JPS6029801A - Dual controller - Google Patents

Abstract

PURPOSE:To obtain a high-performance dual control circuit by discriminating between the trouble of a control in operation and that in stand-by mode in a closed loop system, and displaying the trouble of the controller in stand-by mode. CONSTITUTION:The controller 1 in operation and controller 2 in stand-by mode which both operate through setters 4, etc., control a controlled system 12 through a switch 3, and their outputs are inputted to substracters 5 through a sensor 14 respectively. Further, models 15-20 corresponding to actual equipments constitute norm models having the same dynamic characteristics. Respective signals from the models are compared 22-25 with signals from the actual equipments to input deviation values 26-29 to the 1st decision making device 30, and the comparison output 33 between the controllers 1 and 2 is inputted to the 2nd decision making device 34. If the controller 1 in operation gets out of order, the switch 3 performs switching to the controller 2 in stand-by state with the output of the 1st AND circuit 36, and if the controller 2 in stand-by mode gets out of order, the trouble is displayed with the output of the 2nd AND circuit 38.

Description

[Detailed description of the invention] The present invention relates to a duplex control device.

In a conventional duplex control device, for example, as shown in the block diagram of FIG. It comprises an active control device 1 and a standby control device 2, which are digitized by a computer and operate as an element of the control loop, consisting of a subtractor 5 and a controller 6, with the outputs 8.9 of both control devices 1.2 Switch 3. Automatic manual switch 10゜operating end 1
1 to the controlled object 12, and the output of the controlled object I2 is inputted to each subtracter 5 of the two control devices 1.2 as the control signal 2 via the sensor I4, and the one-car controller. 6.6 are linked to each other to prevent drift in integral operation, etc., and the failure of the control device is determined by a self-diagnosis function (watchdog timer, etc.), and when the control device I fails, switch 3 is switched on. By switching, the output of the control device 2 is inputted to the operating end II. Here, 13 is a disturbance.

However, in such a redundant control circuit,
Although control devices are increasingly becoming DDC, it is difficult to determine failures of control devices sufficiently accurately using only the self-diagnosis function of computers.

The present invention was proposed in view of the above circumstances, and an object of the present invention is to provide a redundant control device that enables highly accurate failure determination and switching of control devices.

To this end, the present invention selectively transfers the outputs of an operating control device and a standby control device, each consisting of a setter, a subtractor, and a controller, to the control target via an operating end of the actual machine via an automatic manual switch. In the redundant control device, which inputs the input into , a first comparator that compares the automatic manual switching device model, the operating end model, and the controlled object model, the operating power of the controller and the control model, and the automatic manual switching device of the actual machine and the automatic manual switching device. The second part to compare the two river forces of the switch model.
and a third comparator that compares both outputs of the operating end of the actual device and the operating end model.

a fourth comparator that compares the outputs of the actual sensor and the sensor motil; a fifth comparator that compares the outputs of the operating controller and the standby controller; Second. Third. A first fault discriminator inputs each output of the fourth comparator and outputs a high level when two or more outputs exceed the corresponding threshold; The second output outputs a high level when exceeding the
a first AND circuit that inputs the outputs of the first and second failure discriminators and switches the automatic manual switching device to a standby control device based on the output; The output is input through the NOT circuit and the second
The present invention is characterized by comprising a second AND circuit which inputs the output of the discriminator and displays the failure of the standby control device based on the output.

An embodiment of the present invention will be described with reference to the drawings.

FIG. 2 is a block diagram thereof.

In the above, the same symbols as in FIG. 1 indicate the same equipment as in the same figure, 15 is a setter model, X6 is a subtractor model, and 1F is a controller model.

Storehouse 8 is an automatic manual switch model, Z9 is an operating end model, 2
0 is a controlled object model, and 15 to 20 cooperate to form a reference model having the same dynamic characteristics as the actual machine.

2Z is a signal for inputting the disturbance 13 to the controlled object model 20;
22.23, 24.25 are comparators, 26. ．． 2
1, 28, and 29 are comparators 22, 2.3, and 24, respectively.
25 output deviation value.

30 is the first discrimination 5.31 is the output of the discriminator 30 of 9d) l, 32 is the comparator, 33 is the deviation value output from the comparator 32, 34 is the second discriminator, 35 is the second discrimination 36 is an AND circuit of 141, 32 is a NOT circuit, 3
8 is an AND circuit of body 2.

In such a device, the comparators 22, 23, and 24°25 compare the outputs of the reference model consisting of Z5 to 20 and the corresponding parts of the Mo model consisting of Z4 to 12, respectively, and the deviation value of each is 26°. We get 21.28.29.

Then, first, the deviation value is 26, 21.2B.

29 is input to the first discriminator 30, and if there are two or more deviation values exceeding the corresponding threshold, the first discriminator 30 outputs the value of l as the output 31, and otherwise In the case of 33 is input to the second discriminator 34, and when the value exceeds the threshold value, a value of 1 is output as the output 35, and in other cases, a value of 1 is output.

Furthermore, the output 31 of the first discriminator 30 and the output 35 of the second discriminator 34 are input to the first AND circuit 36, and only when both of them are the value of l, the value of l is outputted. The switch 3 is switched to the output 9 of the control device 2 which is on standby.

In addition, the output 31'' of the first discriminator 30 is inputted to the second AND circuit 38 via the If:NOT circuit 32, and the output 35 of the second discriminator 34 is inputted to the second AND circuit 38. Second AND circuit 3 only when both inputs are l
8 outputs an output l, which causes the standby control device 2 to
If the result of the determination by the first discriminator 30 is that only one threshold value exceeds B1, a display is performed to the effect that the acquired signal is abnormal.

In the above-mentioned operation, the reason why the output 31 of the first discriminator 30 outputs a value of 1 when the deviation value exceeds the threshold value at two or more points is due to the closed loop system. If a part of an element fails, the input of the downstream element changes, and as a result, the output of other elements changes, which in turn affects the other elements. This is because the deviation of the comparator becomes large at multiple locations.

If the deviation is large at only five points, it is simply a case of an abnormality in the signal taken in by the comparator, and in that case, it can be distinguished from a failure in the other elements of the closed loose system.
It is simply displayed as an error in the acquisition signal.

In addition, the comparator 32 compares the outputs of the operating control device I and the standby control device 2 in the closed loop system, and the second discriminator 34 compares the outputs of the control device I and the standby control device 2. For example, it can be seen that one of the control devices is malfunctioning.

Therefore, when the output of the second discriminator 34 has a value of 1 and the output of the first discriminator 30 has a value of l, the output of the first AND circuit 36 has a value of l. The switching device 3 is switched to the standby control device side, and the faulty control device is disconnected.

However, even if the output of the second discriminator 34 is the value of I,
If there is no failure in the elements of the closed loop system, the output 3Z of the first discriminator 30 is zero, so the switch 3 remains as it is.
Then, only the output of the second AND circuit 3B becomes I, indicating that the standby control device is out of order.

In this way, in the present invention, in a dual control system having a standby control device, a failure of the control device operating in a closed loop system and a failure of the standby control device are distinguished, and in the case of a failure of @ party, In the latter case, it will switch to the standby control unit, and in the latter case it will indicate that the standby control unit is out of order.

If the acquired signal for failure determination is abnormal, this can be displayed.

Therefore, according to the invention, the excellent effect of obtaining a high-performance duplex control circuit as described above can be achieved.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing a known Nolant control circuit;
FIG. 2 is a block diagram showing one embodiment of the present invention. I... 8 Control device in operation, 2... Control device on standby, 3... Switcher, 4... Setting device, 5... Subtractor, 6
. . . Controller, 7. Control signal, 8.9. Operation signal. IO... Eye movement switching device, 11... Operating end, 12.
...Controlled object, 13...Disturbance, 14...Sensor,
15...Setter model, 16...Subtractor model, 1
F...controller model, 1B...automatic manual switcher model. 19... Operating end model, 20... Controlled object model. 2I...disturbance signal, 22.23.24.25...comparator, 26.21.28.29...deviation value S30...
- First discriminator, 31...output, 32...comparator. 33... Deviation value, 34... Second discriminator, 35...
・Output, 36...first AND circuit, 32...N
OT circuit, 38... second AND circuit.

Claims (1)

[Claims] The outputs of the operating control device and the standby control device, each consisting of a setter, subtractor, and controller, are selectively input to the controlled object via the operating end of the actual machine via an automatic manual switch.
In a redundant control device whose output is fed back to each subtractor described above via a sensor, a setter model, a subtractor model, a controller model, and an automatic/manual switch constitute a range model that has the same synchronization characteristics as the actual machine. a first comparator that compares the outputs of the operating controller and the control model, and the automatic manual switch of the actual machine and the automatic manual switch model of the actual machine; a second comparator that compares both outputs, a third comparator that compares both outputs of the operating end of the actual device and the operating end model, and a third comparator that compares both outputs of the sensor of the actual device and the sensor model. a fifth comparator that compares both outputs of the operating controller and the standby controller; Second. Third. A first fault discriminator that inputs each output of the fourth comparator and outputs a high level when two or more of them exceed the corresponding threshold; A second failure discriminator that outputs a high level when the threshold is exceeded inputs the outputs of the first and second discriminators and waits for the automatic manual switching device according to the output.
A first AND circuit that switches to the control device in the standby mode, and inputs the output of the first discriminator through a NOT circuit, and connects the output of the second discriminator to the control device in standby mode. A redundant control device comprising: a second AND circuit that indicates a failure of the device.