JPS644201B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a programmable controller for microprocessor applications.

In a microprocessor-based controller, a user program is created depending on the object to be controlled. Before actually starting control, the specifications are checked to see if the control program is completed according to specifications, the operation is checked to see if the desired control results can be obtained with the control program, and the initial values of the control parameters are set. Tests are also required to confirm the operation of the hardware. When performing this test, a controlled object model (hereinafter referred to as a process model) that simulates the controlled object is generally created, connected to the controller, and the controller is operated.
This is called a simulation. Conventionally, simulation has been considered separately from controller functions, and therefore controller designers must create appropriate process models as necessary. As a countermeasure to this problem, process simulators that approximate processes using high-order delay systems have been commercialized, but their simple functions have made it difficult to handle increasingly complex processes. In addition, in computer control systems, there are examples of creating and testing complex process models using software, but this method is not standardized and cannot be used by anyone.

The present invention provides a user programmable controller in which a user program stored in a non-volatile memory element is executed on the controller body alone during online control. / In addition to the program mode in which a user program including a control program and a program of a controlled object model for simulation (controlled object program) is written in a memory element that can be read freely, the control program written in the memory element for programming is By providing a test run mode in which the program and the controlled program are executed on the controller body, and by connecting the programmer to the controller body and performing simulation, and by giving the programmer the function of a simulator, the simulation method can be standardized and anyone can use it. A programmable controller has been realized that can be easily simulated, and can be easily corrected if there are any unsatisfactory points as a result of testing.

FIG. 1 is a block diagram showing one embodiment of the controller of the present invention. In the figure, 10 is the controller main body, which includes a system control unit 11 including a microprocessor CPU and a memory element storing a system program, a detector for detecting the process amount of the controlled object, an operating terminal for controlling the controlled object, etc. An interface 12 with process I/O, a socket 14 to which a non-volatile memory element 13 such as a ROM, which stores a user program that changes with each job, is installed, and a RAM, etc., which stores data such as control parameters. Volatile memory element 1
5, a digital display 16 for displaying control parameters, etc., and a keyboard 17 for tuning the control parameters. 20 is a programmer, which has a memory element in which a programming program is stored, and a program control unit 2 that controls programming operations.
1, program keyboard 22, display 23, operation mode switch 24, program area designation switch 25, ROM writer 26, etc.
It has an interface 27 and a programming memory element 28 such as a RAM for storing created programs that can be written/read freely, and these are connected by a data bus 29. The data bus 29 of the programmer 20 is detachably connected to the data bus 19 of the controller main body 10 through a connector 30.

The operation of the present invention configured as described above will be explained below with reference to the flowchart shown in FIG. First, all operations of the controller main body 10 and the programmer 20 are performed under the control of the CPU of the system control section 11. First, the programmer 20 is connected to the controller body 10 without the memory element 13 storing the user program installed in the controller body 10, and the operation mode switch 2 is turned on.
4 to the program side to set the program mode,
When you press the initialize key on the keyboard 22,
The initial values of parameters such as P, I, and D written in the memory element of the program control unit 21 are stored in the RAM
etc. is set in the parameter area of the memory element 28. This initial value is fixed to the system and does not change depending on the job. For example, P = 1000.
%, I=9999 seconds, D=0 seconds, which are safe side values. In addition to the parameter area, the memory element 28 has a control program area and a process model area, and which area is to be written in in the program mode is specified by the area designation switch 25. A control program area is designated with the area designation switch 25, and a control program and constants as shown in FIG. 3 are keyed in from the keyboard 22, for example. As a result, the controller main body 1
The code is converted into an instruction code by the CPU 11 of No. 0 and stored in the control program area of the program memory element 28. In the control program area of Figure 3, LDX ₁ is the input stored in input register X ₁ .
Reads X ₁ , LDP ₁ reads constant α stored in constant register P ₁ , * multiplies X ₁ and α, LDP ₂ reads constant β stored in constant register P ₂ , +
is the sum of αX ₁ and β, and BSC is the measured value PV of αX ₁ + β.
It performs control calculations such as PID calculations on the deviation from the internal set value SV, and corresponds to a conventional analog PID controller. STY ₁ is output register Y ₁
The control operation result MV is written to , and END means the end of the program. This program corresponds to the instrumentation flow shown in FIG.

Next, the area designation switch 25 is switched to the process model program side, and a model of the controlled object necessary for the simulation, for example, an algorithm such as a dead time + first-order lag system as shown in FIG. 4, is programmed using the keyboard 22. The results are encoded and stored in the process model area of memory device 28. Normally no calculations are performed in this area.
Since it is initialized to the END state, there is no need to write a program unless there is a need for testing. Third
In the process model area shown in the figure, LDY ₁ reads data Y ₁ stored in output register Y ₁ ,
LDP ₃ is the reading of the constant L stored in the constant register P ₃ , DED is the operation of applying the dead time e- ^LS to Y ₁ ,
LDP ₄ is the read constant T stored in constant register _P4 , LAG is an operation that applies a first-order delay 1/1 + ST to Y ₁ e- ^LS , and STY ₂ is an output register for the operation result of Y ₁ e- ^LS /1 + ST. Writing to _Y2 and END respectively mean the end of the program step.

Next, the operating mode switch 24 of the programmer 20
When set to the test run mode, the controller body 10 executes the control program and process model program stored in the memory element 28 of the programmer 20. Therefore, as shown in Figure 4, the result of the control program is output once to the output register _Y1 ,
Furthermore, the content Y ₁ of Y ₁ is output to the output register Y ₂ through the process model program, so Y ₂
At the output end, we get the response of the open loop of the process. In this state, you can check the specifications of the control program algorithm. Next, by connecting the output _Y2 of _Y2 to the input _X1 , a closed loop including the process model is formed, and the controller main body 10
In FIG. 3, a simulation of feedback control is executed. In this state, the control operation of the control program can be checked and parameters can be roughly adjusted. That is, parameters such as P, I, and D are tuned using the keyboard 17 of the controller main body 10 in accordance with the control operation. By this tuning, the memory element 28 of the programmer 20
In the parameter area, the previous initial value is updated.
The program for the memory element 28 whose operation has been checked and parameter adjustments have been completed in this way is then transferred to the programmer 2.
Write to the ROM using the ROM writer 26 of 0. The written ROM is attached to the user program socket 14 of the controller main body 10, and becomes the memory element 13 storing the user program.
When the programmer 20 is disconnected from the controller main body 10, the operation of the controller main body 10 becomes an execution mode, and only the program written in the control program area of the memory element 13 is executed.

In addition to creating a program in the program mode, the programmer 20 also uses commands from a dedicated key to write data to the non-volatile memory element 13 of the controller main body.
A function to transfer the program to the programming memory element 28 of the programmer, a function to copy the contents of the nonvolatile memory element 26 set in the programmer to the programming memory element 28, and a function to add the program in the programming memory element 28 to any step. , By providing an editing function for deleting, programming can be easily and safely performed when a user program in the non-volatile memory element 13 attached to the controller main body 10 is partially modified and a new user program is to be created. It can be carried out. Further, as a means for copying the program created by the programmer 20 to the nonvolatile memory element 13, in addition to the above-mentioned method of directly copying the program using the programmer, it may be possible to copy the program using an intermediate medium such as a paper tape or a magnetic card.

As explained above, in the present invention, a programmer connected to the controller main body writes a control program for simulation together with a control target program in program mode to a memory element that can be freely written/read for programming, and in test run mode. The control program written in the programming memory element and the controlled program are executed on the controller body to perform simulation, giving the programmer a simulation function.Moreover, the program mode and test run mode can be set using the operation mode switch provided on the programmer. Since the simulation method is standardized, anyone can easily test it, and if the test results show that there is something unsatisfactory, they can immediately return to the program mode and correct it.

Further, according to the present invention, since the controlled object program is written in the programming memory element, it is possible to arbitrarily incorporate a model of the controlled object depending on the job.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing one embodiment of the present invention, FIG. 2 is a flowchart for explaining the operation of the present invention, and FIGS. 3 and 4 are block diagrams showing the present invention functionally. It is a diagram. DESCRIPTION OF SYMBOLS 10... Controller body, 11... System control part, 13... Non-volatile memory element, 15... Volatile memory element, 19... Data bus, 20... Programmer, 21... Program control part, 22... Keyboard, 23... Display, 24... Operation mode switch, 25...Program area designation switch, 27
...ROM writer, 28...memory element for programming.

Claims (1)

[Scope of Claims] 1. A controller body including a microprocessor, to which a non-volatile memory element storing a user program is attached, which independently executes the user program stored in the non-volatile memory element, and a controller body for programming. It has a keyboard, a display, an operation mode switch for switching between a program mode and a test run mode, a program area designation switch, and a memory element for programming that can be written/read freely, and is connected to the data bus of the controller main body via a connector. and a programmer that when connected, enters the mode specified by the operating mode switch, and when the programming mode is specified by the operating mode switch, the programming memory element is programmed by keyboard operation under the control of the microprocessor. means for writing a user program consisting of a control program for control calculations and a control target program for simulation into an area designated by the area designation switch; A programmable controller comprising: means for executing a user program written in the programming memory element to perform simulation.