JPH03113504A - Generating device for control execution program - Google Patents

Abstract

PURPOSE:To automatically generate a control execution program based on the input information received from a designer and in accordance with each operating method by generating transformation of the subject knowledge for each operating method of a control subject based on the mechanical performance knowledges produced in consideration of various operating methods. CONSTITUTION:A control execution program obtained via a control execution program generating device 13 is outputted to an external programmable controller 14 via a programmable controller interface 11. Then the controller 14 controls a control subject 15 based on the produced program. Thus a designer inputs properly the outline information on a target operation via an input device 10 by reference to the display screen of a display device 8. As a result, a CPU 1 can automatically produce an execution control program of the controller 14 based on the input information and by reference to the subject knowledge expanded to a program expansion knowledge storage 6.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a control execution program generation device that automatically generates a control execution program for a programmable controller from input information provided by a designer.

(Prior Art) In a program controller that controls various plants, etc., a control execution program must be generated in order to operate it effectively. Therefore, in the past, all conditions such as the operation of the controlled object, its control conditions, and the timing of each operation were assumed and programmed manually.

However, as the control target becomes more complex, it becomes difficult to consider all of these conditions. Therefore, by compiling these conditions into knowledge data as target knowledge and specifying only the outline of the operation, the control execution program can be automatically executed. It has become common practice to generate

The target knowledge for automatically generating such a control execution program describes relational expressions of conditions that constrain the operation of a machine, etc.

(Problem to be Solved by the Invention) However, in the conventional control execution program generation device proposed as described above, in reality, even for the same machine, the operating state and timing of each operation may vary depending on the operating method. Because the conditions governing each operation are different, the subject knowledge had to be described separately for all driving methods.

Therefore, conventionally, a huge amount of target knowledge had to be prepared in advance for each driving method, and there was a problem in that it required a great deal of effort and time to construct the target knowledge. Also,
When constructing target knowledge, all operating methods must be considered, and if any operating method is omitted, there is a risk that the control execution program will not be generated correctly when that operating method is applied. Furthermore, in the field of control, where driving methods often change, subject knowledge must be manually corrected each time.
There was a maintenance problem with the control execution block generator.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a control execution program generation device that can automatically generate a control execution program that can correctly execute control for various driving methods by specifying the driving method.

[Structure of the Invention] (Means for Solving the Problems) A control execution program generation device of the present invention that solves the above problems is a control execution program generation device for solving the above problems. A control execution program generation device that automatically generates a control execution program to control the control target based on input information using knowledge, performs control based on machine operation knowledge created in consideration of various operating methods. The present invention is characterized by comprising a target knowledge conversion means for converting target knowledge for each target driving method.

(Function) The control execution program generation device of the present invention converts target knowledge including operating states and operation constraints suitable for each operating method based on machine operating knowledge created in consideration of each operating method. Since it has a means for generating, it automatically generates correct target knowledge for each driving method and automatically generates a control execution program using that target knowledge.

Therefore, accurate programs can be generated for all operating methods, there is no need to manually modify the target knowledge even if there is a change in the operating method, and the control execution program generation device is highly maintainable. Become.

Moreover, since the object knowledge conversion means can be used commonly for various control objects, the same application effect can be achieved even for different control objects.

(Example), Hereinafter, the present invention will be described in detail using the accompanying drawings.

FIG. 1 is a block diagram showing an example of a control execution program generation device to which the present invention is applied.

In the same figure, 1 is a CPU serving as a program generation means.
(Central processing unit), 2 is a program storage device that stores the program created by this CPU 1, 3 is an object knowledge storage device that stores knowledge regarding the operation of the controlled object, and 4 is a converter of object knowledge for each driving method. 5 is a machine operation knowledge storage device that stores knowledge about machine operations to be referred to when converting the object knowledge; 6 is a device that uses the object knowledge stored in the object knowledge storage device 3 to obtain the object knowledge; This is a program expansion knowledge storage device that stores program expansion knowledge used when generating a control execution program.

These CPU i, various storage devices 2.3.4.5゜6
are interconnected via a bus 12.

A display device 8 is connected to the bus 12 via a display device interface 7 for presenting appropriate information to the designer, such as displaying an explanation of subject knowledge or displaying a generated program. Also connected to the bus 12 is an input device 10 through which a designer interacts with the system via an input device interface 9.

Furthermore, a program controller interface 11 is connected to the bus 12 .

A control execution program generated by the control execution program generation device 13 composed of these members is output to the external programmable controller 14 via the programmable controller interface 11. The programmable controller 14 controls the controlled object 15 according to the generated program.

Therefore, when the designer appropriately refers to the display screen of the display device 8 and inputs the general information of the target motion from the input device 10, the CPU 1 expands the information into the program expansion knowledge storage device 6 based on the input information. Refer to subject knowledge,
A control execution program for the programmable controller 14 can be automatically generated.

FIG. 2 is an explanatory diagram showing an example of subject knowledge regarding a conveyor for transportation in a rolling plant.

In the figure, objects indicated by 81 to 816 indicate machines to be controlled, operations and states of the machines, and actuators and sensors attached to these machines.

Furthermore, the links indicated by arrows L1 to L22 indicate the relationship that the object at the start point of the arrow has with the object at the end point of the arrow. Action [a]
ction-ofJ, actuat of the intention to be actuated
ed -byJ, "5ensed -" to be detected
by J, "component" which is a component of movement.
nt -actian-ofJ, sub-actian-ofJ, which is a sub-concept of action, renableJ, which is an action that can transition from a state, [cause J, which means a link is established, is a condition for state transition. An appropriately defined connection relationship name such as [nextJ] is given.

To specifically explain the knowledge shown in the diagram, first, object B
The operation of "machine 1 conveyor" is indicated by "1".
B4 and conveyor high speed JB5, these actuators rsVEO1JB2, rsVEO2J B3 respectively.
operated by.

Specifically, when the conveyor B1 is moved forward at a low speed, the actuator 5VEOI is actuated, and when the conveyor B1 is moved forward at a high speed, the actuator 5VEO2 is actuated.
is additionally activated.

On the other hand, the operation 7 of the subordinate concept of [conveyor advance JB4] includes [conveyor low speed advance J 86.88 and [conveyor high speed advance JB7]. In addition, "Conveyor JBI status includes "Conveyor backward limit JB9,""Conveyor midway stop point" B1
0, "Conveyor deceleration point" B11, "Conveyor advance limit" B
12, each of which has a sensor rNLEOIJ 8
13, r, NLEO2JB14.1LEO3J B15
, detected by rNLEO4j816.

Therefore, these position states B9. BIO, 811°812
are detected by the respective sensors 811 to 816, and in each section, the conveyor is set to low speed forward B6, high speed forward B7, and again low speed forward B8, and is moved from the backward limit B9 to the forward limit B12.

By the way, such target knowledge describes knowledge about a certain operating method, such as when there is a transported object. [Conveyor midway stop point]
B10, and from "conveyor deceleration point" B11 to "conveyor advance limit" B12, the conveyor moves forward at low speed, and from [conveyor 8- midway stop point JB10 to [conveyor deceleration point JB11], it moves at high speed. , enable and cause
The relationship between links 110-115 is shown in FIG.

FIG. 3 is a diagram showing object knowledge of the same machine for different operating methods. In this example, for example, when there is no conveyed object, the conveyor moves forward at high speed between the "conveyor backward limit" B22 and the "1 conveyor deceleration point" B24, and the "conveyor deceleration point" B24
Links L30 to L33 indicate that the conveyor moves forward at a low speed between "Conveyor Advance Limit" B25. In other words, the object B6 in FIG. 2 has been deleted.

Here, conventionally, target knowledge as shown in Figures 2 and 3 is created for each different driving method, and each time the driving method is changed, it is manually corrected as appropriate to store the target knowledge as shown in Figure 1. It was given to device 4.

FIG. 4 is an explanatory diagram showing the machine operation knowledge that the object knowledge converting device 4 refers to when converting the object knowledge in accordance with the driving method.

In the figure, objects indicated by B50-843 represent concepts of physical elements, operations, or states in the control field. Also, the links indicated by arrows 140 to L66 indicate the relationship that the object at the start point of the arrow has with the object at the end point of the arrow, and these links have names other than those shown in FIGS. 3 and 4. , the meaning of being a component [
component-ofJ, a superordinate concept [5super j, Jactuate, meaning to actuate]
J is defined as appropriate, such as [5enseJ, which means to detect, "qualifyJ, which is an action that qualifies an action, [after J], which means that the state will transition to the next, and "condition-ofJ, which is a condition for establishing a link. The name of the connection relationship is given.

Further, R1 and R2, which are indicated by double circles, are rules, and a rule R1 for determining whether "there is an object to be transported" and a rule R2 for determining "stopping accuracy request" are described.

To explain the knowledge in Fig. 4 specifically, in a rolling plant, the control system "rolling" B2O is controlled by the "unwinding machine" B31.
and a "transport" machine B32. "Action" B3
4 is actuated by "actuator" B4C, and the operations of the machine to be operated include "forward" B35 and "1 backward" 836. On the other hand, "Status" Bi2 shown at the bottom of the figure is "Sensor"
It is detected by Bi2, and the status of the machine to be transported includes "backward limit" B2O, [midway point JB40. r forward limit]
There is B41.

On the other hand, as shown by the relationship "qualify" between links L47 and L48, there are "low speed" B37 and "high speed" 838 as actions that qualify "forward" B35. In other words, when it is "low speed B37" and should be "forward" B35, it is when transitioning from "backward limit" B34 to "midway point" 840 due to the conditions for link L49.50°53.
and [JRl Togi where there is something to be transported or "way point" B2
This is the time when there is a transition from O to the "advance limit" Bi2 and the "stopping accuracy requirement" rule R2 is satisfied.

Roughly speaking, depending on the conditions for establishing link L49, [backward limit J
1 midway point from B2O] When transitioning to B40, rMJ shown in link L54 indicates that other than JR1 where there is something to be carried, you can "forward" B35 at "high speed" 838. rMJ does not show exclusive -11-.

[The circle at'ter added to waypoint JB2O means that it is within the section of multiple waypoints. Note that, in relation to the diagram, in this section, the vehicle moves forward at high speed regardless of the presence or absence of objects to be transported and the required stopping accuracy.

Next, in such a control execution program generation device, the processing in the target knowledge conversion device 4 that generates the target knowledge as shown in FIG. 2 or 3 by referring to the machine operation knowledge shown in FIG. This will be explained using FIG. 5, FIG. 6, and FIG. 7. In the following description, examples using FIGS. 2 and 4 as specific examples are shown in brackets [ ].

In step 501, the controlled operation [conveyor advance B4
] The class action [Forward B35] corresponding to the machine shown in Fig. 4,
Take it from mechanical movement knowledge. This is determined from the fact that the conveyor is an instance of a conveying machine.

Next, in step 502, the class action [Forward B35 KonoQ
Take out the Ualify link [147, L48]. Next, in step 503, condition-of link [L47] is added to one quafV')
9. L50], and if so, the process moves to step 504 to check the establishment method of this conl-th on-off link. If not, the process proceeds to step 511 and generates a subordinate concept operation [conveyor low-speed advance B6] of the conveyor advance B4 of the controlled object operation.

The details of the Condition-Of link inspection processing routine in step 504 are shown in FIG.

In FIG. 6, in step 601, one con
condition-of link [L49] (Hereinafter, this type of link will be referred to as and it i On -or (+>).
of link [L53] (hereinafter, cond is 1on-of
'(2)), and if so, in step 602 cor+d;tion -of(2)[L5
3], the rule [R1 where there is an object to be transported] is taken out. Next, in step 603, it is checked whether the rule [R1 with transported object] has already been inspected, and if it has not been inspected, the process moves to step 604 and the rule is executed.

FIG. 7 shows the rule execution process. In the rule to check how the transported object is, the link after [L 60 ], which is the starting point of the Condition-of link [L49] that makes the rule an establishment condition, is set in step 7.
In step 702, the after link [
The instance [conveyor backward limit B9] of the start point object [backward limit B39] of [L60] is stored in the memory "' curr
ent and set it to the current state.

Event information such as loading or unloading a transported object is added to the instance representing the state of the machine.

Next, in step 703, the event information of the current state [conveyor backward limit B9] is referred to, and if it is the point to load the transported object, the memory "vaIue" is set to 1 in step 704.
If it is a point where the transported object is to be unloaded, set the 'value' to O in steps 705 and 706, and perform the steps 7
Set "value" to O in 07.

In step 708, the current state [conveyor backward limit B9]
The object [conveyor midway stopping point B10] linked with next [L 16 ] is stored in the memory "f'ut".
ure", check the presence or absence of event information in steps 709 and 710, set the memory "value '' to 1 in step 710 if it is a point to load a cargo, and set "value '" in step 712 if it is a point to unload a cargo.
``'' is set to O, otherwise the next link is followed through step 13 until the event information is found.

Finally, in steps 714 and 715, 'value' and '
Check the value of 'value ''', value =,
1, that is, it is determined that there is an object to be carried since the current state is the point at which the object to be carried is loaded, and in step 717, "established" is returned.

Also, if value < value ', that is,
If there is a point to load the transported object first, it is determined that there is no transported object and ``Failure'' is returned in step 716; otherwise, if there is a point to unload the transported object first,
It is determined that there is an object to be transported, and "established" is returned in step 717.

-I 〇 - Again in FIG. 6, the result of executing Lulu by the process in FIG. 7 is determined in step 605, and if it is true, step 6
In step 606, a mark is placed on the rule to confirm that the inspection method is met, and if the rule is not met, in step 606, a mark is attached to the rule as not to pass the inspection method.

With the above processing, condition -of(1)
It is checked whether [L 49 ] holds true or not, and if it holds true, C0ndition -of<1) [149] is added to the established link [149] in step 608.

All processes from step 603 to step 608 are performed by Co.
ndition-or(2), and also executes the process from step 7601 to step 608.
ndition-of(1) [L 49 , L
50 ] was executed in step 609.6.
10, and all valid links are returned in step 611.

Next, cond i obtained by the above inspection process
tion-of link is followed, and the relationship between lower-level concept operations and states is performed in steps 505 and subsequent steps in FIG.

In other words, the condition −o1′ that holds true
Link-17- The start point link of [L49] is taken out to the memory "origin", and in step 506, its start point object a, and the start point of qualify link [L47] is ``low-speed pa'', so in step 507, the controlled object operation [conveyor forward B4] Lower concept operation [Conveyor low speed forward B6]
In step 508, the start point instance obtained in step 506 [conveyor backward limit B9j and enable
e[L 10] Link with the end point instance [conveyor intermediate stop point B10] using cause[L11].

In steps 509.510, steps 505-508
All C0nditio obtained by verification of the processing of
n-of link [L49. L50] and all qu
It is determined whether or not the ali fy link [L47, 148] has been executed, and the entire process ends.

As a result, an example of the lower-level conceptual operation of the control object [conveyor advance B4] obtained is as shown in FIG.
16, Conveyor high speed forward B17, Conveyor low speed forward B8
These are conveyor 18-reverse limit B9, conveyor mid-stop point B10. The conveyor deceleration point B11 and the conveyor advance limit B12 are linked in the relationship of LIO to L15.

In this way, in this example, the machine operation knowledge shown in FIG. 4 can be used to generate the target knowledge regarding one driving method shown in FIG. 2. Similarly, the object knowledge regarding the driving method shown in FIG. 3 can be generated only by specifying the driving method.

As explained above, in this embodiment, the machine operation knowledge as shown in FIG. Change and generate controlled object knowledge.

In this example, the driving method was designated by the loading point and unloading point of the transported object. If the operating method changes, the loading and unloading points of the transported items will change, but even in that case, the machine operation knowledge shown in Figure 4 can be used to check the link of the conditions and automatically adjust the subordinate concept operations. to be generated. In this way, the object knowledge conversion device 4 generates object knowledge in accordance with the driving method.

Using the target knowledge as shown in FIG. 2 or 3 obtained through the above processing, it is possible to automatically generate a control execution program by referring to program development knowledge.

Note that the present invention is not limited to the embodiments described above. There are no particular limitations on how to describe the rules in the machine operation knowledge or how to specify the operating method. In short, the present invention can be implemented with various modifications without departing from the gist thereof.

[Effects of the Invention 1] As explained above, the present invention is a control execution program generation device as described in the claims, so it generates a control execution program program according to various driving methods from input information given by the designer. can be automatically generated. Therefore, it is not necessary to prepare target knowledge for each driving method, and even if the driving method is changed later, the lbl control execution program can be automatically generated without having to modify the target knowledge each time.

-1 day-

[Brief explanation of drawings]

The drawings all show embodiments of the present invention; FIG. 1 is a block diagram of a control execution program generation device, FIGS. 2 and 3 are explanatory diagrams showing an example of target knowledge, and FIG. 4 is an illustration of machine operation knowledge. An explanatory diagram showing an example, Fig. 5 is a flowchart showing object knowledge conversion processing, Fig. 6 is a flowchart showing processing for checking whether conditions are met, and Fig. 7 is processing for rules to check whether there is an object to be transported. The figure is 70 charts. 1... CPU 2... Program storage device 3... Subject knowledge storage device 14... Programmable controller 81-B43.
...Objects L1 to L66...Links R1, R2...Rules

Claims (1)

[Claims] A control execution program generation device that automatically generates a control execution program for controlling a control object based on input information using object knowledge that defines relationships such as a control object, its operating state, and conditions that constrain various operating states. A control execution program generation device characterized in that it comprises a target knowledge conversion means for converting and generating target knowledge for each driving method of a controlled object based on machine operation knowledge created in consideration of various driving methods.