KR101209579B1 - Plant Control System Using Data Sharing And Control Cycle Time Synchronization - Google Patents

Abstract

The present invention is a plant multiplexing control system composed of a plurality of controllers (1a, 1b, 1c) each having a CPU board (40a, 40b, 40c) for driving a plant control program, the plurality of controllers (1a, 1b, 1c) Each of the time synchronization modules 100a, 100b, 100c for synchronizing control cycle time information of the plurality of controllers 1a, 1b, 1c before operation of the control programs of the CPU boards 40a, 40b, 40c. And before the control operation of each of the CPU boards 40a, 40b, and 40c transmits the control data to the plurality of controllers, and transmits the control calculation data to the plurality of controllers 1a, 1b, and 1c. ) Is a data sharing module (200a, 200b, 200c) to be shared.

Description

Plant Control System Using Data Sharing And Control Cycle Time Synchronization

The present invention relates to a multiplexing plant control through control period control operation data sharing and control cycle time synchronization for a control system applied to a plant.

Boiler, turbine and generator control systems, which are the main periods of power plants in the plant, are composed of multiplexed structures to ensure high reliability and safety due to the characteristics of the power plant. In general, boiler control systems are dualized, turbines. And generator control system is composed of a triple system.

In the case of the triple system, the dynamic redundancy method implemented as a master / slave structure according to the triple configuration method and the static output of the control results by voting are performed by the triple controller. It can be divided into a static redundancy method. In the dynamic multiplexing method, one controller is set as the master and the other two controllers are set as slaves. During normal operation, the master controller takes over all control tasks and transmits the control results to the slave controllers, while the slave controllers are master controllers. It operates in the hot standby state that executes the same control logic but does not output the control result. If a problem occurs in the master controller, the control authority is switched to the slave controller with priority and the master controller The control continuity is maintained by performing control using the control result received from the controller. In the static multiplexing method, three controllers apply input data to the same control logic stored in each controller, calculate each control result, and finally output a single control result through an output vault. In order to synchronize data and control results, periodic data exchange should be performed in three control periods. If a problem occurs in one controller, voting is performed by excluding the result of the controller from the output monitor.

As described above, in the multiplexing control system, periodic data sharing must be essentially performed in the control period regardless of the multiplexing scheme, and each controller needs a technology that must share the same time for a control cycle of several ms to several hundred ms. .

The structure of a general multiplexing control system is shown in FIG. FIG. 1A shows a redundant control system consisting of two controllers 1a and 1b, and FIG. 1B shows a tripled control system consisting of three controllers 1a, 1b and 1c. Each controller 1a, 1b, 1c has an input board 10a, 10b, 10c, an output board 20a, 20b, 20c, a communication board 30a, 30b, 30c, and a CPU board 40a, 40b, 40c. It is prepared.

In the conventional multiplexing control system, a control data sharing method mainly uses a method of sharing control period data using separate data sharing dedicated boards 50a, 50b, and 50c. The independent data sharing boards 50a, 50b, and 50c communicate with the data sharing boards of other controllers, and then communicate with the CPU boards 40a, 40b, and 40c to transfer control data. As the control cycle time, a method through a higher GPS or a time server 60 is mainly used. The time was transmitted through communication with the time server 60 and the like, and each CPU board 40a, 40b, 40c was used to set the control cycle time with this time.

In the conventional multiplexing control system as described above, the data sharing boards 50a, 50b, and 50c have a problem in transferring large amounts of data at high speed, and the CPU boards 40a, 40b, and 40c have an operating system (OS). There was a restriction to communicate shared data only when it was running and a basic communication program was running. Therefore, the CPU boards 40a, 40b, and 40c of other controllers have certain limitations in utilizing the control calculation data, and a certain time is required to perform the multiplexing role in the control system after the power is supplied to the control system. There was a downside.

In addition, the time received from the GPS or time server 60 has a disadvantage that an error may occur due to a communication delay or the like, and the CPU boards 40a, 40b, and 40c receive the time and synchronize the operating system (OS, Operating System). The system has to run and the basic communication program should be operated to set the control cycle time with other controllers. Therefore, there is a disadvantage that a certain time is required to accurately adjust the control cycle time in the multiplexing system after the power is supplied to the control system.

In addition, the data sharing and the control cycle time synchronization is made separately, there is a problem that a delay occurs in synchronizing the continuity of the data and the time synchronization when switching the control system.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to provide a control system applied to a plant system through a separate method of sharing control operation data and synchronizing control cycle times between controllers. To achieve multiplexing of the control system.

In order to achieve the above object, the present invention incorporates a data sharing module for quickly transmitting control operation data necessary for a master to perform control in a multiplexing control system to another controller using high speed optical communication. Apart from the CPU board's OS or basic program, the built-in module is responsible for this.

In addition, by providing a time synchronization module, the control cycle time is also synchronized with the OS and the basic program of the CPU board, and is characterized by continuously correcting each other during the system driving process.

In this way, the control system increases the effectiveness of the multiplexing through an improved method of sharing the control operation data and the control cycle time required for the multiplexing when one controller is turned on again by abnormal operation.

In addition, it features a method of minimizing delay and multiplexing gaps when switching in a multiplexing control system.

More specifically, the present invention is a plant multiplexing control system composed of a plurality of controllers (1a, 1b, 1c) each having a CPU board (40a, 40b, 40c) for driving the control program, a plurality of controllers (1a, 1b) , 1c) each of the time synchronization modules 100a, 100b, 100c for synchronizing control cycle time information of the plurality of controllers 1a, 1b, 1c before operation of the control program of each CPU board 40a, 40b, 40c. And, before the operation of the control program of each CPU board (40a, 40b, 40c) transfers the operation calculation data for the plurality of controllers to share the control operation data for the plurality of controllers (1a, 1b, 1c) It characterized in that it comprises a data sharing module (200a, 200b, 200c).

The time synchronization module 100a, 100b, 100c includes a start signal generator 110 generating a start signal when the CPU board 40a, 40b, 40c is powered on, and a control cycle synchronization signal output from another controller. The control cycle synchronization from the other controller received by the synchronization signal receiving unit 120, 120 'and the start signal of the start signal generator 110 and received by the synchronization signal receiving unit 120, 120' A synchronization signal generator 130 for generating a control cycle synchronization signal of a predetermined period based on the signal; and a synchronization signal output unit 150 for transmitting the synchronization signal generated by the synchronization signal generator 130 to another controller. It is characterized by including.

The data sharing modules 200a, 200b, and 200c receive data for calculation from the CPU boards 40a, 40b, and 40c, and transmit data to the other controllers. The data sending unit 210a, 210a ', 210b, 210b', 210c, 210c '), data receivers 220a, 220a', 220b, 220b ', 220c, 220c' for receiving control operation data sent from other controllers, and control operations of other controllers received from the data receiver. And data storage units 230a ', 230a', 230b ', 230b', 230c ', and 230c' for storing data.

The time synchronization modules 100a, 100b, and 100c and the data sharing modules 200a, 200b, and 200c are driven separately from the CPU boards 40a, 40b, and 40c of the plurality of controllers 1a, 1b, and 1c, respectively. It is done.

Data transmission of the data sharing module (200a, 200b, 200c) is characterized in that performed by the optical communication.

In addition, the sharing speed of the data sharing modules 200a, 200b, and 200c is faster than the control period of the time synchronization modules 100a, 100b, and 100c, and is preferably about two times or more. .

According to the present invention, the control timing of each control period remains constant through continuous mutual correction not only when the initial power is turned on but also when the controller operates during initial operation by the time synchronization modules 100a, 100b, and 100c. Can be.

In addition, the present invention can achieve the effect of mutual correction of control data and dual storage of data by sharing control period control data several times within the control period by the data sharing module 200a, 200b, 200c. Such data sharing plays a role in preventing the master controller from performing a master function because another controller retains the master's dead data even when the master controller becomes inoperable.

1A and 1B are schematic diagrams of a conventional plant multiplexing control system.
2a and 2b is a block diagram of a plant multiplexing control system according to the present invention.
3a and 3b is a detailed configuration of the time synchronization module of the present invention.
4A and 4B are views for explaining a control cycle synchronization process of the present invention.
5A and 5B are detailed block diagrams of a data sharing module of the present invention.
6A and 6B are diagrams for explaining a control data sharing concept of the present invention.
7A and 7B illustrate a process of sharing data and synchronizing time after powering on a CPU board.
8A and 8B are views for explaining a switching process of the multiplexing control system of the present invention.

2a and 2b is a block diagram of a plant multiplexing control system according to the present invention. FIG. 2A shows a redundant control system consisting of two controllers 1a and 1b, and FIG. 2B shows a tripled control system consisting of three controllers 1a, 1b and 1c.

As shown, each controller 1a, 1b, 1c has an input board 10a, 10b, 10c, an output board 20a, 20b, 20c, a communication board 30a, 30b, 30c, and a CPU board 40a, 40b. 40c), which is the same as the prior art.

However, the present invention is characterized in that the time synchronization modules 100a, 100b, 100c and the data sharing modules 200a, 200b, 200c are separately provided in the controllers 1a, 1b, 1c.

The time synchronization modules 100a, 100b, 100c synchronize the control cycle time information of the plurality of controllers 1a, 1b, 1c before the operation of the control programs of the respective CPU boards 40a, 40b, 40c.

The data sharing module 200a, 200b, or 200c transfers data for control operation to and from a plurality of controllers before the control program of each CPU board 40a, 40b, or 40c operates. 1a, 1b, 1c) to share.

3A and 3B are detailed block diagrams of the time synchronization modules 100a, 100b, and 100c of the present invention. FIG. 3A shows a case where it is applied to a redundant control system composed of two controllers, and FIG. 3B shows a case where it is applied to a triple control system composed of three controllers.

As shown, the time synchronization module 100a, 100b, 100c includes a start signal generator 110, a synchronization signal receiver 120, 120 ', a synchronization signal generator 130, a clock signal generator 140 and The synchronization signal output unit 150 is configured.

The start signal generator 110 generates a start signal when the CPU board is powered on.

The synchronization signal receiver 120 or 120 ′ receives a control period synchronization signal output from another controller.

The synchronization signal generator 130 is driven by the start signal of the start signal generator 110 and has a predetermined cycle based on a control cycle synchronization signal from another controller received by the synchronization signal receivers 120 and 120 '. Generate a control cycle synchronization signal. When the synchronization signal is generated, the clock signal of the clock signal generator 140 is used.

The synchronization signal output unit 150 transmits the synchronization signal generated by the synchronization signal generator 130 to another controller.

5A and 5B show a detailed configuration of the data sharing module of the present invention. FIG. 5A shows a case where it is applied to a redundant control system composed of two controllers 1a and 1b, and FIG. 5B shows a case where it is applied to a triple control system composed of three controllers 1a, 1b and 1c.

As shown, the data sharing module 200a, 200b, 200c includes a data sending unit 210a, 210a ', 210b, 210b', 210c, 210c 'and a data receiving unit 220a, 220a', 220b, 220b ', 220c. , 220c ') and data storage units 230a', 230a ', 230b', 230b ', 230c', and 230c '.

The data sending unit 210a, 210a ', 210b, 210b', 210c, or 210c 'receives data for control operation for program operation for control from the CPU board and transmits it to another controller.

The data receivers 220a, 220a ', 220b, 220b', 220c, and 220c 'receive data for control operations sent from other controllers.

The data storage unit 230a ', 230a', 230b ', 230b', 230c ', 230c' controls the control of other controllers received from the data receivers 220a, 220a ', 220b, 220b', 220c, 220c '. Store operation data.

On the other hand, the time synchronization module 100a, 100b, 100c and the data sharing module 200a, 200b, 200c are driven separately from each CPU board 40a, 40b, 40c of the plurality of controllers 1a, 1b, 1c. desirable.

In addition, the data transmission method of the data sharing module 200a, 200b, 200c is preferably performed by optical communication.

In addition, the sharing speed of the data sharing modules 200a, 200b, and 200c is preferably configured to be faster (about 2 times or more) than the control period of the time synchronization modules 100a, 100b, and 100c.

With the above-described configuration, an operation process of the time synchronization module and the control data sharing module according to the present invention will be described.

First, the control cycle synchronization process of the present invention will be described with reference to FIGS. 3A and 3B and FIGS. 4A and 4B.

As shown in FIGS. 3A and 3B, the CPU board of each controller causes the start signal generator 110a of the time synchronization module 100a, which is separate from the driving program, to generate a 'START' signal at the same time as the power is turned on. The synchronization signal receiver 120a transmits the 'SYNC IN', 'SYNC IN 1', and 'SYNC IN 2' signals received from the other controller to the timer or the synchronization signal generator 130a.

The timer or the synchronization signal generator 130a receiving the 'START' signal and the 'SYNC IN' or 'SYNC IN 1' and 'SYNC IN 2' signals may have a predetermined period according to a set value using the clock signal generator 140a. After generating the waveform 'SYNC OUT' signal, and outputs the 'SYNC OUT' signal through the synchronization signal output unit 150.

Such a signal is configured to be transmitted to 'SYNC IN', 'SYNC IN 1', and 'SYNC IN 2' of another controller through a communication line.

Through this process, the 'SYNC OUT' signal refers to 'SYNC IN', 'SYNC IN 1', and 'SYNC IN 2' received from other controllers. Will repeat.

By using this method, the difference between the initial control cycle start time, which can occur due to the different power-on time even before the basic program is operated, is quickly matched with each other through the control cycle time correction method.

4A and 4B illustrate a situation in which the control period control cycle time is adjusted through the above method.

In the case of redundancy, if the start time of CPU board A is ta and the start time of CPU board B is tb, the control cycle time of CPU board A and CPU board B is adjusted to t through mutual correction and the signal is repeated every control cycle. Will occur. Similarly, in the case of triplexing, even if the three controllers have the start points of t-a, t-b, and t-c, they converge to t and generate a signal that is repeated every control period.

This operation is operated so that the control time of each control period can be kept constant through continuous mutual correction not only at the time of initial power-up but also in the delay occurring during the operation of the controller and in the error occurring during the long time operation.

Therefore, even if an abnormal operation occurs in one controller, the control period and the control time in the entire system can be effectively maintained.

Next, a sharing method for data generated or referenced while performing control operation will be described with reference to FIGS. 5A and 5B and FIGS. 6A and 6B.

5A and 5B are block diagrams of data sharing modules performed between controllers.

The data used for the control operation is shared among each controller, and the sharing speed is more than twice as fast as the control cycle.

As shown in Figs. 5A and 5B, the CPU boards 40a, 40b, and 40c of each controller have a built-in data sharing module that can exchange data for each control period using high speed optical communication. Such a module stores its control data in specific memories 230a, 230b, 230c regardless of the basic program driving of the CPU board, and then stores the data sending units 210a, 210a ', 210b, 210b', 210c, and 210c '. It transmits to other controllers in real time through the data, and the data receiver 220a, 220a ', 220b, 220b', 220c, 220c 'receives the control data of other controllers in real time and always stores the memory 230a', 230a ', 230b. ', 230b' ', 230c', 230c '').

Specifically, in the case of the dualization illustrated in FIG. 5A, if the CPU board A is a master, the CPU board A stores the data 'CPU A' generated or referenced during its control operation in a specific memory 230a, and then transfers data only. The module continuously transmits the corresponding data to the CPU board B through the optical communication through the data sending unit 210a, and the CPU board B is the data 'CPU A' corresponding to the control operation performed by the CPU board A as the master. Is received through the data receiver 220b 'and held in the memory 230b'.

In the case of the tripleization of FIG. 5B, when the data 'CPU A' corresponding to the control operation of the CPU board A, which is the master, is stored in the specific memory 230a, the data-only transmission module continuously maintains the data sending unit 210a. The data is transmitted to the CPU boards B and C through optical communication, and the CPU boards B and C transmit data 'CPU A' corresponding to the control operation performed by the CPU board A as a master as a master. 220c ') and then have it in the memory (230b', 230c ').

This data sharing method can achieve the effect of mutual correction of control data and dual storage of data by sharing control period control data several times within a control period. Such data sharing plays a role in preventing the master controller from performing a master function because another controller retains the master's dead data even when the master controller becomes inoperable.

7A and 7B are diagrams illustrating characteristics of sharing control period control calculation data and synchronizing control cycle time after power is supplied to the CPU board B and before the basic program is driven.

In the illustrated embodiment, it is assumed that the time from the power supply of the CPU board B until the basic program is driven is t3- t0 '.

As shown in the drawing, when power is applied to the CPU board B at the time t0 'while the CPU board A is in operation, the data sharing module performs control data exchange between the CPU board A and the CPU board B. FIG. As described above, the control data exchange rate is preferably configured faster than the control period.

That is, the data sharing module transfers the control data (CPU A) generated at the time t0 from the CPU board A to the CPU board B, and transfers the control data (CPU B) generated at the time t1 from the CPU board B to the CPU board A. Thus, data sharing between the CPU boards A and B is completed at time t1.

When data sharing is completed at time t1, the time synchronization module next performs synchronization to match the control cycle time, and when time t2 is reached, the control cycle time between the CPU boards A and B is also completed.

The program drive t3 is performed after the data sharing t1 and the control cycle time synchronization t2 are completed.

As described above, according to the present invention, after the CPU board B is powered on (t0 '), the time (t1-t0') required for data sharing and the time (t2-t0 ') required for synchronization are driven when the basic program is driven. Since it is shorter than the time required until (t3-t0 '), as soon as the CPU board B is powered on, the data sharing module and the time synchronization module play a role of sharing and synchronizing data separately from the basic program and before starting the basic program. The control cycle time is matched with other controllers, and the data necessary to perform control operation is received from other controllers before preparation of basic program. Through this operation, it is possible to shorten the participation time of the controller that participates later in the multiplexing, thereby increasing efficiency.

8A and 8B illustrate the continuity of control when CPU board A is switched to CPU board B due to an abnormal operation during duplexing using the above two methods, control cycle time synchronization and control data sharing method. It is a figure explaining.

As shown, when the master CPU board A is disabled due to abnormal operation, switching to the CPU board B takes place, and the control cycle is continuously performed by synchronizing the control cycle time even when the CPU board A is disabled. By adjusting the control cycle, it works without any problem. In addition, the CPU board B receives the control operation data 'CPU A' of the CPU board A and secures the data necessary for the control operation. Therefore, the CPU board B can accurately perform the role that the CPU board A plays in the next cycle. In this way, the plant can perform control operations with the correct data at the exact time of the cycle without delays and interruptions.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention.

That is, the embodiments disclosed in the present invention are not intended to limit the scope of the present invention but to limit the scope of the present invention.

Therefore, the protection scope of the present invention should be interpreted by the claims below, and all technical ideas within the equivalent scope will be construed as being included in the scope of the present invention.

1a, 1b, 1c: controller 10a, 10b, 10c: input board
20a, 20b, 20c: output board 30a, 30b, 30c: communication board
40a, 40b, 40c: CPU board 50a, 50b, 50c: shared dedicated board
100a, 100b, 100c: time synchronization module
110: start signal generator 120, 120 ': synchronization signal receiver
130: synchronization signal generator 140: clock signal generator
150: synchronization signal output unit
210a, 210a ', 210b, 210b', 210c, 210c ': Data sending section
220a, 220a ', 220b, 220b', 220c, 220c ': data receiving unit
230a ', 230a'',230b', 230b '', 230c ', 230c'': data storage

Claims (10)

A plant multiplexing control system having a plurality of controllers,
Each controller,
A CPU board for driving the plant control program;
A data sharing module for exchanging control operation data with another controller; And
And a time synchronization module for matching the control cycle time with another controller.
And data synchronizing of the data sharing module and time synchronizing of the time synchronizing module are completed before driving the plant control program of the CPU board. The method of claim 1, wherein the time synchronization module,
A start signal generator for generating a start signal when the CPU board is powered on;
A synchronization signal receiver for receiving a control period synchronization signal output from another controller;
A synchronization signal generator which is driven by the start signal of the start signal generator and generates a control period synchronization signal of a predetermined period based on a control period synchronization signal from the other controller received by the synchronization signal receiver;
And a synchronization signal output unit for transmitting the synchronization signal generated by the synchronization signal generator to another controller. The data sharing module of claim 1, wherein the data sharing module comprises:
A data sending unit for receiving control calculation data for operating a plant control program from the CPU board and transmitting the data to another controller;
A data receiver for receiving data for control operation sent from another controller;
And a data storage unit for storing control operation data of another controller received from the data receiving unit. The method according to claim 1,
And said time synchronization module and said data sharing module are driven separately from each CPU board of said plurality of controllers. The method according to claim 1,
And data transmission of the data sharing module is performed by optical communication. A plant multiplexing control system having a plurality of controllers,
Each controller,
A CPU board for driving the plant control program;
A data sharing module for exchanging control operation data with another controller; And
And a time synchronization module for matching the control cycle time with another controller.
And a sharing period of the data sharing module is shorter than a control period of the time synchronization module. The method of claim 6, wherein the time synchronization module,
A start signal generator for generating a start signal when the CPU board is powered on;
A synchronization signal receiver for receiving a control period synchronization signal output from another controller;
A synchronization signal generator which is driven by the start signal of the start signal generator and generates a control period synchronization signal of a predetermined period based on a control period synchronization signal from the other controller received by the synchronization signal receiver;
And a synchronization signal output unit for transmitting the synchronization signal generated by the synchronization signal generator to another controller. The method of claim 6, wherein the data sharing module,
A data sending unit for receiving control calculation data for operating a plant control program from the CPU board and transmitting the data to another controller;
A data receiver for receiving data for control operation sent from another controller;
And a data storage unit for storing control operation data of another controller received from the data receiving unit. The method of claim 6,
And said time synchronization module and said data sharing module are driven separately from each CPU board of said plurality of controllers. The method of claim 6,
And data transmission of the data sharing module is performed by optical communication.

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