JPH03294191A - Distributed control system - Google Patents

Abstract

PURPOSE:To easily cope with even in case of the structure of a control object being changed, by connecting each distributed type controllers to the distributed type controllers necessary for control mutually respectively and giving the function which sets with changing to the control contents corresponding to the connected distributed type controllers. CONSTITUTION:First - third motors 16, 17, 18 are made to be controlled with their driving by distributed type controllers 20, 21, 22 respectively. These controllers 20, 21, 22 are connected via cables 23, 24 at the controllers necessary for control mutually respectively, namely the controllers 20 and 21, 21 and 22, and equipped with the function of setting with the change to the control contents corresponding to the connected controllers. Also, these controllers 20, 21, 22 have the same structure and same program. Consequently, it can cope with easily without changing the program itself of each controllers 20, 21, 22, even in case of the structure of an articulated manipulator 10 being changed.

Description

[Detailed description of the invention] [Purpose of the invention] (Industrial application field) The present invention relates to a distributed control system.

(Prior Art) FIG. 4 is a block diagram of a distributed control system applied to a multi-joint manipulator. This system is equipped with a main CPU (central processing unit) 1 that controls the entire articulated manipulator, and below this main CPU, a motor control CPU 2, a communication control CPU 3, and an l10 (input/output) port control CPU 4 are provided. There is. The motor control CPU 2 drives and controls the motors 5 to 8 of each joint of the multi-joint manipulator, and the I10 boat control CPU 4 controls the switch group 9.

Therefore, in the distributed control system, the functions of motor control, communication control, and switch group control are distributed to each CPU to drive and control the multi-joint manipulator.

By the way, in a system with this kind of configuration, a program must be created to match the motion of the multi-joint manipulator, but if you want to change the configuration of the multi-joint manipulator after setting the -degree program, you must change the program itself. must be set again.

(Problems to be Solved by the Invention) As described above, when the configuration of a controlled object such as a multi-joint manipulator is changed, the program must be changed.

Therefore, an object of the present invention is to provide a distributed control system that can easily cope with changes in the configuration of a controlled object.

[Configuration of the Invention (Means for Solving the Problems) The present invention provides a distributed control system in which each part of a controlled object is controlled by a plurality of distributed controllers.
Each distributed controller is connected to other distributed controllers necessary for mutual control, and is a distributed control system that attempts to achieve the above objectives by having a function to change and set the control content according to the connected distributed controller. be.

(Operation) By providing such a means, each distributed controller controls the controlled object by changing the control content according to the distributed controller connected to itself.

(Example) Hereinafter, an example of the present invention will be described with reference to the drawings.

FIG. 1 is a configuration diagram of a distributed control system applied to a multi-joint manipulator. The multi-joint manipulator 10 has a base 1
1 is provided with a first arm 12, and a second arm 13 is connected to this first arm 12. Further, a third arm 14 is connected to the second arm 13, and a hand 15 is connected to the third arm 14. and,
A first motor 16 is provided between the first arm 12 and the second arm 13, and the second arm [3] is moved by the drive of the first motor 16, and between the second arm 13 and the third arm 14. is provided with a second motor [7], the third arm 14 is moved by the drive of the second motor 17, and the third arm 14 is moved by the drive of the second motor 17.
A third motor 18 is provided at the tip of the hand 15, and the direction of the hand 15 is changed by driving the third motor 18.

The first to third motors 16, 17.18 are driven and controlled by distributed controllers 20, 21.22, respectively. These distributed controllers 20, 21 .
22 are distributed controllers necessary for controlling each other, that is, distributed controllers 20 and 21. 21 and 22 are connected via cables 23 and 24, respectively, and the control content is changed according to the connected distributed controllers. It has the ability to configure. Furthermore, these distributed controllers 20, 21, and 22 have the same configuration and the same program. Specifically, the configuration is shown in FIG. That is, a CPU 30 is provided, and this CPU
RAM (random access memory) 32, ROM (read-only memory) 33, l10 (input/output) port 3 to U30 via bus 31
4 and an IF (interface) 35 are connected.

The I10 boat 34 is connected to the first
~3rd motor 16.17.18 is connected. or,
The IF 55 is connected to another distributed controller, for example, the distributed controller 20 or the distributed controller 21 .

As shown in FIG. 3, the ROM 33 stores a connection recognition program pI, a control setting program p2, a first motor program p3, a second motor program p4, a third motor program p2, and the like. The connection recognition program p is the content for recognizing which controller among the distributed controllers 20, 21, and 22 is connected via the IF55, and the type and size of the motor controlled by the connected distributed controller. Then, the servo gain, etc., is heard from the other party's distributed controller. The control setting program p2 is a connection recognition program p
This content is for setting the control content according to the distributed controller recognized by executing step 1. This control content is set according to the type and size of the motor controlled by the connected distributed controller, servo gain, etc. Among the programs p3, p4, and p of the motor that the motor controls itself, for example, the servo gain is changed and set.

First motor program p3, second motor program p4
and the third motor program p are the first and second motor programs p, respectively.
The content is for driving and controlling the third motor 16, 17, and 18.

Next, the operation of the system configured as described above will be explained.

A distributed controller 20 is provided for drive control of the first motor 16, a distributed controller 21 is set for drive control of the second motor 17, and a distributed controller 22 is set for drive control of the third motor 18. Each distributed controller 20 and 21 is connected via a cable 23, and each distributed controller 21 and 22 is connected via a cable 23.
It is connected via a cable 24.

When the power is turned on in this state, each CPU 30 of each distributed controller 20, 21, 22 executes the connection recognition program p1 to recognize the connected distributed controller. For example, between the distributed controllers 20 and 21, the distributed controller 20 reads out the type, size, servo gain, etc. of the second motor 17 controlled by the distributed controller 21; The type, thickness, servo gain, etc. of the first motor 16 and the third motor 18 controlled by the controllers 20 and 22 are read out.

Next, each CPU 30 executes the control setting program p2, and the connected distributed controller, for example, the distributed controller 20, is connected to the second distributed controller controlled by the distributed controller 21.
A first motor program p for the first motor 16 that is controlled by itself according to the type and size of the motor 17, servo gain, etc.
For example, the distributed controller 21 changes and sets the servo gain, and the distributed controller 21 adjusts its own settings according to the type and size, servo gain, etc. of the first and second motors 16, 18 controlled by the distributed controller 20, 22. For example, the servo gain of the second motor program p4 of the second motor 17 to be controlled is changed and set.

Next, each CPU 30 executes each of the modified programs p3, p4, and p5. As a result, the distributed controller 20 drives and controls the first motor 16, the distributed controller 21 drives and controls the second motor 17, and the distributed controller 22 drives and controls the third motor 18.

Here, for example, when the distributed controllers 20 and 21 are replaced, the distributed controller 20 reads out the type, size, servo gain, etc. of the first motor 16 and third motor 18 controlled by each distributed controller 21 and 22. ,
Further, the distributed controller 21 reads out the type, size, servo gain, etc. of the second motor 17 controlled by the distributed controller 20. Thereafter, among the motor programs, for example, the servo gain is changed and set, and the program is executed.

Next, without driving the first motor 16, the second and third motors 1
7.18, the distributed controller 21 is set to drive the second motor 17, and the distributed controller 22 is set to drive the third motor 18. Then, the distributed controller 21 reads out the type, size, servo gain, etc. of the third motor 18 controlled by the distributed controller 22, and the distributed controller 22 reads out the type, size, servo gain, etc. of the second motor 17 controlled by the distributed controller 21. Read out the size, servo gain, etc. Next, the distributed controller 21 changes and sets, for example, the servo gain of the second motor program p4 of the second motor 17 that it controls in accordance with the type of the third motor 18, etc. For example, the servo gain of the third motor program p of the third motor 18 that is controlled by the third motor 18 is changed and set depending on the type of motor 17. Thus, the distributed controller 21 drives and controls the second motor core, and the distributed controller 22 drives and controls the third motor 18.

In this way, in the above embodiment, each distributed controller 20, 21, 22 is connected to a distributed controller necessary for controlling each other, and the control content is changed and set according to the connected distributed controller. Therefore, even if the configuration of the multi-joint manipulator 10 is changed, it can be easily handled without changing the program itself of each distributed controller 20, 21, 22. Therefore, the objects to be controlled, such as the multi-joint manipulator 10, can be rearranged as desired.

Note that the present invention is not limited to the above-mentioned embodiment, and may be modified without departing from the spirit thereof. For example, the control target may be nuclear power equipment (manipulator), equipment located in outer space, equipment located in a clean room, or other equipment located in a place where an operator cannot access.

[Effects of the Invention] As described in detail above, according to the present invention, it is possible to provide a distributed control system that can easily cope with changes in the configuration of a controlled object.

[Brief explanation of the drawing]

1 to 3 are diagrams for explaining one embodiment of a distributed control system according to the present invention, and FIG. 1 is an overall configuration diagram of an articulated manipulator to which the system is applied, and FIG.
This figure is a block diagram of a distributed controller, FIG. 3 is a schematic diagram of a ROM in the controller, FIG. 4 is a block diagram showing a modified example, and FIG. 5 is a block diagram of a conventional system. DESCRIPTION OF SYMBOLS 10... Multi-joint manipulator, 12... First arm, 13... Second arm, 14... Third arm, 15...
...Hand, 16...First motor, 17...Second motor, 18...Third motor, 20°21°2...Distributed controller.

Claims (1)

[Claims] In a distributed control system in which each part of a controlled object is controlled by a plurality of distributed controllers, each of the distributed controllers is connected to the distributed controllers necessary for controlling each other, and the distributed controllers connected to the distributed controllers are connected to each other. A distributed control system characterized by having a function to change and set control contents according to the user's needs.