JPH01188901A - Digital controller - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Summary] The present invention includes a controlled object that is controlled based on an operation amount, a detection unit that detects the controlled amount of the controlled object, and an 8 host CPU.
A digital control device having a simple configuration and a control lower CPU that performs control by transmitting the manipulated variable in real time to the controlled object based on the controlled variable digitized by a startup command from The purpose of the present invention is to provide a digital control device that can easily check and adjust the actuators, etc., and selects either the upper CPU or the lower CPU based on a command from the upper CPU, and This configuration includes a selection connection section for connecting to a control object, a detection section, and a detection section.

(Industrial Application Field) The present invention relates to a digital control device, and in particular, a control object that is controlled based on an operation amount, a detection unit that detects the control amount of the control object, and a digital control device that is controlled based on a command from a host CPU. The present invention relates to a digital control device having a lower control CPU that performs control by transmitting the manipulated variable to the controlled object in real time based on the controlled variable.

[Conventional technology]

Conventionally, there has been a digital control device 46 as shown in FIG. This device includes actuators 43 such as robot manipulators and NC devices that are servo-controlled by operating amounts such as voltage, current, and ON/OFF of switches, as well as the position, speed, and 0N of switches of the actuators 43. - Control amount (amount to be controlled) such as OFF state
It consists of sensors 44 as a detection unit that detects the above, and a control CPU 41 that performs servo control by sending an operation amount to the actuators 43 based on the digitized control amount detected by the sensors 44. There was a digital controller 46.

Further, the control CPU 4i controls and checks the actuators 43 and sensors 44 according to commands from the host CPU 45.

Here, the reason why the host CPU 45 and the control CPU 41 are provided is that the control CPU 41 performs simple but high-speed processing that requires real-time performance, while the console (CPU The upper CPU 41 performs slow but complex processing such as controlling the CPU configuration, initial values, starting, stopping, etc.) and file management.
This is to make it happen.

Note that the reference numeral 40 in the figure is a control bus.

[Problem that the invention seeks to solve]

By the way, when checking the operation of the actuators 43 and sensors 44 of the digital control device 46 or adjusting the digital control device, a program separate from the digital control is required.

However, in the conventional digital control device 46, the host CPU 45 is not directly connected to the actuators 43 and sensors 44, and
etc. cannot be directly controlled, and the control CPU 41
Prog via.

In addition, the control CPU 41 has no choice but to perform ram control.
One-chip microcomputers and DSP (Di
Not only does the program capacity of the digital signal processor (digital signal processor) generally have a small capacity, but it also requires the use of the host CPU 4 to develop programs other than the digital control.
Unlike general-purpose microprocessors such as 5, it is not possible to use high-level languages, and only low-level languages such as assembler can be used. Therefore, it is impossible or difficult to develop the program, and there is a problem in that the actuators 43 and sensors 44 cannot be checked or adjusted sufficiently or at all.

Therefore, the present invention was made to solve the above problems, and an object thereof is to provide a digital control device that has a simple configuration and can easily check and adjust actuators directly. This was done as a.

(Means for Solving the Problems) In order to solve the above-mentioned problems, the present invention provides a controlled object 3 that is controlled based on a manipulated variable and a control amount of the controlled object 3 as shown in FIG. The detection unit 4 that detects and the upper CPU
a control lower CP that performs control by transmitting the manipulated variable in real time to the controlled object 3 based on the controlled variable digitized by the activation command from 5;
In a digital control device having a UI, either the upper CPU 5 or the lower CPU is selected according to a command from the upper CPU 5 to control the control target 3.
and a selection connection section 2 connected to the detection section 4.

[Effect]

The controlled object 3 is controlled by the digital control device according to the present invention.
When performing normal control on the
commands the selection connection section 2 to connect the control lower CPU 1, the detection section 4, and the controlled device 3.

Then, the control CPU 1 controls the control object 3 and the detection unit 4.
Based on the control amount detected by the detection unit 4, a corresponding operation amount is sent to the controlled object 3 to perform control.

On the other hand, when checking or adjusting the detection unit 4 or the control target 3, the host CPU
5 issues a command to the selection connection unit 2, and the relevant upper CPU
5 is connected to the detection unit 4 and the controlled object 3.

Then, the host CPU 5 adjusts or checks the detection section 4 or the controlled object 3.

Here, the reason why the host CPU 5 adjusts and checks the detection unit 4 and the controlled object 3 instead of the control CPU 1 is because the control CPU 1 emphasizes real-time performance and does not use high-level languages. Therefore, the development of programs for adjustment or checking is generally performed on the upper CPU.
Not only is it more difficult than 5, but the upper CPU 5 is the lower CPU
This is because the program capacity is larger than that of PU1.

In addition, since normal control and adjustment and check processing are generally not performed in conflict with each other, the selection of which one to perform can be made between the upper CPU 5 and the lower control CPU 1 without the need for complex bus control to avoid conflicts. This can be achieved by providing a selective connection section 2 having a simple function of selecting only one of the two and connecting it to the detection section 4 and the controlled object 3.

〔Example〕

Next, examples of the present invention will be described.

As shown in FIG. 2, this embodiment has a host CPU 15 as a host CPU 5 that performs console and file management, checks and adjustments of digital control devices, etc., which are complicated but do not require real-time performance, and are controlled by the host CPU 15. , a display section 17 that displays various data, a file storage section 18 that stores various data, and a control device 16 that controls a robot, NC device, etc.

The control device 16 includes actuators 13 such as robot manipulators as a controlled object 3, sensors 14 as a detection unit 4 that detects control amounts such as the position and speed of the actuators 13, and the actuators 1.
A lower control CP that sends out manipulated variables in real time based on the digitalized control variables to control 3.
It has a control CPU II as U1, and a selection connection section 12 that selects either the host CPU 15 or the control CPU II and connects it to the sensors 14 and the actuators 13. In addition, the reference numeral 20 in the figure
is a control bus, and 21 is a host bus.

FIG. 3 shows details of the selection connection section 12 of the control device 16, and examples of the sensors 14 and actuators 13.

The selection connection section 12 is connected to the host CPU as shown in FIG.
A first decoder 12a decodes the address output from 15 and sends various command signals ■■■■ to the corresponding address position, and a host CPU 15 with the write signal of
a command buffer 12d into which direct control commands are written; and a first FF (flip-flop) circuit 12 which is set by the write signal, sends a ■ signal to the control CPU II, and is reset by the ■ signal.
c, and after the command has been subjected to predetermined processing by the control CPU II, the output address is decoded, the contents of the command buffer 12d are read out, and the read signal of (3) is reset, and the first FF circuit 12c is reset. Write the response of the control CPU II to the response buffer 12e and set the second FF circuit 12f.
The second decoder 12b outputs a signal, and is set by the write signal (■) from the decoder 12b of the node 2 and reset by the read signal (■) from the first decoder 12a, and sends the signal (■) to the host CPU 15. The second FF circuit 12f that sends out the signal and the ■signal from the first decoder 12a set the ■signal "
a third FF circuit 12i that outputs 1'' and is reset upon completion of data transmission from the host CPU 15;
If the corresponding signal (■) is in the "1" state, the host CPU
A multiplexer 12g selects an address from 15, and when the signal of the concerned ■ is in the zero state, selects an address from the control CPU II and sends it to the control address bus 20a, When the inverted signal is °゛1°°, the first switch is opened to exchange data with the sensors 13 or actuators 14, and when it is 0°, it is closed and does not exchange data. buffer 1 of
2h, a NOT circuit 12j that inverts the output signal ■ from the third FF circuit 12i, and the read/write signals ■ and ■ signals of the control bus 2 from the first decoder. AND circuit 12 and the corresponding AN
When the output signal [share] from the D circuit 12k is 1'', it is opened and data is exchanged between the host CPU 15 and the sensors 13 and actuators 14, and when the signal is in the 0'' state. has a second buffer 1:l which is closed and does not exchange data.

The control device 16 also outputs read/write signals to the sensors 14 or actuators 13 to read data detected by the sensors 13, and also reads data sent from the control CPU II or host CPU 15. The third step written in the actuators 14
It has a decoder 19.

Further, as shown in the figure, the actuators 13 include, for example, an output latch section 131a, a D/A converter 1
32a and a device (such as a robot manipulator) 13a having an amplifier 133a and an output latch section 131b.
and a device 13b having a relay 132b, and the sensors 14 include, for example, an encoder 143a for encoding,
There is a device 14a having a counter 142a and an input buffer 141a, and a device 14b having a limit switch 142b and an input buffer 141b.

This embodiment operates as follows.

In this embodiment, when the host CPU 15 directly controls the actuators 13 and sensors 14, the host CPU 15 directly controls the actuators 13 and sensors 14.
PU 15 outputs an address to host bus 21a.

Then, the fourth decoder 12a decodes the address and writes the command buffer 12 with the write signal (■).
Write a command for direct control to d, and write the command for direct control to w.
The rite signal sets the first FF circuit 12c and
The control CPU II is controlled by the output signal from the FF circuit 12c.
interrupts and notifies the command. Control C
The PUII outputs an address to the control bus 20, but the second
The decoder 12b outputs the command with the read signal (■).
The command is read from the buffer 12d and the first FF circuit 12f is reset.

After the command is processed by the control CPU II, the response to the command is written to the response buffer 12e by the write signal (■) and sent to the second F
The F circuit 12f is set, and an interrupt is issued to the host CPU 15 by the output signal (2) from the circuit 12f. The host CPU 15 outputs the address to the host bus 21a, reads the response from the response buffer 12e using the read signal (3) by the decoder 12a, and resets the second FF circuit 12f. During normal control, the response buffer 12e is used as the above command buffer 12d, and the host) CPU 15 and control CPU
Exchange information with I.

Next, when performing adjustment or checking, the CPU 15 sends the third signal via the first decoder 12a to the
When the FF circuit 12i is set, the multiplexer 12g switches the address source from the control CPU II to the host CPU 15, and the first buffer 1
2h is closed and the second buffer 12fl is opened, and the control bus 2o is connected from the control bus 11 to the host CPU 15.
will be placed under the control of

A part of the address space of the host CPU 15 is allocated to the control bus 20, and
The second output signal is the AND of the ead/write signal and ■.
It is possible to read/write data to and from the sensors 13 and actuators 14 via the buffer 12 sentences.

This allows the host CPU1 to be created using a high-level language.
The program 5 allows data to be sent to the sensors or actuators to easily adjust initial values, etc., as well as to inspect data from the sensors 14 or actuators 13 and to store the data in the file. The data can be stored in the section 18 or displayed on the display section 17.

〔Effect of the invention〕

As described above, the present invention provides a selection connection section, so that the control object and the detection section can be adjusted, checked, etc. directly by the upper CPU without going through the lower CPU for control.

Therefore, unlike the control lower-level CPU programs, which are generally created in low-level languages to emphasize real-time performance, the programs are not only easy to create, but also need to operate in real-time with the control CPU, which operates in real-time. Since there is no competition on the bus with a host CPU that does not exist, it is possible to adjust and check the detection unit and the control target with a simple configuration.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of the principle of the present invention, FIG. 2 is an overall block diagram of an embodiment, and FIG. 3 is a block diagram of an embodiment.
FIG. 84 is a block diagram according to a conventional example. 1.11... Lower CPU for control (CPU for control) 2
．． 12... Selection connection part 3.13... Controlled object (actuators) 4.14
...Detection section (sensors) 5.15 ... Upper CPU (host CPU) 6.16
...control device

Claims (1)

[Claims] A controlled object (3) that is controlled based on a manipulated variable, a detection section (4) that detects the controlled amount of the controlled object (3), and a digital a control lower CPU (1) that sends the manipulated variable to the controlled object (3) in real time based on the converted controlled variable;
), in which a command from the upper CPU (5) causes the upper CPU to
(5) A digital control device characterized by being provided with a selection connection unit (2) that selects either one of the lower CPU (1) and connects it to the control object (3) and the detection unit (4). .