JPH09218797A - Duplex controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a duplex controller which does not require a signal line and a transmission/reception circuit for transferring input data among duplexed control systems. SOLUTION: An A system CPU part 14 and a B system CPU part 15 receive input data from an A system output part 16a or a B system input/output part 16b. When the A system CPU part 14 is in a control state and the single fault of the A system input/output part 16a is detected in a state where it transfers data with a plant unit system 50 through the A system input/output part 16a, for example, the A system CPU part 14 switches the input/output means to the B system input/output part 16b and continues the control state.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention has two control systems in which one is in a control state and the other is in a standby state.
The present invention relates to a duplicated control device that digitally controls a controlled object such as a plant.

[0002]

2. Description of the Related Art FIG. 8 shows, for example, JP-A-60-237545.
FIG. 6 is a configuration diagram showing an example of a conventional duplexing control device according to a conventional standby redundancy system disclosed in Japanese Patent Publication No. In the figure, reference numeral 1 denotes a first control system (hereinafter, referred to as A system C) that performs arithmetic processing for controlling a controlled object and has a self-diagnosis function of a failure.
2 is a second control system (hereinafter abbreviated as B system CPU unit) that has a self-diagnosis function for a failure while performing arithmetic processing for controlling a controlled object.
It is. Reference numeral 3 denotes a dual system switching device that makes a determination when one of the A system CPU unit 1 and the B system CPU unit 2 is in the control state and the other is in the standby state, and switches the control system according to this determination. Yes, 31 is a system switching logic circuit built in the dual system switching device 3.

Reference numeral 4 is a signal line for transmitting an A system control signal output from the dual system switching device 3 to the A system CPU unit 1, and 5 is detected by self-diagnosis in the A system CPU unit 1. It is a signal line for transmitting an A system failure signal to the dual system switching device 3. Reference numeral 6 is a signal line for transmitting a B system fault signal detected by self-diagnosis in the B system CPU unit 2 to the dual system switching device 3, and 7 is a B system output from the dual system switching device 3. It is a signal line for transmitting a control signal to the B system CPU unit 2.

Reference numeral 8 is an A system input / output unit for inputting / outputting input data from the control target and control data to the control target to / from the A system CPU unit 1, and 9 is input data from the control target and control to the control target. It is a B-system input / output unit that inputs / outputs data to / from the B-system CPU unit 2. Reference numeral 10 is an A-system data transmission line that connects the A-system input / output unit 8 and the A-system CPU unit 1,
Reference numeral 11 is a B connecting the B system input / output unit 9 and the B system CPU unit 2.
This is a system data transmission line. Reference numeral 12 is a signal line for transferring the input data from the A system input / output unit 8 to the A system CPU unit 1 to the B system CPU unit 2, and 13 is the B system input / output unit 9 to B.
It is a signal line for transferring the input data to the system CPU unit 2 to the A system CPU unit 1.

Reference numeral 50 denotes a plant equipment system as a controlled object which is controlled by the A system CPU unit 1 or the B system CPU unit 2 in the control state.

Next, the operation will be described. Now, it is assumed that the system switching logic circuit 31 of the dual system switching device 3 switches the A system CPU section 1 to the control state and the B system CPU section 2 to the standby state. Therefore, the system switching logic circuit 31 outputs the A system control signal to the A system CPU section 1 through the signal line 4. In this state, the A-system CPU unit 1 inputs the input data from the plant equipment system 50 from the A-system input / output unit 8 through the A-system data transmission line 10 and performs a control operation based on the input data to obtain the obtained plant equipment system. The control data for 50 is output to the A system input / output unit 8 through the A system data transmission line 10. Also, the B system CPU unit 2 is the A system CPU
The input data to the unit 1 is received through the signal line 12 and the control operation is performed in the same manner, but the control data to the plant equipment system 50 to the B system input / output unit 9 is not output.

In this state, when the A system CPU section 1 detects an abnormality in itself or the A system input / output section 8 by its self-diagnosis function, an A system failure signal is transmitted through the signal line 5 to the system of the dual system switching device 3. Output to the switching logic circuit 31. When this system A failure signal is input, the system switching logic circuit 31 confirms that the system B CPU unit 2 does not receive the system B failure signal through the signal line 6 at that time, and then the system A through the signal line 4. The A-system control signal output to the CPU unit 1 is stopped, and instead the B-system control signal is transmitted through the signal line 7 to the B-system C signal.
Output to the PU unit 2.

When the input of the A-system control signal is stopped, the A-system CPU unit 1 executes the process of waiting for the control of the plant equipment system 50 and stops the control of the plant equipment system 50. On the contrary, the B system CPU unit 2 executes a process of bringing the plant device system 50 into the control state when the B system control signal is input, and starts the control of the plant device system 50. In this state, the B-system CPU unit 2 inputs the input data from the plant equipment system 50 from the B-system input / output unit 9 through the B-system data transmission line 11 to perform control calculation, and control the obtained plant equipment system 50. Data is output to the B system input / output unit 9 through the B system data transmission line 11. A
The system CPU section 1 is a B system C sent through the signal line 13.
Although the control calculation is performed based on the input data to the PU unit 2, the control data for the plant equipment system 50 is not output to the A system input / output unit 8.

Next, when the B system CPU unit 2 is in control, the A system C
When a failure occurs in the B system CPU unit 2 or the B system input / output unit 9 while the PU unit 1 is in the standby state, the system switching logic circuit 31 outputs the signal to the B system CPU unit 2 through the signal line 7 in reverse. While stopping the output of the B-system control signal, the A-system control signal is output to the A-system CPU unit 1 through the signal line 4.
As a result, the B system CPU unit 2 is in the standby state and the A system CP is
The U section 1 is switched to the control state.

[0010]

Since the conventional duplex control device is constructed as described above, it is special that the input data to the A system CPU section 1 or the B system CPU section 2 is transmitted to another system. Since the signal lines 12 and 13 and the data transmission / reception circuit for transmitting and receiving the signal lines 12 and 13 are required in the A system CPU unit 1 and the B system CPU unit 2, the number of component parts of the device is increased and the reliability thereof is improved. Not only is there a problem that it will worsen and hinder the miniaturization of the device, and system switching will occur even if there is a single failure in the A system input / output unit 8 or the B system input / output unit 9. Therefore, there is a problem that the A system CPU unit 1 and the B system CPU unit 2 cannot be efficiently operated.

The present invention has been made to solve the above problem, and does not require a signal line or a transmission / reception circuit for exchanging input data between the duplicated control systems. The purpose is to obtain a chemical control device.

Another object of the present invention is to provide a dual control device which does not require switching of the entire control system when a single failure occurs in the dual input / output means.

[0013]

According to another aspect of the present invention, there is provided a duplex control device, wherein the first and second control systems are provided with a self-diagnosis means for diagnosing the state of the self-control system and both control systems. Signal communication means for exchanging status signals with each other, determination means for transmitting an abnormality detection signal to another control system when the self-control system is abnormal, and determining the self-control system to be in a standby state, and this determination means When a decision is made to put the control system into the standby state by sending a switching signal for switching the other control system to the control state, the self control system is switched to the standby state, and when the switching signal from the other control system is received, the self control system A switching means for switching the control state to
The first and second control systems respectively receive input data from the controlled object via the input / output means and perform control calculation.

In the duplex control device according to the present invention, only the control data calculated by the control system in the control state is transmitted to the controlled object via the input / output means. It is a thing.

In the duplex control apparatus according to the third aspect of the present invention, each of the first and second control systems receives the input data from the controlled object through the input / output means provided for only one system. It was done.

In the duplexing control device according to the fourth aspect of the present invention, only the first or second control system, which confirms that its own control system is switched to the control state by the built-in switching means, The control data for controlling the controlled object is transmitted to the input / output means prepared for only one system.

In the duplex control device according to the invention of claim 5, the input / output means is also duplicated, and each control system receives an input from the controlled object through the normal one of the duplicated input / output means. The data is received individually.

In the duplex control device according to the present invention, only the control system in the control state sends the control data and the enable data, and the input / output means receives the enable data. The control data is transmitted to the controlled object.

According to a seventh aspect of the present invention, in the duplex control device, each of the first and second control systems confirms which of the input / output means is switched to the control state, and controls the control state. The input data from the controlled object is received through the input / output means that is switched to.

In the duplex control device according to the present invention, only the control system which has confirmed that the self control system is switched to the control state sends the control data to both the input and output means. Is transmitted to each of the input / output means switched to the control state, and the control data is transmitted to the controlled object by the input / output means receiving the enable data.

In the duplex control device according to the present invention, the first and second control systems may be operated by any one of the input / output means judged by the self-diagnosis means to be normal. Input data from the control target received,
It is adapted to be input to each control calculation means.

In the duplex control apparatus according to the tenth aspect of the present invention, only the control system which has confirmed that the self-control system is switched to the control state determines that the self-diagnosis means is normal. The enable data is added to the control data and transmitted to any one of the input / output means, and the control data is transmitted to the controlled object by the input / output means receiving the enable data.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below. Embodiment 1. FIG. 1 shows a second embodiment of the present invention.
It is a block diagram which shows a duplication control apparatus. In the figure, 50 is a plant equipment system as a control target. Reference numeral 14 denotes an A system CPU unit as a first control system that executes arithmetic processing for controlling the plant equipment system 50 as a control target and has a self-diagnosis function of a failure and a data communication function. Reference numeral 15 denotes a second control system 15 which also executes arithmetic processing for controlling the plant equipment system 50 and has a self-diagnosis function for a failure and a data signal communication function.
It is a system CPU unit. Reference numeral 16 denotes input data from the plant equipment system 50 and control data for the plant equipment system 50.
It is an input / output means for inputting / outputting to / from the system CPU unit 14 and the B system CPU unit 15.

In the A system CPU section 14, 141 is an A
Reference numeral 142 is a self-diagnosis unit that self-diagnoses and detects the states of the system CPU unit 14 and the input / output unit 16, and 142 is the A system CPU unit 1.
The status signal of No. 4 is transmitted to the B system CPU unit 15, and the B system CPU 15
It is a signal communication means for receiving the status signal from the unit 15.
When the self-diagnosis means 141 detects an abnormality in the A system CPU section 14, the signal communication means 142 causes the B system CPU 143.
When an abnormality detection signal is transmitted to the section 15 and the A system CPU section 14 is in the control state at this time and the signal indicating the abnormality of the B system CPU section 15 is not received by the signal communication means 142. , A system CPU section 14 is in a standby state. 144 is the determination means 14
3 determines that the A system CPU unit 14 is in the standby state,
The control signal for transmitting the switching signal for setting the B system CPU unit 15 to the control state is transmitted from the signal communication unit 142, the control for switching the A system CPU unit 14 to the standby state, and the switching signal from the B system CPU unit 15 through the signal communication unit 142. It is a switching unit that executes control for switching the A system CPU unit 14 to the control state when received. The signal communication unit 142, the determination unit 143, and the switching unit 144 are the A system CPU unit 14.
It is assumed to consist of a program that runs above.

Further, 145 transmits and receives input data and control data for controlling the plant equipment system 50 between the A system CPU section 14 and the input / output means 16,
It is a data transmission / reception means for realizing the data communication function of the A system CPU unit 14. 146 is the data transmitting / receiving means 145
Performs a control calculation of the input data from the plant equipment system 50 received from the input / output unit 16, and the calculation result is used as control data from the data transmitting / receiving unit 145 to the input / output unit 1.
6 is a control calculation means for sending to the plant equipment system 50 through 6 to control the plant equipment system 50.

In the B system CPU section 15, 151 is an A
A self-diagnosis means equivalent to the self-diagnosis means 141 in the system CPU section 14, 152 is a signal communication means equivalent to the signal communication means 142, 153 is a determination means equivalent to the determination means 143, and 154 is a switching means 144. Reference numeral 155 is an equivalent switching means, 155 is a data transmission / reception means equivalent to the data transmission / reception means 145, and 156 is a control calculation means 1 similarly.
It is a control calculation means equivalent to 46. The signal communication unit 152, the determination unit 153, and the switching unit 154 are similarly configured by programs running on the B system CPU unit 15.

In the input / output means 16, 161 is a data transmission / reception means for transmitting / receiving input data and control data for controlling the plant equipment system 50 to / from the data transmission / reception means 145 of the A system CPU section 14, 162 Is B
The data transmission / reception means transmits / receives input data and control data for controlling the plant equipment system 50 to / from the data transmission / reception means 155 of the system CPU unit 15.

Reference numeral 17 is an A-system data transmission line connecting the data transmission / reception means 145 of the A-system CPU section 14 and the data transmission / reception means 161 of the input / output means 16, and 18 is a B-line.
The data transmission / reception means 155 of the system CPU section 15 and the data transmission / reception means 162 of the input / output means 16 are B-system data transmission lines. Reference numeral 19 designates the A system status signal output from the signal communication means 142 of the A system CPU section 14 for the B system CP.
Reference numeral 20 denotes a signal line transmitted to the signal communication unit 152 of the U unit 15, and 20 transmits a B system state signal output from the signal communication unit 152 of the B system CPU unit 15 to the signal communication unit 142 of the A system CPU unit 14. It is a signal line.

Next, the operation will be described. Here, FIG.
3 is a flowchart showing an example of a control processing operation of a control system in a control state according to the first embodiment, and FIG. 3 is a flowchart showing an example of a control processing operation of a control system in a standby state according to the first embodiment. is there. 2 and 3 show the case where the A-system CPU unit 14 is in the control state and the B-system CPU unit 15 is in the standby state.

In step ST1, the A system CPU section 14 in the control state first receives data from the plant equipment system 50 sent from the data transmitting / receiving means 161 of the input / output means 16 via the A system data transmission line 17. The data transmitting / receiving means 145 receives the input data. Next, step S
At T2, this input data is the data transmitting / receiving means 14
5 is sent to the control calculation means 146 to perform control calculation. Upon completion of the control calculation, the control calculation unit 146 outputs the control data for controlling the plant equipment system 50 obtained as a result of the control calculation to the data transmission / reception unit 145 in step ST3. In step ST4, the data transmission / reception means 145 which has received the data outputs the control data to the A-system data transmission line 17 after confirming that the switching means 144 puts the A-system CPU section 14 in the control state. It is transmitted to the plant equipment system 50 via the output means 16. Note that these processes are repeatedly executed until the self-diagnosis means 141 detects an abnormality in the A system CPU unit 14 in step ST5.

When the self-diagnosis means 141 detects an abnormality in the A system CPU section 14, the process branches to step ST6. In step ST6, the determination means 143 determines that the B system CPU
The B system failure signal indicating the abnormality of the section 15 is signal communication means 142.
It is determined whether or not it has been received. As a result, when it is confirmed that the B system failure signal is not input to the signal communication unit 142, the determination unit 143 makes a determination to put the self control system in the standby state, and the switching unit 144 accordingly follows the A in step ST7. The system CPU unit 14 is switched from the control state to the standby state. At the same time, the switching means 144 generates an A system switching permission signal as a switching signal for bringing the other control system into the control state in step ST8, and the signal communication means 142 sends the signal to the B system CPU section via the signal line 19. 1
Send to 5. When it is detected in step ST6 that the B system failure signal is input, the A system CP
The U unit 14 ends the processing as it is.

On the other hand, the B system CPU section 15 is initially in a standby state with respect to the plant equipment system 50. At this time, in the B system CPU section 15, the data transmitting / receiving means 155 receives the input data from the plant equipment system 50 via the input / output means 16 in step ST11 of FIG. 3, and the control calculating means 156 controls in step ST12. Calculation is performed, and the control data as the calculation result is output to the data transmitting / receiving means 155 in step ST13. The data transmission / reception means 155 that has received the data is switched by the switching means 154.
After confirming that the PU unit 15 is in the standby state, the control data is not transmitted to the B-system data transmission line 18. Note that these processes are repeatedly executed until the signal communication unit 152 receives the A system switching permission signal from the A system CPU section 14 in step ST14.

In this step ST14, the signal communication means 152 sends the signal from the A system CPU unit 14 to the A signal from the signal line 19.
When it is detected that the system switching permission signal is received, the process proceeds to step ST15, and the switching means 154 causes the B system CP to operate.
The U section 15 is switched from the standby state to the control state. At the same time, the switching means 154 outputs B in step ST16.
A system control signal is generated and transmitted from the signal communication unit 152 to the A system CPU unit 14 via the signal line 20.

Contrary to the above, when the A-system CPU section 14 is in the standby state and the B-system CPU section 15 is in the control state, the A-system CPU section 14 and the B-system CPU section 15 are respectively set in the same manner as above. The input / output unit 16 receives the input data from the plant equipment system 50 by the data transmitting / receiving unit 145 or 155.
Only the B system CPU section 15 receives the control data obtained by the control calculation of the control calculation means 156 from the data transmission / reception means 155 of the B system CPU section 15 via the input / output means 16 to the plant equipment system 50.

As described above, according to the first embodiment, a special signal line for transmitting input data and data transmission / reception between the two control systems of the A system CPU section 14 and the B system CPU section 15 are provided. Circuit can be deleted, the number of component parts of the device can be reduced, its reliability can be improved, and the device can be downsized. Further, the A system CPU section 14 and the B system CPU section 15 can be generated. Since each control data is transmitted to the input / output means 16, there is an effect that the configuration of the basic software can be simplified to an equivalent one.

Embodiment 2 In the first embodiment, only the control system is duplicated, but the input / output unit may be duplicated by the first input / output unit and the second input / output unit. FIG. 4 shows a second embodiment of the present invention.
FIG. 3 is a configuration diagram showing a duplexing control device, parts corresponding to respective parts of the first embodiment are assigned the same reference numerals as those in FIG. 1, and description thereof will be omitted.

In the figure, 16a is a plant equipment system 50.
Input data and control data for the A system CPU unit 1
4 and the A system input / output unit as the first input / output means for inputting / outputting to / from the B system CPU unit 15, and 16b is an A system CP for input data and control data to the plant equipment system 50.
It is a B system input / output unit as the second input / output unit for inputting / outputting to / from the U unit 14 and the B system CPU unit 15. Reference numeral 161a is a data transmitting / receiving means for transmitting / receiving input data and control data to / from the plant equipment system 50 between the A system input / output unit 16a and the A system CPU unit 14, and 161b is an A system input / output unit 16a and the B system CPU. Data transmission / reception means for transmitting / receiving input data and control data to / from the plant equipment system 50 from / to the unit 15. 162a is a B-system input / output unit 16
b is a data transmission / reception means for transmitting / receiving the input data and control data to / from the plant equipment system 50 between the A system CPU unit 14 and the plant system equipment 162b between the B system input / output unit 16b and the B system CPU unit 15. A data transmission / reception means for transmitting / receiving input data and control data to / from the system 50.

In the A-system CPU section 14, 14
5a is a data transmission / reception means 161a of the A-system input / output unit 16a
Data transmission / reception means for transmitting / receiving input data and control data to / from the plant equipment system 50 between
5b is a data transmission / reception means 162a of the B system input / output unit 16b.
Is a data transmission / reception means for transmitting / receiving input data and control data to / from the plant equipment system 50. In the B system CPU unit 15, 155a is an A system input / output unit 16
The data transmitting / receiving means 155b transmits / receives the input data and the control data to / from the plant equipment system 50 to / from the data transmitting / receiving means 161b.
Data transmission / reception means for transmitting / receiving input data and control data to / from the plant equipment system 50 from / to the data transmission / reception means 162b.

Further, 17a is an A system data transmission line connecting between the data transmitting / receiving means 145a of the A system CPU section 14 and the data transmitting / receiving means 161a of the A system input / output section 16a, and 17b is an A system CPU section. 14 is a data transmission / reception means 145b and a data transmission / reception means 162a of a B system input / output unit 16b is an A system data transmission line. Reference numeral 18a denotes a data transmitting / receiving unit 155b of the B system CPU unit 15 and a data transmitting / receiving unit 1 of the B system input / output unit 16b.
Reference numeral 18b is a B-system data transmission line connecting between 62b, and 18b is a data transmitting / receiving means 15 of the B-system CPU unit 15.
5a and data transmission / reception means 161b of A system input / output unit 16a
It is a B-system data transmission line connecting between the two.

Next, the operation will be described. Here, FIG.
6 is a flowchart showing an example of a control processing operation of a control system in a control state according to the second embodiment, and FIG. 6 is a flowchart showing an example of a control processing operation of a control system in a standby state according to the second embodiment. is there. 5 and 6 show a case where the A system CPU unit 14 is in the control state and the B system CPU unit 15 is in the standby state.

In the A system CPU section 14 in the control state, after confirming that the switching means 144 sets the A system input / output section 16a in the control state, in step ST21,
The data transmitting / receiving unit 1 receives the input data from the plant equipment system 50 sent from the data transmitting / receiving unit 161a of the system input / output unit 16a via the A system data transmission line 17a.
It is received at 45a. Next, in step ST22, the input data received by the data transmitting / receiving means 145a is sent to the control calculation means 146, and the control calculation is executed. When the control calculation means 146 finishes this control calculation, the step S
At T23, the calculation result is used as the control data of the plant equipment system 50, and the data transmitting / receiving means 145a and 14
5b. Then, in step ST24, the control data is transferred to the A system input / output unit 16a and the B system input / output unit 16a.
The data transmitting / receiving means 14 sends enable data that specifies which of b is used to transmit to the plant equipment system 50.
It is output to either 5a or 145b. In this case, since the A system input / output unit 16a is in the control state, the enable data is output to the data transmitting / receiving means 145a.

This enable data is supplied to the control calculation means 14
In the data transmitting / receiving means 145a received together with the control data calculated in step 6, the switching means 144 is the A system CPU.
After confirming that the unit 14 is in the control state, the enable data and control data are transmitted to the A system input / output unit 16a via the A system data transmission line 17a in step ST25. On the other hand, in the data transmitting / receiving means 145b that has received only the control data, the switching means 144 is
After confirming that the system CPU section 14 is in the control state, the control data is transmitted to the B system input / output section 16b through the A system data transmission line 17b in step ST26. The A system input / output unit 16a, which has confirmed the reception of the enable data, transmits the received control data to the plant device system 50 in step ST27. Since the B system input / output unit 16b cannot confirm the reception of the enable data, the control data is not transmitted to the plant device system 50. Note that these processes are repeatedly executed until the self-diagnosis means 141 detects an abnormality in the A system CPU unit 14 or the A system input / output unit 16a in step ST28.

On the other hand, it is confirmed that the switching means 154 sets the A system input / output unit 16a in the controlled state even in the B system CPU section 15 in the standby state, as in the A system CPU section 14 in the controlled state. Then, the input data from the plant equipment system 50 sent from the A-system input / output unit 16a is received by the data transmitting / receiving means 155a in step ST41. Next, in step ST42, the input data is sent to the control calculation means 156 to execute the control calculation, and in step ST43, the calculation result is sent to the plant equipment system 5
The control data of 0 is output to the data transmitting / receiving means 155a and 155b, and in step ST44, enable data is output to the data transmitting / receiving means 155a for transmitting data to / from the A system input / output unit 16a. In the data transmitting / receiving means 155a and 155b that have received them, the switching means 154 is
Make sure that the system CPU unit 15 is in the standby state,
The data transmitting / receiving means 155a does not transmit enable data and control data to the B system data transmission line 18b, and the data transmitting / receiving means 155b does not transmit control data to the B system data transmission line 18a.

Here, when the self-diagnosis means 141 of the A system CPU section 14 in the control state detects an abnormality in its own system in step ST28 of FIG. 5, the determination means 143 determines the abnormality in step ST29. Analyze the contents to see if the abnormality is only in the A system input / output unit 16a.
It is determined whether the abnormality also includes the portion 14. As a result, when it is determined that only the A system input / output unit 16a is abnormal, the determining unit 143 immediately determines in step ST30 to switch the B system input / output unit 16b to the control state. In step ST31, the switching means 144 follows the judgment of the judging means 143 and the A system data transmission line 1
The access to the A system input / output unit 16a via 7a is stopped, and the access is switched to the B system input / output unit 16b via the A system data transmission line 17b. In addition, in step ST32, the switching means 144 is further connected to the B system CPU unit 15 via the signal line 19 from the signal communication means 142.
To the A-system input / output unit 16a, the A-system input / output unit failure signal notifying that the A-system input / output unit 16a has failed. After that, the A system CPU unit 14
Continues to control the plant equipment system 50 via the B system input / output unit 16b.

When it is determined in step ST29 that the abnormality includes the A system CPU section 14, the normality of the B system CPU section 15 is determined in step ST33, as in the first embodiment. If it is normal, in step ST34, the own system is switched from the control state to the standby state, and in step ST35, the A system switching permission signal is transmitted to the B system CPU section 15 to switch the control system.

On the other hand, in the B system CPU section 15 in the standby state, the occurrence of the A system input / output section failure signal from the A system CPU section 14 is monitored in step ST45.
When the occurrence of a system input / output unit failure signal is detected, the determination means 1
53, in step ST46, immediately determines to switch the B system input / output unit 16b to the control state. Next, at step ST47, the switching means 154 causes the determination means 1 to operate.
According to the determination of 53, the access to the A system input / output unit 16a via the B system data transmission line 18b is stopped, and the B system input / output unit 16b via the B system data transmission line 18a is stopped.
Switch to access to. After that, the B system CPU unit 15 receives the input data from the plant equipment system 50 via the B system input / output unit 16b, and performs the control calculation by the control calculation unit 156.

While the A system input / output section failure signal is not detected in step ST45, the process branches to step ST48 to determine whether or not the A system switching permission signal is received, as in the case of the first embodiment. When it is detected that it has been received, in step ST49, the B system CPU unit 1
5 is switched from the standby state to the control state, and the B system control signal is transmitted to the A system CPU section 14 in step ST50.

Contrary to the above, the A system CPU section 14 and the A system input / output section 16a are in the standby state, and the B system CPU section 1
5 and the B system input / output unit 16b are in a controlled state, even if an abnormality occurs in the B system input / output unit 16b, the access to the A system input / output unit 16a is switched by the same processing as the above case. The control of the plant equipment system 50 by the B system CPU unit 15 is continued.

As described above, according to the second embodiment,
In the case of a single failure of the A-system input / output unit 16a or the B-system input / output unit 16b, switching of the entire control system becomes unnecessary by switching only the corresponding input / output unit to the input / output unit of another system. Therefore, there is an effect that the A system CPU section 14 or the B system CPU section 15 can be efficiently operated.

Embodiment 3 In the second embodiment, it is confirmed by the switching means which one of the A system input / output section and the B system input / output section is switched to the control state, and the input / output section of the plant equipment system is connected through the input / output section switched to the control state. Although the data transmission / reception has been described, the data transmission / reception with the plant equipment system is performed through either the A system I / O unit or the B system I / O unit that has determined that the self-diagnosis means is normal. May be. FIG. 7 is a configuration diagram showing a duplexing control device according to a third embodiment of the present invention. Parts corresponding to the respective parts of the second embodiment are assigned the same reference numerals as those in FIG. 4 and their explanations are omitted.

In the figure, 147 is a control calculation means 146.
This is a buffer in which the input data from the plant equipment system 50 which is control-calculated in 1 and the control data to the plant equipment system 50 which is calculated by the control calculation means 146 are set. Reference numeral 157 is a buffer in which the input data from the plant equipment system 50, which is control-calculated by the control calculation means 156, and the control data to the plant equipment system 50, which is calculated by the control calculation means 156, are set.

The self-diagnosis means 141 has the data transmission / reception means 145a or 145b from either the A-system input / output section 16a or the B-system input / output section 16b which has judged that the self-diagnosis means 141 is normal. The input data received is set in the buffer 147, and the control data set in the buffer 147 by the control calculation unit 146 determines that the self-diagnosis unit 141 is normal. Input / output unit 16b
4, which is different from that of the second embodiment shown in FIG. 4 with the same reference numerals, in that it has a function of adding enable data that specifies which of them is transmitted to the plant equipment system 50. In addition, the self-diagnosis means 151
Similarly, the A-system input / output unit 16a or the B-system input / output unit 16a that has determined that the self-diagnosis means 151 is normal.
data transmission / reception means 155a or 1
The input data received by 55b is set in the buffer 157, and the buffer 157 is set by the control calculation means 156.
The self-diagnosis means 151 is added to the control data set in
Is provided with enable data for designating which of the A system input / output unit 16a or the B system input / output unit 16b that has determined that the above is normal is transmitted to the plant device system 50. This is different from that of the second embodiment shown with the same reference numerals in FIG.

According to the duplexing control device of the third embodiment, when each of the A system CPU section 14 and the B system CPU section 15 receives the input data from the plant equipment system 50, the A system CPU section 14 is used. Then, the A-system input / output unit 16a which determines that the built-in self-diagnosis means 141 is normal
Alternatively, the data transmission / reception means 1 can be supplied from the B-system input / output unit 16b.
Either the input data 45a or the input data received by the data transmitting / receiving means 145b is set in the buffer 147.
The control calculation means 146 takes in the input data set in the buffer 147 and performs the control calculation. In addition,
Similarly, in the B system CPU section 15, the self-diagnosis means 15
Input data from either the A-system input / output unit 16a or the B-system input / output unit 16b, which has determined that 1 is normal, is set in the buffer 157, and the control calculation means 156 performs control calculation.

At that time, it is judged that the self-diagnosis means 141 (151) is normal, and each control system (A system C
When the self-diagnosis means 141 (151) detects a single failure of the input / output means (for example, the A-system input / output section 16a) that the PU section 14 and the B system CPU section 15) have received the input data, By switching the input data to be received from the other input / output unit (for example, the B system input / output unit 16b), the control state is maintained in each control system.

After that, the A system CPU section 14 and the B system CP
In the U section 15, control data for controlling the plant equipment system 50 based on the control calculation result of the respective control calculation means 146 or 156 is supplied with buffers 147 and 157.
Are set respectively. Then, the self-diagnosis means 141
Based on the diagnosis result of (151), the switching means 144 (15
4) the control system has switched to the control state (for example, A system CPU)
Part 14) only sends the control data to the A system input / output part 16a.
To the B system input / output unit 16b. At that time, the A system input / output unit 16 that has judged that the self-diagnosis means 141 is normal
The control data sent to one of the a and B system input / output units 16b is enable data that specifies which of the A system input / output unit 16a and the B system input / output unit 16b is used to transmit the control data to the plant equipment system 50. Is added. As a result, the control data is sent to the plant equipment system 50 through the input / output means (for example, the A system input / output unit 16a) that receives the enable data, and the control is performed.

At that time, it is judged that the self-diagnosis means 141 (151) is normal, and each control system (system A C
The self-diagnosis means 141 (1
51), the enable data is transmitted by the other input / output unit (for example, the B system input / output unit 16).
The control state is maintained by switching the operation to that for b).

As described above, according to the third embodiment,
The control calculation means 146 (156) has a buffer 147 (15).
Since it suffices to take in the input data from the plant equipment system 50 set in 7), perform the control calculation, and set the calculation result in the buffer 147 (157),
It is possible to reduce the load on the control calculation means 146 (156).

[0058]

As described above, according to the first aspect of the present invention, the first and second control systems are provided with the self-diagnosis means, the signal communication means, the determination means, and the switching means.
And the second control system respectively via the input / output means,
Since the input data from the control target is received and the control operation is performed, there is no need to exchange the input data between the duplicated control systems, so that it is special for transmitting the input data. It is possible to reduce the number of signal lines and data transmission / reception circuits, reduce the number of component parts of the device, improve the reliability thereof, and reduce the size of the device.

According to the second aspect of the present invention, each duplicated control system receives the input data from the controlled object and performs the control operation, and the control system in the controlled state performs the control operation. Since only the control data that has been transmitted is transmitted to the control target through the input / output means, it is possible to reduce the special signal line for transmitting the input data and the circuit for data transmission / reception, and the component parts of the device. There is an effect that can be reduced.

According to the third aspect of the present invention, each of the duplicated control systems is configured to receive the input data from the controlled object through the input / output means provided for only one system. Since a special signal line for transmitting data and a circuit for transmitting and receiving data are not required, it is possible to reduce the number of components of the device, so that the reliability can be improved and the device can be downsized. effective.

According to the invention described in claim 4, since only the control system which confirms that the self control system is switched to the control state is configured to transmit the control data to the input / output means, the input data Since there is no need for a special signal line for transmitting data or a circuit for transmitting and receiving data, it is possible to reduce the number of component parts of the device.

According to the invention described in claim 5, since the input / output means is duplicated and each control system receives the input data from the controlled object through one of them, it is duplicated. When a single failure occurs in the input / output means, it is possible to switch only the failed input / output means to the input / output means in the other system, eliminating the need to switch the entire control system when a single failure occurs in the input / output means. This has the effect of enabling efficient operation of the system.

According to the sixth aspect of the present invention, the enable data is transmitted together with the control data to one of the duplicated input / output means from the control system in the control state, and the input / output means receiving the enable data. Since the control data is transmitted to the controlled object through the control system, it is possible to eliminate the need to switch the entire control system when a single failure occurs in the duplicated input / output means, and to operate the control system efficiently. There is an effect that can be.

According to the seventh aspect of the present invention, each of the duplicated control systems is configured to receive the input data from the controlled object through the input / output means which is switched to the controlled state. Therefore, when a single failure occurs in the duplicated input / output means, it is not necessary to switch the entire control system by switching only the input / output means, and the control system can be efficiently operated.

According to the eighth aspect of the present invention, only the control system which is switched to the control state sends the control data to both the input / output means and the enable data only to the input / output means which is switched to the control state. Since the control data is transmitted to the controlled object through the input / output means which has transmitted the enable data, the input / output means need only be switched when a single failure occurs in the duplicated input / output means. Since there is no need to switch the entire control system, the control system can be operated efficiently.

According to the invention described in claim 9, each of the duplicated control systems receives the input data from the controlled object received through any of the input / output means judged to be normal by the self-diagnosis means. Since it is configured to input to the control calculation means, the control calculation means can receive the input data only from the input / output means determined to be normal, and the load on the control calculation means can be reduced. There is an effect that can be done.

According to the tenth aspect of the invention, only the control system which is switched to the control state generates the control calculation means for any one of the input / output means judged to be normal by the self-diagnosis means. Since the control data is configured to be transmitted with the enable data added to the control data, and the control data is transmitted to the control target through the input / output means that has received the enable data, the control calculation means is determined to be normal. The control data can be transmitted only to the means, and the load on the control calculation means can be reduced.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a duplexing control device according to a first embodiment of the present invention.

FIG. 2 is a flowchart showing an example of a control processing operation of a control system in a control state according to the first embodiment of the present invention.

FIG. 3 is a flowchart showing an example of a control processing operation of a control system in a standby state according to the first embodiment of the present invention.

FIG. 4 is a configuration diagram showing a duplexing control device according to a second embodiment of the present invention.

FIG. 5 is a flowchart showing an example of a control processing operation of a control system in a control state according to the second embodiment of the present invention.

FIG. 6 is a flowchart showing an example of a control processing operation of a control system in a standby state according to the second embodiment of the present invention.

FIG. 7 is a configuration diagram showing a duplexing control device according to a third embodiment of the present invention.

FIG. 8 is a configuration diagram showing an example of a conventional duplex control device.

[Explanation of symbols]

14 A system CPU section (first control system), 15 B system CP
U section (second control system), 16 input / output means, 16a A
System input / output unit (first input / output unit), 16b B system input / output unit (second input / output unit), 19, 20 Signal line, 50
Plant equipment system (control target), 141, 151 self-diagnosis means, 142, 152 signal communication means, 143, 15
3 determination means, 144, 154 switching means, 145, 1
45a, 145b, 155, 155a, 155b data transmission / reception means, 146, 156 control calculation means.

Claims (10)

[Claims] 1. When one of the controlled objects is in a controlled state,
A first control system and a second control system, the other of which is in a standby state, and the input data from the controlled object, which belongs to these first and second control systems, is sent to the first or second control system. A duplexing control device comprising: input / output means for sending control data for controlling the control target generated by the first or second control system to the control target; A state in which each of the control systems indicates the state of each control system between the first and second control systems, and a self-diagnosis unit that detects whether the state of the self-control system is normal or abnormal. When a signal communication means for transmitting and receiving a signal via a signal line and the self-diagnosis means detect an abnormality in the self-control system, an abnormality detection signal is transmitted to the other control system by the signal communication means, and at that time, the self-control system Is in control and the signal If a signal indicating an abnormality of the other control system is not received by the communication means, the determination means performs control to determine to put the self-control system in the standby state, and the determination means to determine to put the self-control system in the standby state. When this is done, a control signal for transmitting a switching signal for setting the other control system to the control state from the signal communication means to the signal line and switching the self control system to the standby state, and the signal communication means from the other control system. When the switching signal is received, input data from the control target and the control target are controlled between the switching unit that performs control for switching the self-control system to the control state and the input / output unit. Data transmission / reception means for transmitting / receiving control data, and control calculation means for executing control calculation on the input data received by the data transmission / reception means to generate the control data are provided. The first and second control systems receive the input data from the controlled object via the input / output unit by the data transmitting / receiving unit, respectively, and execute the control calculation by the control calculating unit. Duplication control device. 2. Among the control data for controlling the controlled object obtained by the control calculation of the control calculation means, only those generated in the first or second control system in the control state are input / output. The duplexing control device according to claim 1, wherein the duplexing control device transmits to the control target via a means. 3. An input / output means for one system is prepared for the controlled object, and each of the first and second control systems receives input data from the controlled object through the input / output means. The duplex control device according to claim 1. 4. The first and second control systems confirm that the built-in switching means is switching the self control system to the control state, and only the first or second control system having the confirmation is obtained. 4. The duplex control device according to claim 3, wherein the control data for controlling the controlled object is transmitted to the input / output means. 5. The input / output means has a dual structure of a first input / output means and a second input / output means, and the first and second control systems respectively have the first or second input / output. 2. The duplex control device according to claim 1, wherein the input data from the control target is received through one of the normal ones of the means. 6. The control data for controlling the controlled object and which of the first and second input / output means is used only by the control system of the first and second control systems which is in the controlled state. Through the enable data that specifies whether the control data is to be transmitted to the control target, and the control data is transmitted to the control target by the first or second input / output unit that has received the enable data. The duplex control device according to claim 5, which is characterized in that. 7. The self-diagnosis means incorporated in the first and second control systems is provided with a function of detecting normality / abnormality of the first and second input / output means, and the switching means is provided with the self-diagnosis means. Based on the diagnosis result, a function is provided for switching one of the first and second input / output means to a control state and the other to a standby state, and the first and second control systems have the switching means having the first switching means. It is confirmed which of the first and second input / output means is switched to the control state, and the one of the first and second input / output means, which is switched to the control state, is controlled from the controlled object. 6. The duplex control device according to claim 5, wherein the input data is received. 8. The first and second control systems confirm that the switching means incorporated therein is switching the self control system to the control state, and only the first or second control system having the confirmation is confirmed. , The control data is transmitted to both the first and second input / output means, and the enable data is transmitted to the one of the first and second input / output means which has been switched to the control state. 8. The duplex control apparatus according to claim 7, wherein the control data is transmitted to a control target by the first or second input / output unit that has received enable data. 9. A self-diagnosis means incorporated in the first and second control systems is provided with a function of detecting normality / abnormality of the first and second input / output means, and the first and second controls are provided. The system respectively determines whether the self-diagnosis means is normal or not.
6. The duplexing control device according to claim 5, wherein the input data from the controlled object received through any one of the input / output means is input to each control calculation means. 10. The first and second control systems confirm that the switching means incorporated therein is switching the self control system to the control state, and only the first or second control system having the confirmation is confirmed. , The enable data is added to the control data generated by the control calculation means and transmitted to either the first or second input / output means for which the self-diagnosis means has determined to be normal. 10. The duplexing control device according to claim 9, wherein the control data is transmitted to the control target by the first or second input / output unit that has received the.