JP5916677B2 - Control controller and programming method thereof - Google Patents

Description

  The present invention relates to a control controller and a programming method for executing sequence control and loop control.

  Automatic control of water and sewage plants includes sequence control mainly for bit data calculation and PID control of flow rate and water quality, such as starting and stopping pumps and water treatment devices, opening and closing valves and gates, and displaying and operating on monitoring operation devices. Consists of loop control mainly for numerical data computation. Most automatic control of water and sewage plants is sequence control.

  Since high-speed and reliability are required for sequence control of water and sewage plants, not only sequence control by a controller (soft sequence control) but also hard sequence control by a relay circuit is applied to improve the reliability of important equipment. Is done. Since soft sequence control and hard sequence control coexist in this way, it is desirable to mount a ladder program that can be programmed in the same ladder diagram format as the hard sequence notation on the control controller that executes sequence control. In addition, it is essential to implement a sequence-dedicated processor that can execute ladder programs at high speed.

  One loop control includes signal input processing from the plant, control calculation processing of the process to be controlled, and output processing to the plant.

  While the operation of water and sewage plants is over 50 years, the product life of measurement and control equipment is as short as about 10 years, and in addition, there are cases where it falls to several years or less due to the influence of corrosive gas and humidity. The measurement control device is updated to the latest product many times during operation. The specifications of the instrumentation control device change with each update, and in particular, there are various analog signal specifications, A / D conversion specifications, and D / A conversion specifications, and there is a reality that they are not unified within the same plant. This is due to differences in information communication technology, application standards, component life, plant operation method, update budget, etc., in the update age. Therefore, input processing and output processing for loop control are required to support various signal specifications.

  In addition, since the water and sewage process is a naturally open system, the flow rate and quality of raw water corresponding to the raw material is greatly affected by the natural world, living and economic activities. Therefore, loop control such as flow rate and water quality requires complex control calculation processing unique to the plant such as disturbance response.

  Therefore, a control controller that executes loop control is required to have a configuration that can include functions required for input processing, control arithmetic processing, and output processing as subprograms and that can construct a loop control main program by combining the subprograms. And it is essential to implement an arithmetic processor capable of executing the loop control main program at high speed.

  As described above, the control controller that executes sequence control and loop control can be configured so that sequence control can be described by ladder program sequence instructions, loop control can be described by loop instructions, and ladder program loop instructions can be input. There is a demand for a configuration in which a multi-function instruction having a function group of processing, control arithmetic processing, and output processing is selected and a function can be selectively executed by parameters described in a ladder program. Further, a configuration is required in which a sequence processor and an arithmetic processor are mounted, a sequence instruction can be executed by the sequence processor, and a loop instruction can be executed by the arithmetic processor.

  Conventionally, in view of such circumstances, a technique for executing a sequence control instruction and a loop control instruction described in a ladder program by each dedicated processor has been proposed (for example, Patent Document 1).

  According to the technique disclosed in Patent Document 1, an instruction described in a ladder program is fetched by a sequence processor, and in the case of a sequence instruction, the instruction is executed by the sequence processor. In the case of a process control instruction, the process control processor first executes an operand. The data can be read from the address of the data memory defined in (1), and then the instruction can be executed.

Japanese Unexamined Patent Publication No. 7-248807

  According to Patent Document 1, it is described that an instruction and an operand constituting a ladder program are stored in a program memory, and the instruction can refer to data stored at an address of a data memory indicated by the operand. In order to realize a combination of a multi-function instruction for loop control and a parameter using the technique of Patent Document 1, a multi-function loop instruction for loop control is defined as an instruction of a ladder program, and a parameter storage destination in an operand The data memory address is defined. Thus, in order to implement loop control with a multi-function instruction, parameters must be arranged at the data memory address indicated by the operand. Therefore, the sequence control can be completed only with the instructions and operands of the ladder program, whereas the loop control requires parameters defined in the data memory in addition to the instructions and operands of the ladder program.

  As described above, according to the technique disclosed in Patent Document 1, not only the multi-function loop instruction and the operand are defined in the ladder program but also the definition in the data memory is necessary when the loop control is manufactured. There is a problem that labor is required to carry out the two operations of the definition of, while ensuring the consistency of the definition.

  The present invention has been made in view of such a state of the art, and provides a control controller that describes and executes a series of loop control composed of input processing, control arithmetic processing, and output processing using a ladder program. To do.

In order to solve the above-described problems, a controller of the present invention includes a sequence processor, an arithmetic processor, and a memory. The memory includes a ladder program and a loop control program. The ladder program is a combination of an instruction and an operand. The sequence processor reads the ladder program sequentially, and when the instruction of the ladder program is a sequence instruction, the sequence processor executes the sequence instruction. When the instruction of the ladder program is a loop instruction, the arithmetic processor executes the loop control program. The loop instruction includes an operand for a loop instruction that can define at least an input process, a control arithmetic process, and an output process. The loop instruction operand further includes an operand that defines a parameter of the input process, and a control arithmetic process. Pa An operand defining a meter and an operand defining an output processing parameter are provided. The loop control program includes a process for obtaining a loop instruction operand. The loop instruction operand is used as a parameter for input processing, control arithmetic processing, and output. The memory further includes a register, the loop instruction operand includes an operand defining a loop number, and the loop control program obtains a storage address of the loop instruction operand; A process for obtaining a loop number from an instruction operand is provided, and an arithmetic processor uses a register designated by the loop number as an arithmetic register .
The control controller of the present invention includes a sequence processor, an arithmetic processor, and a memory. The memory includes a ladder program and a loop control program. The ladder program includes a combination of instructions and operands. When the instruction of the ladder program is a sequence instruction, the sequence instruction is executed by the sequence processor. When the instruction of the ladder program is a loop instruction, the loop control program is executed by the arithmetic processor. A loop instruction operand that defines a control operation process and an output process; the memory further includes a register; the operand for the loop instruction includes an operand that defines a loop number; For operation A process for obtaining the storage address of command, includes a process of acquiring the group number from the loop instruction for the operand, the register specified by the loop number arithmetic processor is characterized by using as the calculation register.

  An aspect of a programming device that displays a ladder program of a control controller in a ladder graphic that has a corresponding relationship with the control controller includes a loop instruction operand area for defining and displaying a loop instruction operand on the ladder graphic. If the program instruction is a loop instruction, the operand is defined and displayed in the operand area for the loop instruction.

  According to the present invention, a series of loop control such as input processing, control arithmetic processing, and output processing can be constructed with only loop instructions and operands described in a ladder program, so that an engineer who has knowledge of ladder programs can perform sequence control and loop control. There is an effect that a variety of mixed control systems can be easily constructed.

It is a block diagram of the control controller which concerns on embodiment. It is a time chart figure of the control controller concerning an embodiment. It is a figure which shows an example of the ladder program of the control controller which concerns on embodiment. It is a figure which shows an example of the ladder program of the control controller which concerns on embodiment. It is a figure which shows the process sequence of the sequence processor of the control controller which concerns on embodiment. It is a figure which shows the process sequence of the arithmetic processor of the control controller which concerns on embodiment. It is a flowchart which shows the process sequence of the loop control program of the control controller which concerns on embodiment. It is a figure which shows an example of the function of the loop control of a plant. It is a figure which shows an example of the ladder diagram displayed with a programming device.

  Hereinafter, embodiments of a control controller will be described in detail with reference to the drawings.

  FIG. 1 is a diagram showing the configuration of the control controller.

  First, the plant 20, the controller 10, and the programming device 11 will be described.

  In the present embodiment, the plant 20 will be described as a water purification plant. A water purification plant is a plant that takes raw water from dams and rivers and produces tap water by chemical precipitation, sand filtration, and chlorine injection. Consists of raw water pump equipment, high-voltage power receiving equipment, emergency generator equipment, chemical injection equipment, sedimentation basin equipment, filter basin equipment, chlorine injection equipment, water pump equipment, and drainage equipment. In addition, the plant 20 includes operation contacts for operating the pumps and motors of each facility, opening and closing of valves and gates, turning on and off of transformers and capacitors, opening and closing of circuit breakers, and operation, stop, full open and It is equipped with status contacts for outputting statuses such as fully closed, on / off, normal or faulty. In addition, it measures the flow rate, water level, water pressure, valve opening, water quality, etc., and sends the analog signal such as 1-5V, 0-5V, 4-20mA and the valve opening according to the external analog signal, It is equipped with an actuator that controls the number of revolutions and the amount of chemicals injected.

  The controller 10 inputs state contacts and analog signals of the plant 20, executes sequence control and loop control described in a ladder program, and outputs operation contacts and analog signals to the plant 20, thereby automatically controlling the plant 20. Control. Here, the sequence control includes, for example, pump start / stop process control, filtration tank water flow and washing process control, settling tank drain valve open / close control, pump and condenser number control, and the like. The loop control is, for example, valve opening control based on flow rate measurement data, pump rotation speed control, chemical injection amount control based on water quality measurement data, chemical injection pump stroke control, valve opening based on water level measurement data Control and flow control.

  The programming device 11 is configured using, for example, a personal computer. The programming device 11 has a ladder program development environment that can display and edit a ladder program in a ladder diagram format, produces a ladder program for executing sequence control and loop control of the plant 20, and registers the ladder program in the control controller 10. To do. In addition, a loop control program development environment using a program language such as C language is provided, a loop control program corresponding to an execution module of a loop instruction of the ladder program is created, and the loop control program is registered in the control controller 10.

  Next, the internal configuration of the controller 10 will be described with reference to FIG.

The control controller 10 includes a sequence processor 1, an arithmetic processor 2, a memory 3, a plant input / output 8 , and a communication interface 9, and is connected to each other by a system bus 7. The memory 3 is a RAM (Random Access Memory) or the like, and a ladder program 4, a register 5, and a loop control program 6 are arranged therein.

  The sequence processor 1 is a processor dedicated to sequence control, and executes relatively simple operations such as bit logic operations and four data arithmetic operations at high speed. The sequence processor 1 executes a sequence instruction and a loop instruction described in the ladder program 4. In the case of a sequence instruction, the sequence processor 1 executes arithmetic processing. When a loop instruction is detected in the ladder program 4, the loop instruction information is transmitted to the arithmetic processor 2, and the execution right is transferred to the arithmetic processor 2 to execute the loop control program 6 which is an execution module of the loop instruction. Let

  The arithmetic processor 2 is an arithmetic processor for executing complicated numerical operations, and executes the loop control program 6 when acquiring loop instruction information and execution right from the sequence processor 1.

  Register 5 is an area that stores bit data, word data, and longword data used by sequence instructions and loop instructions. Input register is "X ***", output register is "Y ***", Registers are assigned addresses for each application, such as “R ***” and “L ***”.

  For example, data such as analog signals and state contacts from the plant 20 are A / D converted at the plant input / output 8 and then stored in the input register “X”. Word data such as measurement data is stored in input registers XW000 to XWFFF, and bit data such as status contacts is stored in input registers X000 to XFFF.

  The data stored in the output register “Y” is output to the plant 20 via the plant input / output 8. The output registers YW000 to YWFFF are used to output word data, and the output registers Y000 to YFFF are used to output bit data.

  In addition, RW000 to RWFFF for word data and R000 to RFFF for bit data are assigned as operation registers for sequence instructions.

  Further, LW000 to LWFFF for word data and L000 to LFFF for bit data are allocated as loop instruction calculation registers.

  Note that a sequence instruction can access all registers as an operation target, and a loop instruction can access an operation register as an operation target.

  The plant input / output 8 A / D converts electrical signals such as state contacts and analog signals output from the plant 20, and stores them as bit data or word data in the input register “X” of the register 5 via the bus 7. For example, analog signals such as 1 to 5 V are A / D converted and stored as word data in the input registers XW000 to XWFFF. Further, for example, a no-voltage contact, a contact with a voltage, and the like are taken in and stored as bit data in the input registers X000 to XFFF.

  Further, for example, bit data and word data in the output register of the register 5 are D / A converted and output to the plant 20 as operation contacts and analog signals. For example, YW000 to YWFFF word data is D / A converted into an analog signal such as 1-5V and output to an actuator installed in the plant. Further, the bit data in the bit data areas Y000 to YFFF is converted into an electric signal and output to an operation contact provided in the runt 20.

  The A / D conversion and D / A conversion quantization specifications of the plant input / output 8 include, for example, types such as 8 bits, 12 bits, and 14 bits. The higher the quantization bit value, the higher the technical level required, and the higher the manufacturing cost. The quantization specification of the plant input / output 8 varies depending on the time of introduction of each device. This is related to information communication technology level, applicable standard, reliability, plant operation policy, introduction budget, etc. during the operation period of the plant 20. This is because the environment changes greatly.

Ladder program 4 has a structure in which a plurality of steps including instructions and operands are described. Instructions are roughly divided into sequence instructions and loop instructions.
Sequence instructions describe sequence control in combination with operands. One sequence instruction is a single function instruction having one operation function. For example, there is an instruction for each operation such as bit logic operation, four data arithmetic operations, and data transfer. The operation target of the sequence instruction is the data of the register 5 defined by the operand.

  Loop instructions describe loop control in combination with operands. One loop instruction is a multi-function instruction having functions such as input processing, control arithmetic processing, and output processing necessary for one loop control. Each function is determined by parameters defined in the operand.

  As a function of the input processing, there is a function of converting measurement data input via the plant input / output 8 into a scale that can be used in the control calculation processing. The analog signal of the plant 20 is acquired as measurement data via the A / D conversion of the plant input / output 8. Therefore, the scale of the measurement data varies depending on the combination of the analog signal specification and the A / D conversion quantization specification of the plant input / output 8. Therefore, it has a function of acquiring a combination of the analog signal specification and the quantization specification using the operand as a parameter, and converting the scale of the measurement data into a scale called a normal value that can be used in the control arithmetic processing.

  In addition, other functions of input processing include data conversion functions such as linear conversion, inverse linear conversion, square root extraction, power factor conversion, integration processing, and first-order lag processing, and are executed from these functions using parameters defined in operands. Specify the function.

  The control calculation process has functions such as interference type PID, non-interference type PID, and ratio calculation, for example, and designates a function to be executed from these functions by parameters defined in the operand.

  The loop instruction accesses the operation data area allocated to the register 5.

  Output processing functions include data conversion functions such as linear conversion, inverse linear conversion, square root extraction, power factor conversion, integration processing, first-order lag processing, and BCD conversion for the operation data output from the control calculation processing. . The function to be executed is specified from these functions by the parameter defined in the operand.

  As an output processing function, the operation data from the control arithmetic processing is converted from the normalized scale into a scale that conforms to the D / A conversion quantization specification of the plant input / output 8 and the analog signal specification to the plant 20. A function is provided, and a function to be executed is specified from these functions by a parameter defined in the operand.

The loop control program 6 is an execution module for loop instructions described in the ladder program 4. When the loop control program 6 is started, it acquires the operand described in the ladder program 4, executes a series of loop control arithmetic processing in the order of input processing, control arithmetic processing, and output processing according to the operand, and stores the result in the register 5. To finish the process.
The loop control program 6 is executed by the arithmetic processor 2.

  The communication interface 9 is an interface for transmitting and receiving data between the programming device 11 and the memory 3.

  The ladder program 4 for sequence control and loop control of the plant 20 is produced in the form of a ladder diagram using the ladder program development environment of the programming device 11 and stored in the memory 3 via the communication interface 9 and the bus 7. The programming device 11 can also read the ladder program 4 via the communication interface 9 and the bus 7 and display and edit instructions and operands in a ladder diagram format.

  The overall control capacity of the plant 20 is, for example, several thousand to several hundred thousand steps in the number of steps of the ladder program, and several hundred to several thousand loops in the number of loop controls.

In addition, a loop control program source program in a programming language such as C language is created using the loop control program development environment of the programming device 11 and converted into the loop control program 6 in the execution module format. The data is stored in the memory 3 via the bus 7. Also,
The controller 10 receives the signal of the plant 20 via the plant input / output 8 and stores it in the register 5. The sequence processor 1 executes a sequence instruction described in the ladder program 4 and stores the result in the register 5. When the sequence processor 1 detects a loop instruction described in the ladder program 4, the sequence processor 1 causes the arithmetic processor 2 to execute the loop arithmetic program 6 and stores the result in the register 5. The data stored in the register 5 is output to the plant 20 via the plant input / output 8. In this way, the control controller 10 executes sequence control and loop control of the plant 20.

  FIG. 2 is a time chart showing an operation example of the sequence processor 1 and the arithmetic processor 2. The operation of the sequence processor 1 and the arithmetic processor 2 will be described with reference to FIG.

  The sequence processor 1 executes the ladder program 4 with a control period of, for example, 50 ms, 100 ms, or 200 ms.

  When detecting the timing of the control cycle, the sequence processor 1 starts execution from the top step of the ladder program 4 and executes the sequence instructions in the order of step numbers. When a loop instruction is detected, the execution right is transferred to the arithmetic processor 2 and the sequence processor 1 enters an execution waiting state.

  When the arithmetic processor 2 obtains the execution right from the sequence processor 1, the execution of the loop control program 6 is started. When the execution of the loop control arithmetic processing is finished, the execution processor 2 returns the execution right to the sequence processor 1, and the arithmetic processor 2 executes. Waiting. When the sequence processor 1 acquires the execution right, the sequence processor 1 sequentially executes the steps of the ladder program 4 again. When the execution is completed up to the final step, the sequence processor 1 waits for execution until the next control cycle.

  FIG. 3 is a diagram illustrating an example of steps constituting the ladder program 4.

Step 40 is an example in which a sequence instruction is described by one instruction and one operand. Step 40 includes a step number 400, a sequence instruction 401, and a first operand 402A. Step number 400 is a number assigned to each step in series, and the first step is numbered from “0”.

  The sequence instruction 401 is a single-function instruction, which is a contact start calculation “LD”, b contact start calculation “LDI”, coil output calculation “OUT”, a contact series operation “AND”, and a contact parallel operation “OR”. ”And word operation instructions such as data transfer operation“ MOV ”and data addition operation“ ADD ”are defined. The first operand 402A defines the address of the register 5 to be operated by the sequence instruction 401 such as “X000”.

  The sequence processor 1 reads the sequence instruction 401 and the first operand 402A from step 40, and executes the operation defined in the sequence instruction 401 using the data in the register 5 defined in the first operand 402A as an operation target.

  FIG. 4 is a diagram illustrating an example of steps constituting the ladder program 4.

   Step 41 is an example in which one loop control is described by one loop instruction and four operands. Step 41 includes a step number 410, a loop instruction 410, a first operand 412A, a second operand 412B, a third operand 412C, and a fourth operand 412D. Also, for example, step number 410, loop instruction 411, first operand 412A, second operand 412B, third operand 412C, and fourth operand 412D each have a size of 1 word, and step 41 has a size of 6 words. Is done.

  The step number 400 is a number assigned to each step in series, and the first step is numbered from “0”.

The loop instruction 411 is a multi-function instruction and takes the first operand 412A, the second operand 412B, the third operand 412C, and the fourth operand 412D as parameters, and executes input processing, control arithmetic processing, and output processing according to the parameters. The loop instruction 411 uses the operation register “L” in the register 5 as an operation register when executing input processing, control operation processing, and output processing. The calculation register is an area for storing measurement data from the plant 20, operation data output to the plant 20, and the like.

  The correspondence between the definition of the operand and the loop control function will be described in detail below. A loop number is defined in the first operand 412A. Here, the loop number is a number assigned for each loop control and is unique within one control controller. The loop instruction uses the register area for operation depending on the loop number. For example, if all areas of the operation register are LW000 to LWFFF and 16 words are secured for each loop number, LW000 to LW00F when the loop number is “1”, and LW010 to when the loop number is “2” Use LW01F. Also, the relative 0th word LW000 of the head address determined by the loop number is an index, the relative 1st word LW001 is the measurement data from the plant 20, the second word LW002 is the operation data that is the loop control calculation result, 3 words. In the eye LW002, target data and the like are stored.

  The second operand 412B defines a parameter for selecting a function necessary for input processing. For example, an A / D conversion number is defined in the upper byte of the second operand 412B in order to select a function for converting measurement data input via the plant input / output 8 into a scale that can be used in control arithmetic processing. To do. Here, the A / D conversion number is a number determined by a combination of the analog signal specification of the plant 20 and the quantization specification of the plant input / output 8. For example, if the analog signal of 1 to 5V is A / D converted to 8 bits, it is “1”. If the analog signal of 1 to 5V is converted to 12-bit data, “2” is used. “3” is used when converting to 14-bit data, and “4” is used when converting an analog signal of 0 to 5 V into 8-bit data.

  In the lower byte of the second operand 412B, an input data conversion number is defined in order to select a data conversion function to measurement data. Here, the input data conversion number is a number for each data conversion function. For example, the linear conversion is “1”, the inverse linear conversion is “2”, the square root calculation for calculating the flow rate from the differential pressure is “3”, the primary The delay is “4”, the power factor conversion is “5”, and the like.

  An arithmetic processing number is defined in the third operand 412C. Here, the calculation processing numbers are, for example, “1” for interference type PID control, “2” for non-interference type PID control, “3” for ratio calculation, and the like.

  The fourth operand 412D defines a parameter for selecting a function necessary for output processing. For example, in the upper byte of the fourth operand 412D, an output data conversion number is defined in order to select a data conversion function for operation data from the control arithmetic processing. Here, the output data conversion number is a linear conversion of data Or the number of a function for nonlinear transformation, for example, “1” for linear transformation, “2” for inverse linear transformation, and the like.

  The lower byte of the fourth operand 412D has a function for converting the operation data from the normalized scale to a scale that conforms to the D / A conversion quantization specification of the plant input / output 8 and the analog signal specification to the plant 20. Define D / A conversion number for selection. Here, the D / A conversion number is a number for defining an analog signal specification or a quantization specification. For example, when converting 8-bit data into an analog signal of 1 to 5 V, “1” is used. “2” when converting to an analog signal of 1 to 5V, “3” when converting 14-bit data to an analog signal of 1 to 5V, and “8” when converting 8-bit data to an analog signal of 0 to 5V. 4 "and the like.

  When the sequence processor 1 detects the loop instruction, the sequence processor 1 acquires the loop instruction information and outputs it to the arithmetic processor 2, and then transfers the execution right to the arithmetic processor 2. The arithmetic processor 2 acquires the execution right and loop instruction information, and starts the loop control program 6. The loop control program 6 first executes the acquisition process of the first operand 412A, the second operand 412B, the third operand 412C, and the fourth operand 412D, and then executes the input process according to the parameters of the second operand 412B. Next, control arithmetic processing is executed according to the parameter of the third operand 412C, and then the arithmetic result is stored in the register 5 according to the parameter of the fourth operand 412D. In this way, by creating one loop instruction, it is possible to define the input processing, control operation processing, and output processing required for one loop control, so various loop controls can be constructed simply by changing the operand definition. it can.

  FIG. 5 is a diagram showing a processing flow of the sequence processor 1.

   The sequence processor 1 first determines whether it is a ladder program execution start timing in step S110. For example, when a preset control cycle is reached, it is determined that the process is started, and the process proceeds to step S111.

  In step S111, the step counter is cleared to zero so that the execution can be started from step number zero. In step S112, an instruction is read for the step of the step counter. In step S113, it is determined whether the instruction is “END” indicating the end of the ladder program 4. If the instruction is other than “END”, the process proceeds to step S114, and if “END”, the process returns to the start. In step S114, it is determined whether the instruction is a sequence instruction or a loop instruction. If the instruction is a sequence instruction, the process proceeds to step S115. If the instruction is a loop instruction, the process proceeds to S117.

  In step S115, the operand is read. In step S116, the read instruction and operand are executed.

  In step S117, loop instruction information is output to the arithmetic processor 2. Here, the loop instruction information is, for example, the name of the loop instruction, the address of the loop instruction in the ladder program 4, and the address of the first operand in the ladder program 4. In step S118, the execution right is transferred to the arithmetic processor 2. In step S119, the process waits until the execution right is acquired from the arithmetic processor 2. When the execution right is acquired, the process proceeds to step S120.

In step S120, 1 is added to the step counter and the process returns to step S112.
In this manner, the sequence processor 1 executes the ladder program 4 from the beginning to the end by repeatedly executing the processing from step S112 to step S120.

  FIG. 6 is a diagram showing a processing flow of the arithmetic processor 2.

  The arithmetic processor 2 first determines whether or not the execution right from the sequence processor 1 has been acquired in step S210. If the execution right is acquired, it is determined that the execution right is present and the process proceeds to step S211 to acquire the execution right. If not, return to start with no execution rights.

  In step S212, loop instruction information from the sequence processor 1 is acquired. Here, the loop instruction information is, for example, the name of the loop instruction, the address of the first operand, and the like.

  In step S212, the head address of the loop control program 6 to be executed is determined from the name of the loop instruction. Next, the loop control program 6 is executed using the address of the first operand as an argument from the loop instruction information.

  In step S213, after the loop control program 6 is executed to the end, the execution right is transferred to the sequence processor 1, and the process returns to the start.

  FIG. 7 is a diagram showing a processing flow of the loop control program 6. Hereinafter, the processing flow of the loop control program 6 will be described with reference to FIG.

  In step S600, the address of the first operand is acquired from the arithmetic processor 2.

  In step S601, the first operand 412A is read and used as a loop number. In step S602, the second operand 412B is read, and the upper byte of 412B is set as the A / D conversion number, and the lower byte is set as the input data conversion number. In step S603, the third operand 412C is read out and used as an operation processing number. In step S604, the fourth operand 412D is read, and the upper byte of 412D is set as the output data conversion number, and the lower byte is set as the D / A conversion number.

  In step S605, a calculation register is determined from the loop number acquired in step S601, and the measurement data stored in the first relative word is read. The measurement data is, for example, data obtained by A / D converting an analog signal of the plant 20 at the plant input / output 8. A / D conversion quantization specifications include, for example, 8 bits, 12 bits, 14 bits, and the like, and the measurement data are scales such as 0 to 511, 0 to 4095, and 0 to 16383, respectively.

  In step S606, the scale of the measurement data is converted (normalized) into a scale called a normal value. The normal value is, for example, integer type data having a scale of 0 to 10,000. If the A / D conversion number is “2”, the quantization specification is determined to be 12 bits, and the measurement data is converted from 0-4095 to 0-10000. If the A / D conversion number is “1”, the quantization specification is determined to be 8 bits, and the measurement data is converted from 0 to 511 to 0 to 10000.

In step S607, the input conversion process is executed according to the input data conversion number for the measurement data converted into the normal value. For example, the input data conversion number is "1" if the linear transformation, "2" if the inverse linear transformation, "3" if No. computation for converting the differential pressure flow rate, "4" if the like first-order lag calculation is there.

In step S608, the control arithmetic processing is executed according to the arithmetic processing number for the measurement data after the input conversion processing, and the processing result is output as operation data. For example, the arithmetic processing number is "1" if interferometric PID control, "2" if non-interference type PID control, "3" if it etc. ratios arithmetic.

  In step S609, output conversion calculation processing such as scale conversion is executed on the operation data according to the output data conversion number. For example, when the output data conversion number is “1”, linear conversion is performed, and when the output data conversion number is “2”, inverse linear conversion is performed.

  In step S610, the operation data is converted from a normal scale to a scale corresponding to the D / A conversion number. For example, if the D / A conversion number is “1”, it is 8 bits, “2” is 12 bits, “3” is 14 bits, and so on.

  In step S611, operation data is stored in the second relative word from the beginning of the calculation register, and the process is terminated.

  Here, the normal value is a data type used in the loop control calculation process, and has been described as an integer type 0-10000 scale, but the data type may be a fixed-point type, a floating-point type, or the like.

  FIG. 8 is a diagram illustrating an example of a loop control function of the plant 20. With reference to FIG. 8, the processing configuration of loop control for adjusting the flow rate flowing through the pipe with the butterfly valve opening will be described.

  First, the configuration of the plant 20 that is a process to be controlled will be described. The raw water 30 taken from the dam is sent to the settling basin via the pipe 20A, the orifice 21, the pipe 20B, the butterfly valve 23, and the pipe 20C. The orifice 21 measures the differential pressure before and after the orifice in the pipe and transmits it to the differential pressure gauge 22. The differential pressure gauge 22 converts the differential pressure measurement data into an analog signal of 1 to 5 V and outputs it to the controller 10. The opening degree setter 24 maintains the opening degree of the butterfly valve 23 according to the opening degree set by the controller 10 with an analog signal of 0 to 5V.

  The controller 10 inputs the differential pressure measurement data from the differential pressure gauge 22 via the 12-bit A / D conversion 81 mounted on the plant input / output 8 and stores it in the input register XW100 as 12-bit data. In addition, the controller 10 acquires 12-bit differential pressure measurement data from the ladder program 4, executes non-interference type PID control, and stores the opening operation data as the execution result in the output register YW100 as 8-bit data. To do. Then, the opening operation data is output to the opening setting device 24 via the 8-bit D / A conversion 82 mounted on the plant input / output 8.

  Next, the operation of the loop control calculation processing in steps 42, 43, and 44 described in the ladder program 4 will be described in detail.

The step 42 includes a step number 420, a sequence instruction 421, a first operand 422A, and a second operand 422B. The data in the input register XW100 defined in the first operand 422A is defined by “MOV” defined in the sequence instruction 421. Is transferred to the arithmetic register LW001. As described with reference to FIG. 4, the arithmetic register LW001 corresponds to the measurement data of the loop number “1” .
Step 43 includes a step number 430, a loop instruction 431, a first operand 432A, a second operand 432B, a third operand 432C, and a fourth operand 432D. The loop instruction 431 uses the first operand 432A as a loop number, the second operand 432B as an input processing parameter, the third operand 432C as a control processing parameter, and the fourth operand 432D as an output processing parameter. Perform the operation.

  Hereinafter, the loop control arithmetic processing of the loop instruction 431 will be described in the order of execution.

  First, by defining the first operand 432A as “0001”, the loop number is set to “1”. Thereby, the loop control calculation process uses the calculation registers LW000 to LW00F for the loop number “1”. Then, the measurement data is read from LW001 of the first relative word from the top of the calculation register and used as differential pressure measurement data.

  By defining the upper byte of the second operand 432B as “02”, the A / D conversion number is set to “2”. Since the A / D conversion number “2” corresponds to a function for normalizing 12-bit data, a process for converting the differential pressure measurement data stored in the operation register LW001 from 12-bit data to a normal value is performed. Run.

  By defining the lower byte of the second operand 432B as “03”, the input data conversion number is set to “3”. Since the input data conversion number “3” corresponds to the square root calculation function, a process of performing square root calculation on the normalized differential pressure measurement data to convert it into flow measurement data is executed.

  By defining the third operand 432C as “02”, the operation control number is set to “2”. The calculation control number “2” corresponds to the non-interference type PID control function, performs non-interference type PID control on the flow rate measurement data, and outputs opening operation data.

  By defining the upper byte of the fourth operand 432D as “01”, the output data conversion number is set to “1”. The output data conversion number “1” corresponds to the linear conversion function, and executes processing for linearly converting the opening operation data.

By defining the lower byte of the fourth operand 432 D as “1”, the D / A conversion number is set to “1”. Since the D / A conversion number “1” corresponds to the function of converting the normal value into 8-bit data, the opening operation data is converted into 8-bit data, and the relative second word of the calculation register of the loop number “1” is converted. Store in LW002.

  As described above, the loop control input process, the control calculation process, and the output process can be constructed in step 43.

  Step 44 is composed of a step number 440, a sequence instruction 441, a first operand 442A, and a second operand 442B. By “MOV” defined in the sequence instruction 441, the operation register LW002 defined in the first operand 442A is stored. The opening operation data is transferred to the calculation register YW100 defined in the second operand 422B.

  In step 42, a process for transferring the measurement data of the input register to the calculation register used by the loop instruction is provided. However, the plant input / output 8 may directly store the measurement data in the calculation register.

  In step 44, processing for transferring the operation data of the operation register to the output register is provided. However, the operation data of the operation register may be directly transferred by the plant input / output 8 and output to the plant 20.

  FIG. 9 is a diagram illustrating an example of a ladder diagram displayed on the programming device 11.

   A ladder diagram 200 in FIG. 9A is an example in which the ladder program 4 in FIG. 9B is displayed in a ladder diagram format using the ladder program development environment of the programming device 11.

  A ladder 201 in the ladder diagram 200 indicates a process of turning on the bit data of the output register Y001 when the bit data of the input register X001 is turned ON and the bit data of the input register X002 is turned ON. Ladder 201 is composed of three sequence commands: a contact start operation “LD”, a series operation “AND” of a contact, and coil output calculation “OUT”.

  The ladder 202 transfers the word data of the input register XW100 to the arithmetic register LW001 by the sequence instruction “MOV”.

  The ladder 203 describes one loop control by a loop instruction 205 and four operands. In the operand display area 206, four operands are displayed in the order of the loop number “0001”, the input processing parameter “0203”, the control operation processing parameter “0002”, and the output processing parameter “0101” from the upper left. The loop control configuration can be easily grasped only with the ladder diagram.

The ladder 204 transfers the data in the operation register LW002 to the output register YW100 by the sequence instruction “MOV”. Note that the control controller according to the present invention is not limited to the above-described embodiment, and the gist of the present invention. As long as it does not deviate from the above, it can be appropriately modified. Hereinafter, other embodiments of the control controller according to the present invention will be listed.

  In the above-described embodiment, the operand 412 of the loop instruction 411 is provided with four operands from the first to the fourth in order to describe a series of loop control arithmetic processing of loop number, input processing, control arithmetic processing, and output processing. A series of loop control functions may be described with one operand, or a plurality of operands may be provided for each input process, each control operation process, and each output process.

  In the above-described embodiment, the loop instruction information output from the sequence processor 1 is the address where the operand in the ladder program 2 is stored, but the loop instruction information as the address where the loop instruction in the ladder program 2 is stored The control program 6 may be a process of acquiring the next operand based on the address where the loop instruction is stored.

  In the above-described embodiment, the ladder program 4 may be expressed in IEC-61131 (programmable controller programming language standard).

  The control controller according to the above-described embodiment can also be applied to control systems for social infrastructure systems such as electric power, gas, transportation, and dams, and control systems for industrial systems such as steel, chemicals, food, and logistics.

  In addition to storing information such as programs and data for realizing each function in a RAM (Random Access Memory), a recording device such as an SSD (Solid State Drive), an IC (Integrated Circuit) card, an SD (Secure Digital) It can be stored in a recording medium such as a card or a DVD (Digital Versatile Disc).

  The configuration, function, processor, and memory of each unit according to the above-described embodiment can be realized in whole or in part by hardware designed by an integrated circuit.

  According to the present embodiment, since a series of loop control including input processing, control arithmetic processing, and output processing can be constructed with loop instructions and operands described in a ladder program, an engineer having knowledge of the ladder program can perform sequence control and loop control. There is an effect that various control systems in which controls are mixed can be easily constructed.

  Since loop control can be described in a ladder program, it is expected to improve engineering efficiency, improve programming and debugging efficiency, and improve actual test run adjustment efficiency.

  In addition, since one loop control can be described by a ladder program with a minimum step, programming and debugging can be performed without scrolling the ladder diagram format screen displayed on the programming device or expanding multiple screens. Has the effect of improving.

  In addition, loop control can be visualized and described in a ladder program, and even a third party can easily understand the loop control configuration, so it is highly maintainable and can be applied to plants that require long-term maintenance such as social infrastructure. There is an effect.

  For example, even if the sensor signal specifications change, the A / D conversion specification change of the control controller, etc. occur, the modification can be done simply by changing the operand of the ladder program. This has the effect of minimizing the accompanying plant stop time and human alternative operation time.

  In the drawings for explaining the embodiments, only control lines and information lines considered necessary for explanation are shown, and not all control lines and information lines on the product are necessarily shown. In practice, it can be considered that almost all configurations are connected to each other.

  1: sequence processor, 2: arithmetic processor, 3: memory, 4: ladder program, 5: register, 6: loop control program, 7: bus, 8: plant input / output, 9: communication interface, 10: control controller, 11 : Programming device, 20: Plant.

Claims (10)

A sequence processor, an arithmetic processor, and a memory;
The memory includes a ladder program and a loop control program.
The ladder program is composed of a combination of an instruction and an operand,
The sequence processor executes the sequence instruction by the sequence processor when the instruction of the ladder program is a sequence instruction, and executes the loop control program to the arithmetic processor when the instruction of the ladder program is a loop instruction. A controller with processing
The loop instruction includes an operand for a loop instruction that defines at least input processing, control arithmetic processing, and output processing;
The loop instruction operand further comprises an operand defining an input processing parameter, an operand defining a control arithmetic processing parameter, and an operand defining an output processing parameter;
The loop control program includes a process for obtaining the loop instruction operand, and executes the input process, the control arithmetic process, and the output process using the loop instruction operand as a parameter ,
The memory further includes a register, the loop instruction operand includes an operand defining a loop number, the loop control program obtains a storage address of the loop instruction operand, and the loop instruction A control controller comprising: a process of obtaining the loop number from a general operand, wherein the arithmetic processor uses the register designated by the loop number as an arithmetic register . The controller of claim 1,
The register has a plurality of areas corresponding to the designated loop numbers, and each area is an area for storing at least measurement data to be subjected to the input process and an operation result of the control calculation process A control controller comprising an area for storing data . A sequence processor, an arithmetic processor, and a memory;
The memory includes a ladder program and a loop control program.
The ladder program is composed of a combination of an instruction and an operand,
The sequence processor executes the sequence instruction by the sequence processor when the instruction of the ladder program is a sequence instruction, and executes the loop control program to the arithmetic processor when the instruction of the ladder program is a loop instruction. A controller with processing
The loop instruction includes an operand for a loop instruction that defines at least input processing, control arithmetic processing, and output processing;
The memory further includes a register, the loop instruction operand includes an operand defining a loop number, the loop control program obtains a storage address of the loop instruction operand, and the loop instruction A control controller comprising: a process of obtaining the loop number from a general operand, wherein the arithmetic processor uses the register designated by the loop number as an arithmetic register . The control controller according to claim 3,
The register has a plurality of areas corresponding to the designated loop numbers, and each area is an area for storing at least measurement data to be subjected to the input process and an operation result of the control calculation process A control controller comprising an area for storing data . The controller of claim 4, wherein
The loop instruction operand further comprises an operand defining an input processing parameter, an operand defining a control arithmetic processing parameter, and an operand defining an output processing parameter . A method of programming the control controller by a programming device connected to a control controller comprising a sequence processor, an arithmetic processor, and a memory,
The memory includes a ladder program, a register, and a loop control program.
The ladder program is composed of a combination of an instruction and an operand,
The sequence processor executes the sequence instruction by the sequence processor when the instruction of the ladder program is a sequence instruction, and executes the loop control program to the arithmetic processor when the instruction of the ladder program is a loop instruction. Equipped with processing
The programming device displays the ladder program as a ladder graphic, and defines and displays a loop instruction operand defining at least input processing, control arithmetic processing, and output processing on the displayed ladder graphic. When the ladder program instruction is the loop instruction, the loop instruction operand is defined in the loop instruction operand area in the order of input processing parameter, control arithmetic processing parameter, and output processing parameter. display and,
The operand for loop instruction includes an operand for defining a loop number, and the loop control program acquires a storage address of the operand for loop instruction, and acquires the loop number from the operand for loop instruction. And the arithmetic processor uses the register specified by the loop number as an arithmetic register . The method of programming a controller according to claim 6,
The register has a plurality of areas corresponding to the designated loop numbers, and each area is an area for storing at least measurement data to be subjected to the input process and an operation result of the control calculation process A control controller programming method comprising an area for storing data . A method of programming the control controller by a programming device connected to a control controller comprising a sequence processor, an arithmetic processor, and a memory,
The memory includes a ladder program, a register, and a loop control program.
The ladder program is composed of a combination of an instruction and an operand,
The sequence processor executes the sequence instruction by the sequence processor when the instruction of the ladder program is a sequence instruction, and executes the loop control program to the arithmetic processor when the instruction of the ladder program is a loop instruction. Letting
The loop instruction operand comprises at least an operand for a loop instruction that defines input processing, control arithmetic processing, and output processing;
Said loop instruction for operands, includes an operand that defines the loop number, the loop control program is to obtain a storage address of said loop instruction for operands, and obtaining child the loop number from the loop instruction for operands A method of programming a control controller, wherein the arithmetic processor uses the register specified by the loop number as an arithmetic register. The control controller programming method according to claim 8,
The register has a plurality of areas corresponding to the designated loop numbers, and each area is an area for storing at least measurement data to be subjected to the input process and an operation result of the control calculation process A control controller programming method comprising an area for storing data. The control controller programming method according to claim 9, wherein:
The loop controller operand includes an operand defining an input processing parameter, an operand defining a control arithmetic processing parameter, and an operand defining an output processing parameter .

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