is
The control node has a control function for controlling a physical quantity and sets a schedule for a control processing period based on the schedule setting information.

  According to the present invention, the controller obtains schedule setting information for shortening the control cycle when the measurement data changes abruptly, and when the measurement data is constant, the control cycle is lengthened and the control processing periods do not overlap each other. As the schedule setting information to be changed is obtained, the wireless node and the control node set the schedule based on the schedule setting information, thereby reducing the load on the wireless network, reducing errors due to radio wave interference, and missing measurement data. Therefore, the reliability of the radio control system can be increased.

  FIG. 1 is a configuration block diagram showing an embodiment of a radio control system according to the present invention. In FIG. 1, the controller 11 has a wireless communication function and a control cycle management function for managing a control cycle, and controls the control nodes 18 to 20 based on the target value and the measurement data of the wireless nodes 15 to 17. Since the configuration of the wireless control system is the same as that of the prior art except for the function of the controller, description of each part will be omitted as appropriate.

  In FIG. 1, a controller 11, relay nodes 12-14, wireless nodes 15-17, and control nodes 18-20 constitute a wireless network. In FIG. 1, the controller 11, the radio node 15, and the control node 18 constitute a control loop LP110, and the controller 11, the radio node 16, and the control node 19 constitute a control loop LP210, and the controller 11, the radio node 17, and the control node 20 Constitutes the control loop LP310.

  The control processes LI110 and LO210 constitute a control loop LP110, the control processes LI210 and LO210 constitute a control loop LP210, and the control processes LI310 and LO310 constitute a control loop LP310. The controller 11, the relay nodes 12 to 14, the wireless nodes 15 to 17, and the control nodes 18 to 20 are the least common multiple of each control cycle of the “control cycle” that is a time interval necessary for the control loop to operate for one cycle. It is assumed to operate in synchronization with the “macrocycle”.

  FIG. 2 is a configuration block diagram showing an example of the control cycle management function of the controller 11 of FIG. In FIG. 2, the wireless communication unit 111 is connected to the calculation control unit 112, and the calculation control unit 112 is connected to the storage unit 113. The wireless communication unit 111 performs wireless communication with the relay nodes 12 to 14. The arithmetic control unit 112 controls the operation of each unit. The storage unit 113 stores a program for causing the controller 11 to operate, data path information, and the like.

  FIG. 3 is a functional block example diagram of the arithmetic control unit 112 constituting the controller 11 of FIG. In FIG. 3, the data management unit 1121 stores data. The state determination unit 1122 determines whether or not the measurement data changes abruptly based on the measurement data received from the wireless node, and outputs the determination result to the control cycle management unit 1124. Based on the measurement data received from the wireless node, the control processing unit 1123 calculates control data for controlling the control node so as to converge to a preset target value and optimally operate the plant, The calculation result is input to the data transfer unit 1125. The control cycle management unit 1124 obtains schedule setting information for adjusting the control cycle based on the determination result of the state determination unit 1122, and inputs the obtained schedule setting information to the data transfer unit 1125. The data transfer unit 1125 transfers control data and schedule setting information to a predetermined transmission destination such as a relay node, a radio node, or a control node based on the calculation results of the control processing unit 1123 and the control cycle calculation unit 1124.

  FIG. 4 is a flowchart for explaining the operation of the controller 11 of FIG. FIG. 5 is an explanatory diagram showing transition of measurement data, and FIGS. 6 and 7 are explanatory diagrams for explaining a schedule of a control loop in the radio control system. Further, the measurement data in FIG. 5 will be described as an example of measurement data in a wireless control system that controls the flow rate of fluid.

  First, in step S201, the data management unit 1121 of the arithmetic control unit 11 receives measurement data from a wireless node or a relay node. In step S202, the control processing unit 1123 of the arithmetic control unit 11 converges to a preset target value based on the measurement data received from the wireless node or the relay node so that the plant is optimally operated. Control data for controlling the control node 8 is calculated.

  In step S <b> 203, the state determination unit 1122 of the calculation control unit 11 compares the measurement data of each control loop with the amount of change of the measurement data determined in advance (hereinafter referred to as a predetermined amount) based on the measurement data. It is determined whether or not it has changed. When the actual change amount is larger than a predetermined amount, it is determined that the measurement data of each control loop is changing rapidly, and the process proceeds to step S204.

  For example, as shown in FIG. 5, in the period PT201 of the trend line CV310, the actual change amount of the measurement data is compared with a predetermined amount, and the actual change amount (100 ml) is set to a predetermined amount. Since it is larger than (50 ml), it is determined that the measurement data of the control loop is changing rapidly, and the process proceeds to step S204.

  In step S204, the control cycle management unit 1124 of the arithmetic control unit 11 obtains schedule setting information for shortening the control cycle based on the determination result of the state determination unit 1122, and proceeds to step S205. Specifically, as illustrated in FIG. 7, the control cycle management unit 1124 obtains schedule setting information that causes the control process of the control loop LP310 to be performed for each macro cycle, and the process proceeds to step S205.

  In step S205, the data transfer unit 1125 of the arithmetic control unit 11 uses the control data obtained by the control processing unit 1123 and the schedule setting information obtained by the control cycle management unit 1124 as predetermined nodes such as relay nodes, radio nodes, and control nodes. Forward to the destination.

  On the other hand, in step S203, the state determination unit 1122 of the arithmetic control unit 11 determines that each control loop when the actual change amount is smaller than a predetermined amount based on the measurement data received from the wireless node or the relay node. It is determined that the measured data does not change abruptly, and the process proceeds to step S206.

  For example, as shown in FIG. 5, when the change amount of the measurement data is small like the trend lines CV110, CV210, and CV310 in the periods PT200 and PT202, the change amount (25 ml) of the measurement data is determined in advance. Since it is smaller than the predetermined amount (50 ml), it is determined that the measurement data of each control loop does not change abruptly, and the process proceeds to step S206.

  In step S206, the control cycle management unit 1124 of the calculation control unit 11 obtains schedule setting information for scheduling so that the control cycle of the control loop is lengthened and the control processing periods do not overlap each other, and the process proceeds to step S205. Specifically, as illustrated in FIG. 6, the control cycle management unit 1124 obtains schedule setting information for executing control processing only once in 3 macro cycles without overlapping control loops, and proceeds to step S205. .

  For this reason, the controller 11 obtains schedule setting information for shortening the control cycle of the control loop in which the measurement data changes rapidly, and the wireless node 15 and the control node 18 set the schedule based on the schedule setting information, respectively. Even in a control loop in which a preset target value changes abruptly, the frequency of control processing in the control loop increases and the loss of measurement data is reduced.

  Further, the controller 11 obtains schedule setting information for extending the control cycle and changing the control processing periods so as not to overlap each other when the measurement data is constant, and the wireless node and the control node schedule based on the schedule setting information. This reduces the load on the wireless network. In addition, since scheduling is performed so that the control processing periods of the control loop do not overlap each other, errors due to radio wave interference are reduced.

  An operation when the measurement data of the control loop of the wireless control system is switched from a constant state to a rapidly changing state will be described. FIG. 8 is a timing chart for explaining an example of the operation of the radio control system. For simplicity of explanation, the control loop LP310 of FIG. 1 will be described.

  In sequence SQ101, the controller 11 sets control data for controlling the control node 14 based on the measurement data from the wireless node 17 so as to converge to a preset target value and operate the plant optimally. At the same time, it is compared with a predetermined amount determined in advance to determine whether or not the measurement data changes rapidly. Then, the controller 11 determines that the measurement data of each control loop changes rapidly when the actual change amount is larger than a predetermined amount, and obtains schedule setting information for shortening the control cycle. .

  In sequence SQ102, the controller 11 transmits control data and schedule setting information to the relay node 14. In sequences SQ103 and SQ104, relay node 14 transfers the control data and schedule setting information received from controller 11 to radio node 17 and control node 20, respectively.

  In sequence SQ105, the wireless node 17 sets a schedule by shortening the control cycle based on the schedule setting information received from the relay node 14. In sequence SQ106, the control node 20 sets a schedule by shortening the control cycle based on the schedule setting information received from the relay node 14.

  As described above, when the radio node 17 and the control node 20 set a schedule based on the schedule setting information, the control processing schedule of the control loop LP310 is changed. For example, as shown in FIG. 7, the schedule is changed so that the control process of the control loop LP310 is executed every macro cycle.

  That is, the controller 11 controls the control processing periods of the wireless node 17 and the control node 20 based on the change amount of the measurement data.

  The control node 20 operates based on the control data received from the relay node 14. For example, the valve may adjust the flow rate by changing the opening based on the control data. Thereafter, the controller 11, the wireless node 17, and the control node 20 configuring the control loop LP310 perform control processing based on the changed schedule.

  In this way, the controller 11 obtains schedule setting information for shortening the control cycle when the measurement data changes abruptly, and the wireless node and the control node set the schedule based on the schedule setting information, respectively, thereby controlling the control loop. Since the frequency of the control process increases and the loss of measurement data is reduced, the plant can be optimally operated by converging on a preset target value, and the reliability of the radio control system can be improved. .

  In addition, the controller 11 obtains schedule setting information for extending the control period and changing the control processing periods of the control loop so that they do not overlap each other when the measurement data is constant, and the wireless node and the control node respectively receive the schedule setting information. Since the schedule is set based on the wireless communication system, the load on the wireless network can be reduced and the reliability of the wireless control system can be increased.

  In the above embodiment, the example in which the wireless control system supports the operation of the plant in industrial automation has been described. However, the present invention is not particularly limited thereto. For example, the control system of the water purification plant in factory automation, the air conditioning of the building -It may support driving of a lighting system or the like.

  For example, in a building automation system, when lighting and switches are used as control nodes, there are many obstacles such as nodes and fixtures in the building where wireless nodes and control nodes with sensor functions are installed. Prone to occur. For this reason, the controller obtains schedule setting information that increases the control cycle when the measurement data is constant and changes the control processing periods so that they do not overlap each other, and shortens the control cycle when the measurement data changes rapidly. The schedule setting information to be obtained is obtained, and the radio node and the control node set the schedule based on the schedule setting information, respectively, so that the plant can be optimally operated and the reliability of the radio control system can be improved.

  Further, the radio control system shown in the above embodiment is configured by the controller 11, the relay nodes 12 to 14, the radio nodes 15 to 17, the control nodes 18 to 20, and the like, but is not particularly limited thereto. As long as data communication can be performed between the controller and the wireless node and between the controller and the control node, the relay node may not be a component. In this case, the wireless node and the control node have the same function as the forwarding function of the relay node.

  In the above-described embodiment, the radio control system including the control loops LP110, LP210, and LP310 is illustrated. However, the radio control system may include one or more control loops.

  Moreover, although the example which the controller 11 calculates | requires the schedule setting information which changes a control period and transmits to a radio | wireless node and a control node is shown in the said Example, it is not limited to this in particular, It connects to a controller A higher-level system such as a central monitoring system or a distributed control system may obtain the schedule setting information and transmit it to the wireless node and the control node.

  Moreover, in the said Example, although the controller 11 calculates | requires the schedule setting information which changes a control period, and the example transmitted to a radio | wireless node and a control node is shown, the schedule management method used when changing a control period is a radio | wireless. Any device that reduces the load on the network and improves the reliability of the wireless control system may be used.

  For example, the schedule may be changed using a schedule management function called LAS (Link Active Scheduler), and the schedules of the controller, relay node, radio node, and control node may be managed based on a token distributed from the LAS. Moreover, each node may synchronize using NTP (Network Time Protocol), and a schedule may be set in each of a controller, a relay node, a radio | wireless node, and a control node.

  In the above embodiment, the controller 11 transmits the schedule setting information and control data to the wireless node 15 and the control node 18 via the relay node 12, but the schedule setting information is transmitted from the controller to the wireless node and the control node. When transmitting the control data, it may be via a plurality of relay nodes.

  Moreover, although the said Example has shown the radio network comprised from the controller 11, the relay nodes 12-14, the radio | wireless nodes 15-17, and the control nodes 18-20, a radio | wireless communication system is a standard of radio | wireless communication. IEEE802.15.4 may be used, and any control data and schedule setting information can be transmitted from the controller to the wireless node and the control node via the wireless line. It doesn't matter. In addition, any wireless network may be used.

  In addition, the wireless node 15 of the above embodiment transmits data to the controller 11 via the relay node 12. However, a method for the wireless node to search for a route from the wireless node to the controller transmits data to the controller. Anything is possible as long as it is possible.

  The radio control system according to the above embodiment includes the controller 11, the relay nodes 12 to 14, the radio nodes 15 to 17, and the control nodes 18 to 20, and includes one or more controllers and one or more control nodes. It may be composed of one or more relay nodes and one or more wireless nodes.

  The control cycle and macrocycle (control period) in the radio control system of the above embodiment are shared by the controller 11, relay nodes 12-14, radio nodes 15-17, and control nodes 18-20, respectively. The period may be anything as long as it is a cycle or period related to plant control.

  In addition, the controller 11, the relay nodes 12 to 14, the wireless nodes 15 to 17, and the control nodes 18 to 20 in the wireless control system of the above embodiment perform wireless communication, but the communication between the controller and the host system is as follows. Wireless communication or wired communication may be used.

1 is a configuration block diagram showing an embodiment of a radio control system according to the present invention. FIG. 2 is a configuration block diagram illustrating an example of a control cycle management function of a controller 11 in FIG. 1. FIG. 3 is a functional block example diagram of an arithmetic control unit 112 configuring the controller 11 of FIG. 2. It is a flowchart explaining operation | movement of the controller 11 of FIG. It is explanatory drawing showing transition of measurement data. It is explanatory drawing explaining the schedule of the control loop of a radio | wireless control system. It is explanatory drawing explaining the schedule of the control loop of a radio | wireless control system. It is a timing chart explaining an example of operation of a radio control system. It is a configuration block diagram showing an example of a conventional radio control system. It is explanatory drawing explaining operation | movement of the radio | wireless control system of FIG. It is a flowchart explaining operation | movement of control loop LP100 of the radio | wireless control system of FIG. It is explanatory drawing explaining the schedule of the control loop of the radio | wireless control system of FIG. It is explanatory drawing showing transition of the target value of the radio | wireless control system of FIG.

Explanation of symbols

1, 11 Controller 2, 3, 4, 12, 13, 14 Relay node 5, 6, 7, 15, 16, 17 Wireless node 8, 9, 10, 18, 19, 20 Control node 111 Wireless communication unit 112 Arithmetic control Unit 113 Storage unit 1121 Data management unit 1122 State determination unit 1123 Control processing unit 1124 Control cycle management unit 1125 Data transfer unit

Claims (5)

In a wireless control system that performs data transmission between a node and a controller via a wireless network and controls the control processing period of each node based on the amount of change in data,
A controller that compares the amount of change of the data with a predetermined amount set in advance, obtains schedule setting information for controlling the schedule of the control processing period based on the comparison result, and transmits to the transmission destination node,
The schedule setting information is
When the change amount of the data is smaller than a predetermined amount set in advance, the period of the control processing period is lengthened, and the setting information is set so that a plurality of the control processing periods do not overlap each other. Wireless control system. The controller is
A storage unit for storing the data and route information;
A wireless communication unit for performing wireless communication;
And an arithmetic control unit that obtains the schedule setting information based on a comparison result between a change amount of the measurement data and a predetermined amount set in advance.
The radio control system according to claim 1 . The arithmetic control unit is
Compare the change amount of the data with the predetermined amount,
Based on the comparison result, the schedule setting information for changing the schedule of the control processing period of each node is obtained,
The schedule setting information is transmitted to a destination node.
The radio control system according to claim 2 . The node is
A wireless node having a sensor function for measuring a physical quantity and setting a schedule for a control processing period based on the schedule setting information is provided.
The radio control system according to any one of claims 1 to 3 . The node is
The control node has a control function for controlling a physical quantity and sets a schedule for a control processing period based on the schedule setting information.
The radio control system according to any one of claims 1 to 3 .

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