JPH0475521B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a multiplex control device equipped with a plurality of control devices including integral elements in control calculations, and more specifically, to The present invention relates to a multiplexing control device suitable for minimizing.

[Background of the invention]

Conventionally, in control systems that require high reliability, control devices are duplicated or tripled, and their outputs are compared to detect abnormalities and switch to a normal control device. It is becoming common to apply multiplexed control devices. Each control circuit used in such a multiplexed control device generally performs an integral operation as a control element to cancel steady-state deviation, adds the obtained integral operation result and a proportional element, and outputs an output signal (control signal). is formed.

By the way, in the above multiplex control device,
It is important that even if one control device malfunctions, it will not affect other control devices and that control can be automatically transferred to another normal control device. For example, FIG. 1 shows a conventional example.

The multiplex control device shown in FIG.
3 and 4, the output signal of one of the three control devices 2, 3, and 4 is selected by the signal selection circuit 5, and the output signal of the control device 6 is selected by the signal selection circuit 5.
is input to.

For example, as shown in the figure, if the output signal of the control device 2 is selected and inputted to the controlled object 6, only the output signal of the control device 2 is inputted to the controlled object 6, and the other control devices 3, 4 The output signal will not be input and it will be an open room. In this state, each control device 2, 3, 4 receives a setting signal input to terminal 1.
Process signals output from SS and controlled object 6
When the PS is captured, since there is a capture error, these signal values captured by each control device 2, 3, and 4 will differ by the above-mentioned capture error. As mentioned above, since each control device 2, 3, 4 executes an integral calculation, the above error is integrated, and as a result, the values of the output signals of each control device 2, 3, 4 become different. . If the control device 2 becomes abnormal in such a state and is switched to another control device 3 or 4,
Since the output signals of the control devices 2, 3, and 4 have different values, a pump or discontinuity occurs in the signal output from the signal selection circuit 5, making it impossible to perform stable control.

In order to prevent such situations from occurring, conventionally,
For example, as described in Japanese Unexamined Patent Publication No. 57-3101, the integral calculation result stored in the integrating section 8 in the control device 2 that provides an output signal to the controlled object 6 is transmitted to the other control device 3, 4, and the integration calculation results of the control devices 3 and 4, which are always on standby, are made to match the integration results of the control device 2, so that bumps do not occur when switching the control devices. In the figure, 10 and 12 are receiving sections, and 11 and 13 are transmission data storage sections for storing data received by the receiving sections 11 and 12.

However, in the above-mentioned means, as the signal selection circuit 5, an intermediate value selection circuit (a circuit that selects and outputs an intermediate value among a plurality of output signals) or a high value selection circuit (a circuit that selects the highest value among a plurality of output signals) is used. However, in a control system where there are multiple control objects 6, the multiple output signals It takes time to determine which of the integral calculation results to be adopted, which causes a problem that the control processing speed of the multiplex control device decreases.This situation will be explained next with reference to FIG.

In FIG. 2, the same parts as in FIG. 1 are denoted by the same reference numerals, and their explanation will be omitted. The difference between FIG. 1 and FIG. 2 is that n setting signals SS ₁ to SS _o are input to terminals 1 ₁ to 1 _o , and n control objects 6 _{1 to 6} are input to terminals 1 1 to 1 o.
6 _o exists, and process signals PS ₁ to PS _o are sent to each control device 2, 3, and 4 from each controlled object 6 ₁ to 6 _o , respectively.
Further, each control device 2, 3, 4 receives n setting signals SS ₁ to SS _o and n process signals PS ₁ to
In response to PS _o , n output signals are output, and each of the n signal selection circuits 5 ₁ to 5 _o selects one output signal and outputs it to the corresponding controlled object 6 ₁ to 6 _o . That's true.

Now, assume that the control device 2 is giving an output signal corresponding to the setting signal SS ₁ input to the terminal 1 ₁ to the controlled object 6 ₁ , and the setting signal SS _o input to the terminal 1 _o The corresponding output signal is the control target 6 _o
Assume that it is the control device 4 that is giving the In this way, the control devices that provide output signals to each of the controlled objects 6 ₁ to 6 _o are different because the setting signals 1 ₁ to 1 _o and the process signals PS _{1 to 6} input to each control device 2 to 4 are different.
Due to errors in the input of PS _o , etc., each control device 2~
This is because the values of the output signals outputted by the controller 4 are slightly different for each of the controlled objects 6 ₁ to 6 _o , and are selected separately in each of the signal selection circuits 5 ₁ to 5 _o according to a certain standard.

In the example shown in FIG. 2, the transmission of the above-mentioned integral calculation result is executed as follows. First, the controlled object 6
₁ , the integration calculation result of the integration unit 8 ₁ of the control device 2 is transmitted from the transmission unit 9 ₁ to the other control devices 3 and 4.
The data is transmitted to the receiving units 10 ₁ and 12 _{1 of} . Next, regarding the control of the controlled object 6 _o , the integrating unit 1 of the control device 4
The integral calculation result of _3o is transmitted from the transmission section _12o to the reception sections _11o and _9o of the other control devices 2 and 3. Here, 11 ₁ , 13 ₁ , 10 _o , and 8 _o in the figure are transmission data storage units.

In this way, the transmission direction of the integral calculation result of the control device differs for each of the controlled objects 6 ₁ to 6 _o . Therefore, in general, when there are multiple control targets, each control device uses a signal selection circuit to select its own control device for each control target and determines whether or not it is outputting to the control target. If so, it is necessary to transmit the integral calculation results related to the control to other control devices. If no output signal is selected, the transmitted integral calculation result is used, processed, and outputted as a control signal.

For the above reasons, when there are a plurality of control objects, the control device that transmits the integral calculation result is different for each control object. As a result, the time required for each control device to transmit, receive, and process the integral calculation results for each controlled object increases.
This results in a significant drop in control processing speed.

[Purpose of the invention]

The present invention has been made in view of the above points,
The purpose of this is to make the integral calculation results used when forming control signals match the integral calculation results before switching when the control devices are switched in a multiplexed control device that has multiple control targets. The object of the present invention is to speed up processing and prevent a decrease in control processing speed of a multiplex control device.

[Summary of the invention]

In the present invention, each setting signal corresponding to each controlled object and each process signal outputted from each controlled object are periodically captured, and each integral, which is the basis of each control signal input to each controlled object, is Recognize the calculation results, perform integral calculations for each controlled object using each captured setting signal, each process signal, and each recognized integral calculation result, and use the above integral calculation results as its own integral calculation results. It is provided with a plurality of control devices that store and form and output a control signal for each controlled object from each integral calculation result, and further receives a control signal for each controlled object output from each of the plurality of control devices. , a multiplexing control device including a signal selection circuit for each control object that selects one from a plurality of received control signals and outputs it to the corresponding control object, a transmission line connecting each control device; A transmission unit included in each control device, which transmits the integral calculation result for each controlled object to another control device via the transmission path; and a reception unit included in each control device, which transmits the integral calculation result for each controlled object to the other control device, and a reception unit included in each control device, the transmission unit A receiving unit that receives the integral calculation results sent via the receiver, and a data storage unit included in each control device, which stores its own integral calculation results and all the integrals of other control devices received by the receiving unit. a data storage unit that stores calculation results; and a plurality of storage units that determine for each control target which control device among the plurality of control devices the control signal output from each signal selection circuit is output from. and a means for determining an integral calculation result used when performing the integral calculation to form a control signal for each controlled object, the integral calculation result being stored in the data storage section of each of the control devices. means for adopting one integral calculation result for each controlled object according to the judgment result of the coincidence judgment means.

As a result, when the control device is switched, the new control device retains the integral calculation results for each control target of the other control device, and uses the integral calculation result data in its own data storage. This makes it possible to quickly determine the integral calculation result to be adopted.

[Embodiments of the invention]

The present invention will be described in more detail below with reference to embodiments shown in the accompanying drawings.

FIG. 3 is a block diagram showing a first embodiment of the present invention, and the same parts as in the conventional example shown in FIG. 2 are given the same reference numerals. The embodiment shown in FIG.
The difference from the conventional example shown in the figure is that match determination circuits 20 ₁ to 20 _o are provided. Each coincidence determination circuit 20 ₁ to 20 _o is connected to each signal selection circuit 5 ₁ to 20 o.
Output signals output from 5 _o to each controlled object 6 ₁ to 6 _o and each controlled object 6 ₁ to 6 _o of each control device 2 to 4
The control device inputs the output signals of each control device and determines which control device's output signal is output from each signal selection circuit 5 ₁ to 5 _o to each controlled object 6 ₁ to 6 _o . Since the coincidence determination circuits 20 ₁ to 20 _o have the same configuration, the configuration will be explained by taking the coincidence determination circuit 20 ₁ as an example as shown in the figure.

The coincidence determination circuit 20 ₁ has subtracters 22 , 23 , 24 that take the difference between the three signals input to the signal selection circuit 5 ₁ and the output signal of the signal selection circuit 5 ₁ , and the result of this subtraction is sent to the output signal power source 28 . It is composed of comparison circuits 25, 26, and 27 that determine whether the value is smaller than a preset reference value. The subtraction results of the subtracters 22, 23, and 24 are absolute values, and if the subtraction results are less than the above-mentioned reference value, the output signal from the control device input to the subtracters is the output of the signal selection circuit ₅₁ . Indicates that it is a signal. Now, assuming that the output signal of the control device 2 is output from the signal selection circuit ₅₁ , the comparison circuit 2
The logic value "1" is set on the output line 29 of the comparator circuit 5, and the logic value "0" is set on the output lines 30, 31 of the comparator circuits 26, 27.
will stand.

In this way, the output signals outputted from each signal selection circuit 5 ₁ to 5 _o to each controlled object 6 ₁ to 6 _o are 3
Information indicating which of the three control devices 2, 3, and 4 the output is from is input to each of the control devices 2, 3, and 4.

In FIG. 3, each of the control devices 2 to 4 communicates with each controlled object 6 ₁ to 6 _o via transmission units 15, 16, and 18.
Of the integral calculation results processed in each case, the integration part 1
4 ₁ to 14 _o , 17 ₁ to 17 _o , and 19 ₁ to 19 _o , the own integral calculation results are transmitted to other control devices 2 to 4
Integration units 14 ₁ to 14 _o , 17 ₁ to 17 _o , 19 ₁ to 1
9 Transmit to _o . Each integrating unit 14 ₁ to 14 _o , 17 ₁ to
As shown in Fig. 4, the configuration of 17 _o and 19 ₁ to 19 _o consists of a part that stores the integral calculation results of its own control device, and a part that stores the integral calculation results transmitted from other control devices. Become. Here, if the control system is not a triple system but a quadruple system or a quintuple system with redundant numbers, it is only necessary to increase the part that stores the integral calculation results of other control devices. If the number of redundant units is small, the number of sections that store the integral calculation results of other control devices may be reduced.

Each of the control devices 2 to 4 can adopt a loop data transmission method in order to transmit the integral calculation results at high speed. FIG. 5 is a block diagram showing data transmission of integral calculation results using this loop data transmission method, and the same parts as in the embodiment shown in FIG. 3 are given the same reference numerals. In the same figure, the entry stations 32, 33, 34 are connected to each control device 2,
3 and 4 and a loop data transmission path 35. In the loop data transmission method, when transmitting data from one control device 2 to 4 to another control device 2 to 4, there is no need to determine whether transmission is possible or not, and data can always be transmitted in a loop. . Therefore, high-speed transmission of integral calculation results is possible.

As described above, each of the control devices 2 to 4 includes information indicating which control device's output signal is input to each of the controlled objects 6 ₁ to 6 _o (each of the coincidence determination circuits 20
₁ to 20 _degrees ) and the integral calculation results of each control device 2 to 4 are always given. As a result, each of the control devices 2 to 4 can easily recognize the integral calculation results of other control devices to be adopted when executing integral calculations for each controlled object 6 ₁ to 6 _o , and adopt them as data. It becomes possible to do so. For example, when the output signal of the control device 2 is input to the controlled object 6 ₁ as described above, the control devices 3 and 4 are connected to the output lines 29 and 31.
It is sufficient to recognize this from the above and adopt the integral calculation result of the control device 2 for the controlled object 6 ₁ stored in the integration section of each control device 3, 4 through loop data transmission. Such processing is carried out by the control devices 2 to 4.
It is executed by a central processing unit that exists within the computer and a program that operates the central processing unit.

With the above configuration, even if there are multiple control objects, the integral calculation results of the control device controlling the control objects can be adopted without time delay, thereby increasing the control processing speed of the multiplexed control device. can contribute to improvement.

Note that as the signal selection circuits 5 ₁ to 5 _o shown in FIG. 3, a high value selection circuit, an intermediate value selection circuit, or a low value selection circuit can be used. Here, the high value selection circuit is a circuit that selects and outputs the highest value output signal from a plurality of output signals. Further, the intermediate value selection circuit is a circuit that selects and outputs an intermediate value output signal from among a plurality of output signals. Furthermore, the lowest selection circuit is a circuit that selects and outputs the output signal with the lowest value among the plurality of output signals. The maximum value selection circuit, intermediate value selection circuit, and minimum value selection circuit described above are as follows:
Generally, this can be easily realized by a combination of comparators using operational amplifiers and the like.
Specifically, for example, the signal selection device disclosed in Japanese Utility Model Application Publication No. 56-68339 can be applied.

FIG. 6 shows the control device 2 in the above embodiment.
It is a figure showing a specific example. Note that the control devices 3 and 4 also have completely similar configurations. That is, the control device 2
As shown in the figure, the central processing unit 40 and
It is composed of a RAM 14, a transmission section 15, and other hardware (not shown), and has a configuration similar to that of a general computer control device. The central processing unit 40, RAM 14, transmission section 15, and other hardware (not shown) are connected via an address bus 41 and a data bus 42. As shown in FIG. 7, the RAM 14 includes, in addition to the integration units 14 ₁ to 14 _o , a storage area 14 used when the central processing unit 40 executes other operations.
It has ₀ . The integrating unit 14 ₁ corresponds to the controlled object 6 ₁ and is self (control device 2).
14 ₁₁ and storage areas 14 ₁₂ and 14 ₁₃ that store the results of integral calculations of other control devices (control devices 3 and 4). Similarly, the integration unit 14 ₂ corresponds to the controlled object 6 ₂ and stores the integral calculation results of its own (control device 2) and the storage area 14 ₂₁ and the integral calculations of other control devices (control devices 3 and 4). It consists of storage areas 14 ₂₂ and 14 ₂₃ for storing results. The following configurations are similar, and the integration unit 14 _o is the controlled object 6 _o
storage area 14 o1 that stores the integral calculation results of the self (control device 2) and storage areas 14 _o2 and 14 _o3 that store the integral calculation results of other control devices (control devices 3 and ₄ ). It is composed of. That is, each of the integration units 14 ₁ to 14 _o
It has the configuration shown in the figure.

The central processing unit 40 executes a program stored in a ROM (not shown). In response to this program, the central processing unit 40 sends setting signals SS ₁ to
SS _o and process signal PS ₁ ~ _{PS o} and each integrating section 14 ₁ ~
A procedure for creating n output signals corresponding to each controlled object 6 ₁ to 6 _o using a part of the integral calculation results stored in 14 _o , and loop data of the integral calculation results of each control device 2 to 4. A procedure for transmitting cyclic transmission according to the transmission method and a procedure for adopting the corresponding integral calculation result according to the output of each coincidence judgment circuit 20 ₁ to 20 _o are written, and each of the above-mentioned operations is executed by this. .

FIG. 8 is a block diagram showing a second embodiment of the present invention, and the same parts as those in the first embodiment shown in FIG. 3 are given the same reference numerals and their explanation will be omitted. The difference from the first embodiment shown in FIG. 3 is that the coincidence determination circuits 20 ₁ to 20 _o are not provided, and the output signal of which control device is input to each controlled object 6 ₁ to 6 _o . This decision is made within the control devices 2-4.

That is, the output signals of the signal selection circuits 5 ₁ to 5 _o are output to the controlled objects 6 ₁ to 6 _o , and are also output to the respective control devices 2 to 5 o.
Incorporated into 4. Each of the control devices 2 to 4 compares this captured output signal with a signal obtained by adding a proportional element to the contents of the integrating sections 14 ₁ to 14 _o shown in FIG. 7, that is, an output signal output from each control device. , the control device's integral calculation results for the matched signals are adopted. Here, for example, a comparison between the output signal taken in from the signal selection circuit 5 ₁ and a signal obtained by adding a proportional element to the contents of the integrating section 14 ₁ is performed in the storage area 14 ₁₁ .
The comparison is performed in the order of →Storage area 14 ₁₂ →Storage area 14 ₁₃ contents, and the comparison operation is terminated when they match.
In this way, the match determination circuits 20 ₁ to 20 in FIG.
The functions of 20 _o are executed by the control devices 2 to 4.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, the integral calculation results obtained by performing integral calculations for each controlled object in each multiplexed control device are transmitted to each control device, and the Since the system determines whether the output signal is input to each controlled object and determines the integral calculation result that each control device should adopt, it is easy to determine which integral calculation result to use in each control device. Processing can be performed quickly, and the multiplex control device can perform high-speed processing.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an example of a conventional multiplex control device with a single control object, FIG. 2 is a block diagram of an example of a conventional multiplex control device with multiple control objects, and FIG. A block diagram showing the first embodiment of the present invention, FIG. 4 is an explanatory diagram showing the contents of the integration section shown in FIG. 3, and FIG. 5 is a transmission method of integral calculation results between the control devices shown in FIG. 3. A block diagram showing
6 is a block diagram showing a specific example of the control device shown in FIG. 3, FIG. 7 is an explanatory diagram showing details of the storage area of the RAM shown in FIG. 6, and FIG. 8 is a second embodiment of the present invention. FIG. 2 is a block diagram showing an example. 2, 3 _, 4...Control device, _{51-5o ...} Signal selection _circuit , _61-6o ...Controlled object, _141-14o , _171-
17 _o , 19 ₁ to 19 _o ... integration section, 15, 16, 1
8... Transmission section, 20 ₁ to 20 _o ... Coincidence determination circuit, 3
2, 33, 34...Input station, 35...Loop data transmission path.

Claims (1)

[Claims] 1. Periodically captures each setting signal corresponding to each controlled object and each process signal output from each controlled object, and further provides the basis for each control signal input to each controlled object. Recognize the results of each integral calculation, perform integral calculations for each controlled object using each captured setting signal, each process signal, and each recognized integral calculation result, and apply the above integral calculation results to the own integral calculation. It includes a plurality of control devices that store calculation results and form and output control signals for each controlled object from each integral calculation result, and further includes a control signal for each controlled object that is output from each of the plurality of control devices. In a multiplex control device, each control object is equipped with a signal selection circuit that receives the control signals, selects one from among the received control signals, and outputs it to the corresponding control object. a transmission section included in each control device, which transmits the integral calculation result for each controlled object to another control device via the transmission channel; and a reception section included in each control device, a receiving unit that receives the integral calculation results sent via the transmission path; and a data storage unit included in each control device, which stores the integral calculation results of its own and the data of other control devices received by the receiving unit. A data storage unit that stores all the integral calculation results, and a data storage unit that stores all the integral calculation results, and a system that identifies for each controlled object which control device among the plurality of control devices the control signal output from each signal selection circuit is output from. a plurality of coincidence determination means for determining a plurality of coincidence determination means, and a means for determining an integral operation result used when performing the integral operation and forming a control signal for each controlled object, the means for determining an integral operation result, which is stored in the data storage section of each of the control devices. A multiplex control device comprising: means for adopting one integral operation result for each controlled object, from among the integral operation results, according to the determination result of the coincidence determination means.