JPH08272636A - Transfer method for equalization data on duplex controller - Google Patents

Abstract

PURPOSE: To increase an equalization processing capacity to open it to the equalization processing of data of its own controller and also to an equalization processing of data of a system controller. CONSTITUTION: A control arithmetic unit MPU includes a time information file T, an elapsed time file Ti, an equalization FM reference time file TFM, a relative time file ΔT, and the equalization FM program P1 to P31. Then the unit MPU requests a 1st equalization processing P02 before execution of the control arithmetic processing programs P1 to P3 which cyclically operate. When a prescribed time elapsed, the unit MPU starts in sequence plural pairs of programs P1 to P3 to perform the control arithmetic processing. Then the unit MPU starts the programs P11 to P31 each time of programs P1 to P3 ends and calculates a relative time from the start and end times of programs P1 to P3. If this relative time is longer than the equalization processing time that is previously set, the unit MPU requests a 2nd and its subsequent equalization processing P12 to P32.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a duplicated control device required to have high reliability, and more particularly to a method of transferring equalized data in the duplicated control device.

[0002]

2. Description of the Related Art In order to improve the reliability and operating rate of a control device, the control device is duplicated for a particularly important control system. FIG. 4 shows an explanatory diagram for explaining the configuration of a duplex control device of the related art and a method for transferring the equalized data. FIG. 4 (A) shows the configuration of the duplication control device, and the duplication control device includes a control operation unit MPU including the control operation processing programs P1 to P3 divided into a plurality of sets, and a data including the equalization processing program. Two sets of control devices, including an equalization unit SGM that performs the equalization processing of the system and an engineering service unit ESA that interfaces the system service and the engineering support tool.
1, 2 and a transmission line 3 for transmission between the equalization units SGM of the control devices 1, 2.

FIG. 4B shows a method of transferring equalized data in the duplex control device having such a configuration. In FIG. 4B, the vertical axis is a time axis from top to bottom, and in the example shown in FIG. 4, the control arithmetic unit MPU cyclically executes a series of control arithmetic processing programs P1 to P3 every 200 msec. Is started, and the control calculation process is executed. In the horizontal axis direction, the processing programs P1 to P3 of the control arithmetic unit MPU are shown on the left side, and the processing program P02 of the equalization unit SGM is shown on the right side.

Operation system control device 1 (Hereinafter, unless otherwise specified, the operation system control device is 1, and the corresponding unit is
The control arithmetic unit MPU1 (which is divided into the unit code by the subscripts of the active system 1 and the standby system 2) has both control devices 1 and 2 prior to the execution of the cyclic control processing programs P1 to P3. Program for equalization processing of data
Request to the active system equalization unit SGM1 at P0. In response to this request, the operating system equalization unit SGM1 performs data equalization processing between the two equalization units SGM1 and SGM2 within 30 msec by the equalization processing program P02.

The operating system control arithmetic unit MPU1 requests the operating system equalization unit SGM1 for equalization processing, and after a predetermined fixed time, for example, 40 msec in the illustrated example,
The plurality of sets of control arithmetic processing programs P1, P2, P3 described above are sequentially activated, and the control arithmetic processing A, B, C are sequentially executed.

[0006]

The method of transferring equalized data in such a conventional duplexing control device has the following problems. That is, in the conventional technology, the control arithmetic unit cyclically activates a series of control arithmetic processing programs,
Only one equalization process is performed per cycle for executing the control calculation process, and the capacity for the equalization process is limited, so the equalization process is not expandable.

The present invention has been made in view of the above points, and an object of the present invention is to solve the above-mentioned problems by performing equalization processing and control arithmetic processing a plurality of times for every small cycle. In addition to the equalization processing of the duplicated data of the control device itself by increasing the equalization processing capacity, the equalization processing of the system data of the control system in which the control device controls the control target of this increased equalization processing capacity It is intended to provide a method of transferring the equalized data of the duplicated control device, which is optimized for the control system and has a high reliability by opening to the public.

[0008]

In order to achieve the above object, in the present invention, a control arithmetic unit having a control arithmetic processing program divided into a plurality of sets and an equal value of data having an equalization processing program are provided. Duplex control in which two sets of control devices each including an equalization unit that performs equalization processing and a transmission line that performs transmission between the equalization units of the control devices are provided, and both control devices are configured in a dual configuration In the equalized data transfer method of the device, the control operation unit includes a time information file, an elapsed time file, an equalized FM reference time file, a relative time file, and an equalized FM program, The operating system control arithmetic unit is a first equalization processing unit that equalizes data possessed by both control devices prior to execution of a control arithmetic processing program cyclically processed by the control arithmetic unit. To the active system equalization unit, set the time when this request was made in the equalization FM reference time file, and the active system equalization unit equalizes the data between the two equalization units. After performing the processing and requesting the first equalization processing to the operation system equalization unit, after a lapse of a predetermined fixed time, a plurality of sets of control calculation processing programs are sequentially activated to perform the control calculation processing, and individually. The equalization FM program is started each time each control calculation processing program of is finished, and the difference between the time when this control calculation processing program ends and the time set in the equalization FM reference time file is calculated.
When the FM relative time is calculated, and when this FM relative time is longer than the equalization processing time of the equalization unit set in advance, the second equalization processing and subsequent equalization processings are requested to the operating system equalization unit, The time when this request is made shall be set in the equalization FM reference time file.

Further, the control arithmetic unit comprises an equalization PG reference time file and an equalization PG program, and the operation control arithmetic unit is a control arithmetic processing program which the control arithmetic unit cyclically processes. Prior to the execution of, the time when the first equalization processing of the data of both control devices is requested to the operating system equalization unit is set in the equalization PG reference time file, and the control operation unit When the processing of the control arithmetic processing program for one cycle that is cyclically processed is completed, the equalization PG program is started, and the time when the control arithmetic processing program processing for one cycle ends and the equalization PG reference time The PG relative time is calculated from the difference from the time set in the file.

[0010]

With the above configuration, the FM relative time is obtained from the difference between the time when the control calculation processing program ends and the time set in the equalization FM reference time file, and this FM relative time is equalized in advance. If it is longer than the equalization processing time of the unit, the processing of the equalization processing program, which is being processed in parallel with the control arithmetic processing program, has been completed by the time the control arithmetic processing program ends. The unit subsequently requests the equalization unit to perform the second and subsequent equalization processes, and performs the data equalization process between the two equalization units.

Further, when the FM relative time is smaller than the predetermined equalization processing time, the equalization unit still has
Since the previous equalization processing program is being executed continuously, the control calculation unit continues the current equalization processing program without requesting the next equalization processing to the equalization unit. Let it run. Also, the PG relative time is obtained from the difference between the time when the control arithmetic processing program processing for one cycle is finished and the time set in the equalization PG reference time file, and this PG relative time is preset in the control arithmetic unit. When the processing time is shorter than the specified processing time, the equalization unit has sufficient time to execute further equalization processing with respect to the processing time for one cycle allocated to the control arithmetic unit. The arithmetic unit requests the equalization unit for further equalization processing, and performs the data equalization processing between the two equalization units.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is an explanatory diagram for explaining a method of transferring equalized data in a duplexing control device according to one embodiment of the present invention, FIG. 2 is an explanatory diagram for explaining a file used in one embodiment, and FIG. A)
3 is a flow chart of the equalization FM program, and FIG. 3B is a flow chart of the equalization PG program. The same functional members corresponding to FIG. 4 are designated by the same reference numerals.

The hardware configuration of the duplicated control device is similar to that shown in FIG. 4A, and a control operation unit MPU having control operation processing programs P1 to P3 divided into a plurality of sets and an equivalent value. Equalization unit SGM, which has equalization processing programs P02 to P42, that performs data equalization processing, and engineering service unit ESA that interfaces system services and engineering support tools
And two sets of control devices 1 and 2, and this control device
Transmission line 3 for transmission between 1 and 2 equalization units SGM,
It is configured with.

The control arithmetic unit MPU includes a time information file T, an elapsed time file Ti, an equalization FM reference time file TFM, an equalization PG reference time file TPG, a relative time file ΔT, and an equalization file. FM program (P11-P31)
And an equalization PG program P4. FIG. 1 illustrates an embodiment of a method of transferring equalized data in the duplex control device in the above configuration. Hereinafter, the difference between the method of transferring equalized data described in FIG. 4B as a conventional technique and the method of transferring equalized data according to the present invention will be mainly described. In FIG. 1, the operating system control arithmetic unit MP
U1 is a control calculation processing program that processes cyclically
Prior to the execution of P1 to P3, both controllers MP with program P0
First equalization process for equalizing the data of U1 and MPU2
Request P02 to the active system equalization unit SGM1. And
The working system equalization unit SGM1 is a bi-equalization unit SGM1,
Performs data equalization processing between SGM2. The control operation up to this point is the same as that of the conventional technique.

In the prior art, data equalization processing is performed only once in the first equalization processing P02, whereas in the present invention, equalization processing (P12 to (P42) and the operating system control arithmetic unit MPU1 processes the control arithmetic processing programs P1 to P3, while the equalization units SGM1 and SGM2 perform the equalization processing (P12 to P42). This is to open the equalization processing (P12 to P42) to the equalization processing of the system data of the control system. Therefore, the time t0 at which the above-mentioned operating system control arithmetic unit MPU1 requests the operating system equalization unit SGM1 for the first equalization processing P02
Are set in the equalized FM reference time file TFM and the equalized PG reference time file TPG.

Next, the operating system control arithmetic unit MPU1 requests the operating system equalization unit SGM1 for the first equalization processing P02 by the program P0, and after a predetermined time, 40 msec in the illustrated example, elapses. , Multiple sets of control calculation programs P1
~ P3 is sequentially activated to perform control calculation processing. The fixed time of 40 msec means 40 msec with a margin because the processing time of the first equalization process P02 is set to a maximum of 30 msec.

Individual control arithmetic processing programs P1, P2, P3
The above-mentioned equalization FM programs P11, P21, P31 are started at each time point t1, t2, t3 after the completion of. This equalization FM program
The purpose of the processing contents in (P11 to P31) is that the operating system control arithmetic unit MPU1 requests the operating system equalization unit SGM1 for equalization processing and then executes the corresponding control arithmetic processing program. Equalization unit that requested equalization processing by measuring the elapsed time until the end
It is to determine whether or not the equalization processing of SGM1 and SGM2 is completed.

That is, the equalization FM program P11 (P21, P31)
Reads from the time information file T the time t1 (t2, t3) when the corresponding control operation processing program P1 (P2, P3) ends, and sets this time information t1 (t2, t3) in the elapsed time file Ti. The time information t1 (t2, t3) set in this elapsed time file Ti and the time t0 set in the equalization FM reference time file when the equalization unit is requested for equalization processing.
FM relative time Δt is obtained from the difference between (t1, t2) and set in the relative time file ΔT. That is, when the FM relative time = elapsed time−equalized FM reference time, the obtained FM relative time Δt is larger than the predetermined equalization processing time (30 msec in the illustrated example) of the equalization unit, the second time Subsequent relevant equalization processing P12 (P22, P23) is requested to the active system equalization unit SGM1, and the two equalization units SG
Data equalization processing is performed between M1 and SGM2. The next FM
Since the relative time is calculated, the time t1 (t2,
t3) is set in the equalized FM reference time file TFM.

When the FM relative time ΔT is smaller than the predetermined equalization processing time of 30 msec, there is a possibility that the equalization processing between the equalization units SGM1 and SGM2 is not completed. The operating system control arithmetic unit MPU1 processes the next control arithmetic processing program P2 (P3, P4) without requesting the equalization processing P11 (P21, P31). When the program P3 of the last control operation processing C for one cycle is completed
At time t4, this time t4 is read from the time information file T,
This time information t4 is set in the elapsed time file Ti. The time information t4 set in this elapsed time file Ti and the operating system control arithmetic unit MPU1 are used first by the operating system equalization unit.
The first equalization process P02 is requested to SGM1 and the PG relative time is obtained from the difference between the set time t0 and the equalization PG reference time file TPG. That is, PG relative time = elapsed time−equalization FM reference time t0 When this PG relative time is shorter than the processing time (120 msec in one embodiment) predetermined in the control arithmetic unit, it is assigned to the control arithmetic unit MPU. With respect to the processing time for one cycle (200 msec in one embodiment), the time for the equalization unit to further perform the equalization process of 30 msec and the margin time of 50 msec are sufficiently secured. Therefore, the control arithmetic unit MPU1 requests the equalization unit SGM1 for further equalization processing P42, and
Performs data equalization processing between SGM1 and SGM2.

FIG. 2 shows the above-mentioned time information file T and the elapsed time file Ti which are constructed in the control arithmetic unit MPU.
An equalized FM reference time file TFM, an equalized PG reference time file TPG, and a relative time file ΔT are shown. In one embodiment, the time information file T stores, as time information, a clock function for measuring time every 1 msec. The elapsed time file Ti is an area in which the time at the end of each event is read from the time information file T and set. The equalization FM reference time file TFM and the equalization PG reference time file TPG are areas for reading and setting the time at the start time of each event from the time information file T in order to obtain the relative time. In the reference time file TFM, the time when the control arithmetic unit MPU requests the equalization unit SGM to perform the equalization processing and starts the control arithmetic processing program is set, and in the equalization PG reference time file TPG, the size is set. Control calculation processing program P1 for click processing
~ Prior to the execution of P3, both control units MPU
1st equalization process P that equalizes the data of 1 and MPU2
The time t0 when 02 was requested to the active system equalization unit SGM1 is set. The relative time file ΔT includes the FM relative time obtained by subtracting the time of the equalization FM reference time file TFM from the time of the elapsed time file Ti, and the time of the equalization PG reference time file TPG of the elapsed time file Ti. The PG relative time minus the time is stored.

FIG. 3 shows an equalization FM program (P11 to P31),
It is a flowchart of an equalization PG program P4. In (A) of Fig. 3, the equalization FM program (P11 to P3
1), when the equalization FM program (P11 to P31) is called in step S1, the above-mentioned FM relative time is obtained by moving to step S2, and this FM relative time is a predetermined equalization processing time.
When it is larger than 30 msec, the process proceeds to step S3, and the operating system equalization unit SGM1 is requested to perform the equalization process P12 (P22, P23), and the time when the equalization process is requested in step S4. t1 (t2, t3) is set in the equalized FM reference time file TFM, and in step S5, the processing of the equalized FM program (P11 to P31) ends. When the FM relative time is smaller than the equalization processing time of 30 msec in step S2, the process shifts to step S5 without processing and the processing of the equalization FM program (P11 to P31) ends.

In FIG. 3B, the equalization PG program
P4, when the equalization PG program P4 is called in step S6, moves to step S7 to obtain the PG relative time described above,
When the PG relative time is shorter than the predetermined processing time 120 msec, the process proceeds to step S8, and the operating system equalization unit SGM1 is requested to perform the equalization process P42, and step S9 is performed.
Then, the processing of the equalization PG program P4 ends.

In the present invention, the control arithmetic unit MPU
The control calculation processing programs P1, P2, P3 of No. 1 were positively subdivided, and the FM relative time was calculated when each control calculation processing program P1, P2, P3 ended, and the processing of the equalization program ended from this time. It is determined whether or not, and if the equalization program is completed, the next equalization process is executed. Further, when the control arithmetic processing program for one cycle of the control arithmetic unit MPU is completed and the margin time is sufficient, the following equalization processing is further executed. As a result, in the conventional technique, only one equalization process is executed per cycle, and it is possible to improve the problem that the utilization time efficiency of the equalization unit is poor and increase the equalization process time.

In the first equalization processing of the illustrated example of FIG. 1, the control arithmetic processing programs P1, P2,
All the data that has a significant effect on the control output in carrying out P3, such as control input signals, target values, control outputs, important sequence conditions, etc., are all executed here as pre-processing and then the controller. Control processing program P1, P2,
P3 is executed. Further, the equalization process after the second equalization process is optimized for the control system by opening the data that is asynchronous with the cycle of the control device, for example, the equalization process of the system data of the control system. Thus, it is possible to provide a method for transferring equalized data of the duplexing control device, which is further improved in reliability.

In the embodiment, the control calculation processing program is
Although it is shown by dividing into P1, P2, and P3, there is no need to be restricted by the number of divisions.

[0026]

According to the present invention, since the equalization unit is optimally controlled and the equalization processing can be performed by utilizing the time zone which has not been conventionally used, the equalization processing capacity is increased.
By opening this increased equalization processing capacity to the application of the control system, it is possible to make use of it for further improving the reliability of the control system.

[Brief description of drawings]

FIG. 1 is an explanatory diagram illustrating a method of transferring equalized data in a duplexing control device according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram illustrating a file used in one embodiment.

3A and 3B are flowcharts for determining whether or not equalization processing can be executed. FIG. 3A is a flowchart of an equalization FM program, and FIG. 3B is a flowchart of an equalization PG program.

FIG. 4 is an explanatory diagram for explaining a configuration of a conventional duplication control device and a transfer method of equalized data.

[Explanation of symbols]

 1, 2 Controller MPU1, MPU2 Control operation unit SGM1, SGM2 Equalization unit P1, P2, P3 Control operation processing program P4 Equalization PG program P02, P12, P22, P32, P42 Equalization processing program P11, P21 , P31 equalization FM program t0 to t4 reference time T time information file Ti elapsed time file TFM equalization FM reference time file TPG equalization PG reference time file ΔT relative time file

Claims (2)

[Claims] 1. Two sets of control arithmetic units each having a control arithmetic processing program divided into a plurality of sets, and an equalization unit having an equalization processing program for equalizing data. In the method of transferring equalized data of a duplicated control device, which comprises a control device and a transmission line for performing transmission between the equalization units of this control device, and which configures both control devices in a duplicated manner, An information file, an elapsed time file, an equalization FM reference time file, a relative time file, and an equalization FM program are provided, and the operating system control arithmetic unit processes the control arithmetic unit cyclically. Prior to the execution of the control arithmetic processing program, the operating system equalization unit is requested to perform the first equalization process for equalizing the data of both control devices, and the time when this request is made. Set in the equalization FM reference time file, the operating system equalization unit,
Data equalization processing is performed between the two equalization units, and the first equalization processing is requested to the operating system equalization unit, and after a predetermined time elapses, the plurality of sets of control calculations are performed. The processing programs are sequentially started to perform control calculation processing, and each time each individual control calculation processing program ends,
Start the above-mentioned equalization FM program, find the FM relative time from the difference between the time when this control arithmetic processing program ends and the time set in the equalization FM reference time file.
When the relative time is longer than the preset equalization processing time of the equalization unit, the operating system equalization unit is requested to perform the second and subsequent equalization processing, and the data between both equalization units is transferred. The equalization processing is performed, and the time when this request is made is set in the equalization FM reference time file. When this FM relative time is smaller than the predetermined equalization processing time, the equalization processing is performed. A method for transferring equalized data of a redundant control device, characterized in that the following control arithmetic processing program is processed without requesting. 2. The method of transferring equalized data of a duplexed control device according to claim 1, wherein the control arithmetic unit comprises: an equalized PG reference time file, an equalized PG program,
The operating system control arithmetic unit prioritizes the execution of the control arithmetic processing program cyclically processed by the control arithmetic unit, and performs the first equalization processing of the data of both control devices on the operating system equalizer. The time when the unit is requested is set in the equalization PG reference time file, and when the processing of the control arithmetic processing program for one cycle cyclically processed by the control arithmetic unit is completed, the equalization PG program Is started, and the time when the control arithmetic processing program processing for one cycle ends and the equalization PG
The PG relative time is calculated from the difference from the time set in the reference time file, and when this PG relative time is smaller than the processing time preset in the control calculation unit, the equalization processing is requested to the operating system equalization unit. However, data equalization processing is performed between both equalization units, and when this PG relative time is longer than the predetermined processing time, the equalization processing is not requested and the equalization unit is not used. A method of transferring equalized data of a duplexing control device, characterized in that the processing is performed.