WO2016129075A1 - Système de commande et dispositif de relais - Google Patents

Système de commande et dispositif de relais Download PDF

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Publication number
WO2016129075A1
WO2016129075A1 PCT/JP2015/053787 JP2015053787W WO2016129075A1 WO 2016129075 A1 WO2016129075 A1 WO 2016129075A1 JP 2015053787 W JP2015053787 W JP 2015053787W WO 2016129075 A1 WO2016129075 A1 WO 2016129075A1
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WIPO (PCT)
Prior art keywords
monitoring data
control
communication
relay
network
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PCT/JP2015/053787
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English (en)
Japanese (ja)
Inventor
史彦 藤田
浩一 坂上
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富士電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 富士電機株式会社 filed Critical 富士電機株式会社
Priority to KR1020167002173A priority Critical patent/KR101815202B1/ko
Priority to PCT/JP2015/053787 priority patent/WO2016129075A1/fr
Priority to CN201580001548.0A priority patent/CN105519050B/zh
Priority to TW104140781A priority patent/TWI674488B/zh
Publication of WO2016129075A1 publication Critical patent/WO2016129075A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/22—Alternate routing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B3/00—Line transmission systems
    • H04B3/02—Details
    • H04B3/36—Repeater circuits
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/22—Arrangements for detecting or preventing errors in the information received using redundant apparatus to increase reliability
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/06—Management of faults, events, alarms or notifications
    • H04L41/0695—Management of faults, events, alarms or notifications the faulty arrangement being the maintenance, administration or management system
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/04—Processing captured monitoring data, e.g. for logfile generation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L45/00—Routing or path finding of packets in data switching networks
    • H04L45/24—Multipath
    • H04L45/245—Link aggregation, e.g. trunking
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention relates to a control system including an active system and a standby system control apparatus and its relay apparatus.
  • the control system includes a control device that collects monitoring data from sensors installed in an industrial facility and performs drive control of an electric motor or the like according to the collection result.
  • a control device a DCS (Distributed Control System) or a programmable logic controller is used.
  • a device to be controlled by a control device such as an electric motor is referred to as a “control target device”, and a device to be monitored by a control device such as the sensor and a control target device are referred to as an “IO slave device”. Call it.
  • the IO slave device is connected to a network called an IO network or a serial bus.
  • the control device is connected to the IO network via a network device such as a relay device.
  • a network device such as a relay device.
  • An example of this relay device is a gateway device.
  • the programmable logic controller is referred to as “PLC”.
  • PLC programmable logic controller
  • FA Vectory Automation
  • DCS DCS
  • Redundant control device means that two control devices are provided and one of them is operated as an active system and the other as a standby system. Each of these two control devices collects monitoring data and performs a predetermined calculation for device control using the collected monitoring data or using the collected monitoring data and past calculation results. The active control device performs control based on the calculation result, and the standby control device prepares for the stop of the active control device. Then, the standby control device operates as an active system when the active system stops or stops, and continues device control.
  • the standby control device provides for both of these two types of stops.
  • Duplexing of data transmission paths means that, for example, a data transmission path from an IO slave device to one of the duplexed control devices and a data transmission path to the other are provided separately.
  • a control system in which both the control device and the data transmission path are duplicated is referred to as a “redundant control system”.
  • FIG. 18 is a diagram illustrating a configuration example of a redundant control system.
  • the system shown in FIG. 18 collects monitoring data output from IO slave devices S1 to Sn such as various sensors installed in an industrial facility, and based on the monitoring data or the monitoring data and past calculation results.
  • n is a natural number of 2 or more.
  • This control system has two control devices, a control device 10A and a control device 10B, and two network devices, a network device 20A and a network device 20B.
  • FIG. 18 collects monitoring data output from IO slave devices S1 to Sn such as various sensors installed in an industrial facility, and based on the monitoring data or the monitoring data and past calculation results.
  • n is a natural number of 2 or more
  • one of the control device 10 ⁇ / b> A and the control device 10 ⁇ / b> B is an active system, and the other is a standby system to prepare for the stop of the active system.
  • a monitoring system 50 for monitoring the operating state of the control device 10A and the control device 10B is connected to the control device 10A and the control device 10B.
  • the control device 10A is connected to the IO network 30A via the network device 20A
  • the control device 10B is connected to the IO network 30B via the network device 20B.
  • Each of the IO slave devices S1 to Sn is connected to both the IO network 30A and the IO network 30B.
  • each of the control device 10A and the control device 10B is connected by an equalization cable 40 so that the other state can be monitored.
  • the standby control device prepares for an unexpected stop caused by a failure or a planned stop such as a maintenance for the active control device. Let's take an example.
  • Each of the control device 10A and the control device 10B transmits the status data indicating the presence or absence of the failure, that is, the status of the own device, to the other via the equalization cable 40.
  • the control device 10B which is a standby system refers to the state data transmitted from the control device 10A via the equalization cable 40 and a failure occurs in the control device 10A. To monitor.
  • control device 10B When the control device 10B detects a failure of the control device 10A from the state data received via the equalization cable 40, the control device 10B starts operation as an active system thereafter. On the other hand, the control device 10A detects that the control device 10B has started operation as an active system by communication via the equalization cable 40, and thereafter operates as a standby system.
  • processing such as equalization of monitoring data transmitted from each of the IO slave devices S1 to Sn to each control device and equalization of calculation results is performed. Is generally executed by each control device.
  • Equalization of monitoring data means that monitoring data received by the active control device via the network device is transmitted to the standby control device via the equalization cable 40, and the standby control device is used as the monitoring data. Says to overwrite the monitoring data received via the network.
  • the equalization of the calculation result means that data indicating the calculation result in the active system is transmitted to the standby control device via the equalization cable 40, and the calculation result in the standby system is overwritten with the data.
  • Patent Document 1 and Patent Document 2 there are techniques disclosed in Patent Document 1 and Patent Document 2.
  • the present invention has been made in view of the problems described above, and in a redundant control system, even if the amount of monitoring data transferred to each control device via a network increases, It is an object of the present invention to provide a technique that makes it possible to equalize monitoring data without causing any trouble in the execution of computations and without causing a decrease in switching speed between the active system and the standby system.
  • the present invention provides a control system that collects monitoring data from one or a plurality of devices connected to the first and second networks, and performs control based on the monitoring data.
  • a control system having first and second control devices and first and second relay devices.
  • the first control device and the second control device are connected via communication means between control devices.
  • the communication device between control devices is, for example, an equalization cable, and mediates communication between the first control device and the second control device.
  • One of the first and second control devices is an active system and performs the control, and the other is a standby system.
  • Specific examples of the first and second relay devices include the network devices described above.
  • the first relay device is connected to the first control device and the first network
  • the second relay device is connected to the second control device and the second network.
  • the first and second relay devices are connected to the inter-relay device communication means.
  • the inter-relay device communication means is, for example, an equalization cable, and mediates communication between the first relay device and the second relay device.
  • the first and second relay devices include a determination unit that determines whether communication is possible via the inter-relay device communication unit.
  • Each of the first and second relay apparatuses transfers the monitoring data received from one or more devices to the connection destination control apparatus, and when the determination means determines that communication is possible, the inter-relay apparatus communication means
  • the monitoring data is equalized by communication via.
  • the first and second relay devices perform monitoring data equalization by communication via the inter-control device communication unit.
  • equalization of monitoring data transmitted from each device to the first and second control devices is performed by the first and second relay devices. Therefore, even if the amount of monitoring data increases, the processing load of each of the first and second control devices does not become excessive due to the equalization of the monitoring data, and the first and second control devices There is no problem in the execution of the above calculation in each of the above.
  • Each of the first and second control devices is given data that has been equalized by the first and second relay devices. For this reason, when one of the first and second control devices functions as an active system and the other functions as a standby system, the monitoring data is switched when the active system / standby system is switched due to the stop of the active system. There is no need to wait for the equalization to be completed, and switching between the active system and the standby system can be performed quickly.
  • the communication means that mediates data communication for equalization of the monitoring data is duplicated by the communication means between the control devices and the communication means between the relay devices. If communication via the network is possible, the monitoring data can be equalized without any problem.
  • the first and second control devices are allowed to determine whether or not communication via the inter-control device communication means is possible, and if possible, state data indicating the presence or absence of a failure in the own device is transmitted to the control device.
  • the relay device pair included in the control system of the present invention that is, the relay device pair consisting of the first and second relay devices communicating via the inter-relay device communication means is not limited to one, There may be more than one.
  • a plurality of first relay devices connected to a plurality of first networks to which different devices are respectively connected and connected to a first control device, respectively, and a plurality of first relay devices
  • a plurality of second relay devices paired with each of the relay devices, each of which is connected to a plurality of second networks to which the respective devices are connected, and is connected to a second control device. It is possible to consider a mode in which a plurality of first relay devices and a plurality of second relay devices communicate with each other via inter-relay device communication means.
  • Monitoring data is transmitted from one of the first relay device and the second relay device to the other, and the other relay device receives the monitoring data received via the network via the inter-relay device communication means.
  • a mode in which a process of overwriting with monitoring data that is, a process of replacing the former monitoring data with the latter monitoring data is considered.
  • the monitoring data is transmitted from the relay device connected to the active control device to the other relay device, and the monitoring data received via the network is transmitted to the other relay device. It is overwritten with the monitoring data received via the inter-controller communication means.
  • the first processing means transfers the monitoring data received from the connection destination network to the other relay device. More specifically, the first processing means transfers the monitoring data to the other relay apparatus via the inter-relay apparatus communication means when the determination means determines that communication is possible, and determines that communication is impossible. In the case of monitoring, the monitoring data is transmitted to the other relay device via the communication device between control devices.
  • the second processing means checks whether or not communication with the monitoring data transmission source device received from the other relay device is possible, and if the communication is impossible, the second processing means should receive from the device concerned.
  • the existing monitoring data is supplemented with the monitoring data received from the other relay device.
  • a third network is connected to one of the first and second relay devices.
  • the relay device connected to the third network collects the monitoring data from the devices connected to the third network, transfers the collected monitoring data to the connection destination control device, and the other relay. Transfer to the device to perform equalization.
  • the first and second relay devices include load measuring means for measuring a processing load applied to a connection destination control device, and the first and second relay devices are When the processing load measured by the load measuring means is equal to or greater than a predetermined threshold value and the determination means determines that communication is possible, the monitoring data is equalized by communication via the inter-relay device communication means. In other cases, the monitoring data is equalized by communication through the communication means between the control devices. According to such an aspect, it is possible to duplicate data communication for equalizing monitoring data while distributing the processing load applied to each of the first and second control devices.
  • the present invention is connected to one of the first and second control devices, one of which is an active system and the other is a standby system, and transmits monitoring data.
  • the following communication interface unit and control unit are connected to a relay device that is connected to a first network to which one or more devices are connected, and that transfers monitoring data transmitted from the one or more devices to a connected control device. Is provided.
  • the communication interface unit is connected to another relay device via the communication device between relay devices.
  • the other relay device is connected to a second network to which one or more devices are connected and the other of the first and second control devices.
  • the control unit is, for example, a CPU (Central Processing Unit). This control unit executes the following relay processing, determination processing, and equalization processing.
  • the relay process is a process for transferring monitoring data received from one or more devices via the first network to a connection destination control device.
  • the determination process is a process for determining whether communication is possible via the inter-relay device communication means.
  • communication for equalizing the monitoring data is performed via the inter-relay device communication unit, while it is determined that communication is impossible. In this case, the communication is performed through the inter-control device communication means.
  • a program for causing a general computer such as a CPU to function as the relay device is conceivable. This is because by operating a general computer according to such a program, the computer can function as the relay device of the present invention.
  • a mode of distribution by downloading via an electric communication line such as the Internet, a computer-readable recording medium such as a CD-ROM (Compact Disk-Read Memory) or a flash ROM It is possible to write in and distribute in
  • the present invention in the redundant control system, even if the amount of monitoring data transferred to each control device via the network increases, there is no problem in the execution of the original operation of the control device. It is possible to equalize the monitoring data without reducing the switching speed of the active system / standby system.
  • FIG. 10 is a diagram for explaining an operation executed by the control unit 210 of the network device 200 according to a relay control program 2542. It is a figure for demonstrating the effect of 1st Embodiment. It is a figure for demonstrating the modification of 1st Embodiment.
  • FIG. 2 is a diagram illustrating a schematic configuration and an operation example of a communication system including the network device 200 ′. It is a figure for demonstrating 3rd Embodiment of this invention. It is a figure for demonstrating 4th Embodiment of this invention. It is a figure which shows the structural example of network device 200 '' 'of the 4th embodiment. It is a figure for demonstrating the operation
  • FIG. 1 is a diagram showing a configuration example of a communication system 1A according to the first embodiment of the present invention.
  • This communication system 1A is a control system laid in an industrial facility, like the system shown in FIG. In FIG. 1, the same components as those in FIG. 18 are denoted by the same reference numerals.
  • the communication system 1A is different from the conventional redundant control system shown in FIG. 18 in the following three points. First, it has a control device 100A and a control device 100B instead of the control device 10A and the control device 10B. Second, the network device 200A and the network device 200B are provided instead of the network device 20A and the network device 20B. Third, the network device 200A and the network device 200B are connected by an equalization cable 400.
  • Each of the network device 200A and the network device 200B is an embodiment of the relay device of the present invention, and the equalization cable 400 serves as a communication device between relay devices that mediates communication between the relay devices.
  • the network device 200A and the network device 200B are gateway devices like the network device 20A and the network device 20B in FIG.
  • monitoring data transmitted from each of the IO slave devices S1, S2,... Sn is transmitted to the control device 100A via the IO network 30A and the network device 200A, and the IO network. It is transmitted to the control device 100B via 30B and the network device 200B.
  • Each of the control device 100A and the control device 100B is similar to the control device 10A and the control device 10B in FIG. 18, and uses the monitoring data collected from the IO slave devices S1, S2,. In other words, calculations for device control and storage of the calculation results are performed.
  • the control device 100A and the control device 100B may be PLCs or DCSs.
  • one of the control device 100A and the control device 100B becomes an active system to execute control of other devices based on the calculation result, and the other becomes a standby system. Prepare for the suspension.
  • the active system there are two types of stoppages of the active system: an unexpected stop due to the occurrence of some failure or malfunction and a planned stoppage due to maintenance or the like.
  • the control device that has been in the standby system thereafter operates as the active system. Note that switching between the active system and the standby system may be realized by the same method as in the conventional redundant control system.
  • the control device 10A and the control device 10B are made to equalize the monitoring data and the calculation result.
  • the control device 100A and the control device 100B execute equalization of the calculation result is the same as the conventional redundant control system shown in FIG. More specifically, the active one of the control device 100A and the control device 100B performs calculation for device control using the monitoring data received from the network device of the connection destination, and the calculation result is obtained. The indicated data is transferred to the other control device via the equalization cable 40 to equalize the calculation result.
  • the standby control device overwrites the data of the operation result in the own device with the data received via the equalization cable 40.
  • the difference between the communication system 1A of the present embodiment and the conventional redundant control system shown in FIG. 18 is that the network device 200A and the network device 200B perform equalization of the monitoring data.
  • the network device 200 ⁇ / b> A and the network device 200 ⁇ / b> B that clearly show the features of the present embodiment will be mainly described. Since the network device 200A and the network device 200B have the same configuration, the following description will be referred to as “network device 200” when it is not necessary to distinguish between them.
  • the network device 200 is also distinguished from an active system and a standby system. More specifically, the network device 200 communicates with its own connection destination control device, and determines whether or not the connection destination control device is an active system. The network device 200 behaves as an active network device if the connection destination control device is an active system, and conversely behaves as a standby network device if the connection destination control device is a standby system. That is, in the present embodiment, of the network device 200A and the network device 200B, the one connected to the active control device is the active system, and the one connected to the standby control device is the standby system.
  • the network system 200 is also switched between the active system and the standby system depending on the switching.
  • the switching to the active / standby system for the network device 200 is subordinate to the switching of the active / standby system for the control device.
  • transmission / reception of state data via the equalization cable 400 is described.
  • the other state may be monitored, and the active / standby system may be switched according to the result of the state monitoring independently of the switching of the active / standby system for the control device.
  • FIG. 2 is a block diagram illustrating a configuration example of the network device 200.
  • the network device 200 includes a control unit 210, a first communication interface (hereinafter abbreviated as “I / F”) unit 220, a second communication I / F unit 230, and a third communication I / F unit. 240, a storage unit 250, and a bus 260 that mediates data exchange between these components.
  • I / F first communication interface
  • the control unit 210 is, for example, a CPU.
  • the control unit 210 functions as a control center of the network device 200 by executing the relay control program 2542 stored in the storage unit 250. More precisely, the relay control program 2542 is stored in the nonvolatile storage unit 254.
  • the non-volatile storage unit 254 is one of a plurality of components constituting the storage unit 250. Details of processing executed by the control unit 210 in accordance with the relay control program 2542 will be clarified later.
  • Each of the first communication I / F unit 220, the second communication I / F unit 230, and the third communication I / F unit 240 is, for example, a NIC (Network Interface Card). The role of each of these communication I / F units is as follows.
  • the first communication I / F unit 220 is connected to the IO network. More specifically, the first communication I / F unit 220 of the network device 200A is connected to the IO network 30A, and the first communication I / F unit 220 of the network device 200B is connected to the IO network 30B.
  • the first communication I / F unit 220 receives data transmitted from the connection destination IO network and sends data to the connection destination IO network.
  • the first communication I / F unit 220 has a communication buffer that accumulates data received from the IO network to which it is connected. In FIG. 2, the communication buffer is not shown.
  • the second communication I / F unit 230 is connected to the control device via a communication line. More specifically, the second communication I / F unit 230 of the network device 200A is connected to the control device 100A, and the second communication I / F unit 230 of the network device 200B is connected to the control device 100B.
  • the second communication I / F unit 230 receives data transmitted from the connection destination control device and transmits data to the connection destination control device.
  • the second communication I / F unit 230 has a communication buffer that accumulates data to be transmitted to the connected control device. In FIG. 2, the communication buffer is not shown.
  • the third communication I / F unit 240 has a port to which an equalization cable is connected, and the equalization cable 400 is connected to the port.
  • the third communication I / F unit 240 performs communication for equalization of monitoring data with the other network device via the equalization cable 400.
  • the storage unit 250 includes a volatile storage unit 252 and a non-volatile storage unit 254 as shown in FIG.
  • the volatile storage unit 252 is, for example, a RAM (Random Access Memory).
  • the volatile storage unit 252 is used as a work area for executing the relay control program 2542.
  • the volatile storage unit 252 also serves as a monitoring data buffer 2522 that temporarily accumulates monitoring data to be transmitted to the control device. Further, the volatile storage unit 252 stores an operation / standby flag indicating whether the network device 200 having the volatile storage unit 252 is operating as an active system or a standby system.
  • the nonvolatile storage unit 254 is, for example, a flash ROM.
  • the non-volatile storage unit 254 stores a relay control program 2542 in advance.
  • the control unit 210 reads the relay control program 2542 from the nonvolatile storage unit 254 to the volatile storage unit 252 when the network device 200 is turned on or reset, and starts executing the relay control program 2542. In FIG. 2, the power supply of the network device 200 is not shown.
  • the control unit 210 operating in accordance with the relay control program 2542 monitors the operation state of the connected control device and executes a process of setting an operation / standby flag according to the monitoring result, as well as the relay process 2542a.
  • the value processing 2542b is executed. Details of the relay process 2542a and the equalization process 2542b will be made clear in the operation example, but the outline is as follows.
  • the equalization process 2542b is a process for equalizing the monitoring data collected from each of the IO slave devices S1 to Sn by communication via the equalization cable 400.
  • FIG. 3 is a flowchart showing the flow of the equalization process 2542b. As is apparent from FIG. 3, the processing content of the equalization processing 2542b differs between when operating as an active system and when operating as a standby system. Details of the processing content of the equalization processing 2542b will be made clear in the description of the operation example.
  • the relay process 2542a is a process of transferring the monitoring data equalized by the equalization process 2542b to the control device connected to the second communication I / F unit 230. The above is the configuration of the network device 200.
  • the operation of the network device 200 will be described with reference to FIGS.
  • the control device 100A and the network device 200A are active, and the control device 100B and the network device 200B are standby.
  • the monitoring data buffer 2522 of each of the network device 200A and the network device 200B is empty at the start of the operation.
  • Each of IO slave devices S1 to Sn samples input signals or output signals such as sensors to generate monitoring data to be transmitted to each of control device 100A and control device 100B, and to each of IO network 30A and IO network 30B.
  • the monitoring data transmitted by the IO slave devices S1 to Sn is provided with a header including information indicating the transmission destination and transmission source of the monitoring data, an identifier uniquely indicating the monitoring data, and the like. Specific examples of the information indicating the transmission destination of the monitoring data include the communication address and node number of the transmission destination device. The same applies to information indicating the transmission source of the monitoring data.
  • the monitoring data transmitted from each of the IO slave devices S1 to Sn is transmitted to each of the network device 200A and the network device 200B via each of the IO network 30A and the IO network 30B.
  • the monitoring data transmitted to the network device 200A is referred to as “monitoring data A”
  • the monitoring data transmitted to the network device 200B is referred to as “monitoring data B”.
  • the monitoring data A and the monitoring data B are basically the same data, they may be slightly different depending on the sampling timing shift when sampling each.
  • the first communication I / F unit 220 of the network device 200A When receiving the monitoring data transmitted from the IO network 30A, the first communication I / F unit 220 of the network device 200A writes the received monitoring data in the communication buffer in the first communication I / F unit 220. Similarly, in the network device 200B, the monitoring data received from the IO network 30B is written in the communication buffer of the first communication I / F unit 220 of the network device 200B. That is, in this operation example, the monitoring data A is stored in the communication buffer in the first communication I / F unit 220 of the network device 200A, and the communication buffer in the first communication I / F unit 220 of the network device 200B is stored in the communication buffer. Monitoring data B is stored.
  • the control unit 210 of the network device 200A is triggered by the writing of the monitoring data to the communication buffer in the first communication I / F unit 220. In other words, the control unit 210 is triggered by the reception of the monitoring data from the connected IO network 30A. Then, the relay processing 2542a is executed. As shown in FIG. 4, in the relay process 2542a, the control unit 210 reads the monitoring data from the communication buffer in the first communication I / F unit 220 (FIG. 4A: S100), and sends the monitoring data to the monitoring data buffer 2522. The monitoring data is written (FIG. 4A: S110). For this reason, in this operation example, the monitoring data A is stored in the monitoring data buffer 2522 of the network device 200A.
  • the network device 200B executes the processing of S100 and S110 (see FIG. 4B), and the monitoring data buffer 2522 stores the monitoring data B.
  • the control unit 210 sets a first value indicating that equalization has not been performed in a flag indicating whether or not equalization has been performed. Then, a flag having the first value set is added to the monitoring data and written to the monitoring data buffer 2522.
  • a specific example of this first value is 0.
  • the control unit 210 executes the equalization processing 2542b in response to the writing of the monitoring data to which the flag indicating that the equalization has not been performed is written to the monitoring data buffer 2522.
  • the control unit 210 first determines whether or not the own apparatus is operating as an active system (step SA100). Specifically, the control unit 210 refers to the operation / standby flag stored in the volatile storage unit 252, and if the value of the flag indicates the operation system, the control unit 210 operates as the operation system. It is determined that If the determination result of step SA100 is “Yes”, the control unit 210 executes the process of step SA110.
  • step SA100 determines whether the determination result of step SA100 is “No” or not. If the determination result of step SA100 is “No”, the control unit 210 performs step SA120 and subsequent steps. Execute the process. As described above, in this operation example, the network device 200A operates as an active system. Therefore, in the equalization process 2542b executed by the control unit 210 of the network device 200A, the determination result in step SA100 is “Yes”, and the process in step SA110 is executed.
  • step SA110 which is executed when the determination result in step SA100 is “Yes”
  • the control unit 210 reads monitoring data to which a flag indicating that the equalization has not been performed is added from the monitoring data buffer 2522 (FIG. 4 ( A): S120), the monitoring data is transferred to the connected network device via the third communication I / F unit 240 (FIG. 4A: S130).
  • the monitoring data buffer 2522 of the network device 200A stores the monitoring data A as monitoring data to which a flag indicating that the equalization has not been performed is added. Therefore, in this operation example, the monitoring data A is transferred from the network device 200A to the network device 200B via the equalization cable 400.
  • the control unit 210 executes the equalization processing 2542b when the third communication I / F unit 240 receives data transmitted via the equalization cable 400.
  • the determination at Step SA100 described above is performed.
  • the determination result in step SA100 of the equalization processing 2542b executed by the control unit 210 of the network device 200B is “No”, and the processing after step SA120 Is executed.
  • the control unit 210 acquires the monitoring data received by the third communication I / F unit 240 from the third communication I / F unit 240 (FIG. 4B: S140), and uses the monitoring data.
  • the corresponding monitoring data stored in the monitoring data buffer 2522 is overwritten (FIG. 4B: S150), and the flag assigned to the monitoring data is rewritten with a second value indicating that the equalization has been performed.
  • the relevant monitoring data is monitoring data having the same transmission source and the same identifier as the monitoring data acquired in S140 of FIG. 4B.
  • a specific example of the second value is 1.
  • the monitoring data stored in the monitoring data buffer 2522 of the network device 200B is updated from the monitoring data B to the monitoring data A.
  • the control unit 210 of the network device 200B When the control unit 210 of the network device 200B completes the equalization of the monitoring data as described above, the control unit 210 notifies the network device 200A of the completion of the equalization via the equalization cable 400 (FIG. 3: step SA130).
  • the control unit 210 of the network device 200A updates the monitoring data flag transferred in S130 of FIG. 4A to the second value, triggered by the reception of the notification.
  • the monitoring data buffer 2522 of each of the network device 200A and the network device 200B stores the monitoring data A, and the monitoring data A is given a flag indicating equalization. It becomes a state.
  • the control unit 210 of the network device 200A restarts the relay processing 2542a when the flag assigned to the monitoring data stored in the monitoring data buffer 2522 is updated to a value indicating equalization.
  • the processes of S160 and S170 of 4 (A) are executed.
  • the control unit 210 reads monitoring data to which a flag indicating equalization has been assigned from the monitoring data buffer 2522.
  • the control unit 210 writes the monitoring data read out in S160 into the communication buffer of the second communication I / F unit 230.
  • the relay process 2542a is restarted when the notification of equalization completion is transmitted, and the processes of S160 and S170 in FIG. 4B are executed.
  • the second communication I / F unit 230 of the network device 200A transmits the monitoring data written in the communication buffer as described above to the connection destination control device.
  • the second communication I / F unit 230 of the network device 200B transmits the monitoring data written in the communication buffer in the above manner to the control device connected thereto.
  • the monitoring data A is transmitted from the network device 200A to the control device 100A, and the monitoring data A is also transmitted from the network device 200B to the control device 100B.
  • the notification can be transmitted and received sufficiently faster than the transmission and reception of monitoring data
  • the update of the flag in each of the network device 200A and the network device 200B is executed substantially synchronously, and the processes in S160 and S170 are performed. Are also executed almost synchronously. For this reason, the transmission of the monitoring data A from the network device 200A to the control device 100A and the transmission of the monitoring data A from the network device 200B to the control device 100B are executed almost synchronously.
  • the above is the operation of this embodiment.
  • FIG. 5 is a schematic diagram of the communication system 1A of the present embodiment.
  • the equalization of the calculation result is executed by the control device 100A and the control device 100B by communication via the equalization cable 40 in FIG. 5, but the equalization of the monitoring data is performed in FIG. It is executed by the network device 200A and the network device 200B by communication via the equalization cable 400.
  • control device 100A and the control device 100B are affected.
  • the processing load is not increased by the equalization, and there is no trouble in executing the original calculation.
  • the equalized monitoring data is transferred from the network device 200A to the control device 100A via the communication line LA in FIG. 5, and the equalized monitoring data is transmitted via the communication line LB in FIG. Data is transferred from the network device 200B to the control device 100B. Then, the equalization of the calculation result based on the monitoring data is realized by communication via the equalization cable 40 in FIG. Since the equalized monitoring data is transferred to the control device 100A and the control device 100B, even when the active / standby system is switched due to the stop of the active control device. The control device does not need to wait for the equalization of the monitoring data, and can be switched immediately. That is, according to the present embodiment, the switching speed of the active system / standby system is not reduced.
  • the control system that collects monitoring data from one or a plurality of devices connected to the first and second networks and performs control based on the monitoring data.
  • the first and second control devices one of which is the active system and the other is the standby system, the first control device and the first relay device connected to the first network, A second relay device connected to the second control device, a second relay device connected to the second network, an inter-control device communication means that mediates communication between the first control device and the second control device, a first relay device, and a second relay device.
  • inter-relay device communication means that mediate communication between the two relay devices, and each of the first and second relay devices transfers the monitoring data received from one or more devices to the connection destination control device.
  • monitoring data Communication for valuation is performed via the inter-relay device communication means, and the one of the first control device and the second control device, which is the active system, receives the monitoring data received from the connected relay device.
  • a control system characterized in that a calculation for control is performed and the calculation result is transferred to a standby control device via communication means between control devices to equalize the calculation result. Is done.
  • the one of the first control device and the second control device that is the active system performs the calculation for control using the monitoring data received from the connection destination relay device, and the calculation result Is transferred to the control device serving as a standby system via the inter-control device communication means. Therefore, it is possible to equalize only calculation results that do not include monitoring data between control devices.
  • the means for mediating data communication between the active system and the standby system is an equalization cable which is a communication means between control devices that mediates communication between control devices. Therefore, when the equalization cable 40 is disconnected, data communication between the active system and the standby system becomes impossible, and communication for monitoring each other's state cannot be performed. For this reason, in the conventional redundant control system, when the equalization cable 40 is disconnected, the active system / standby system cannot be switched anymore, and multiple faults occur such that a fault occurs in the active system control device. Then, there was a problem that the device could not be controlled at all.
  • the means for mediating data communication between the active system and the standby system is duplexed by the equalization cable 40 and the equalization cable 400. Even if the disconnection occurs, communication for monitoring each other's state will not be disabled. For example, even when the equalization cable 40 is disconnected at the position indicated by the symbol B in FIG. 6, the control system according to the present embodiment is in a state along the path C1 indicated by the dotted arrow in FIG. Data can be sent and received. Specifically, the control device 100A transmits state data indicating the state of the device itself to the control device 100B via the communication line LA, the network device 200A, the equalization cable 400, the network device 200B, and the communication line LB.
  • the control device 100B sends the status data indicating the status of its own device to the control device 100A via the communication line LB, the network device 200B, the equalization cable 400, the network device 200A, and the communication line LA. What is necessary is just to make it perform the process to transmit.
  • one network device is connected to one control device.
  • a plurality of network devices are connected to one control device. It may be deformed.
  • two network devices are connected to one control device.
  • a conventional redundant control system when a plurality of network devices are connected to a control device, the amount of monitoring data transferred to the control device increases, resulting in problems in the execution of calculations inherent in the control device, This is because problems such as a decrease in the standby system switching speed have occurred, but in the present embodiment, such problems do not occur.
  • the network device 200A and the network device 200B respectively transfer to each of the control device 100A and the control device 100B.
  • the equalization of the monitoring data to be performed is performed by these network devices by communication via the equalization cable 400A, and transferred to each of the control device 100A and the control device 100B via each of the network device 200C and the network device 200D.
  • the equalization of the monitoring data to be performed is executed by these network devices by communication via the equalization cable 400B. For this reason, even if the amount of monitoring data transferred to a control device increases by connecting a plurality of network devices to a single control device, the processing load of the control device is increased by the equalization. It will not be high.
  • the network device 200A and the network device 200B are made to equalize the monitoring data by communication via the equalization cable 400.
  • the network device 200A ′ and the network device 200B ′ of the present embodiment are intended to solve this problem.
  • the network device 200A ′ and the network device 200B ′ of the present embodiment determine whether or not data communication via the equalization cable 400 is possible, and if a determination result indicating that it is possible is obtained The monitoring data is equalized by data communication via the equalization cable 400.
  • the network device 200A ′ and the network device 200B ′ are monitored by communication via the control device 100A, the equalization cable 40, and the control device 100B. Perform data equalization.
  • the network device 200A ′ is referred to as “network device 200 ′”.
  • FIG. 8 is a diagram illustrating a configuration example of the network device 200 ′.
  • the configuration of the network device 200 ′ is that the relay control program 2542 ′ is stored in the nonvolatile storage unit 254 instead of the relay control program 2542.
  • the configuration is different.
  • the relay control program 2542 ′ is a program that causes the control unit 210 to execute the relay process 2542a, the equalization process 2542b ′, and the determination process 2542c.
  • the determination process 2542c is a process of determining whether or not communication via the inter-relay device communication unit, that is, the equalization cable 400 is possible.
  • the equalization processing 2542b ′ determines that communication is not possible while performing communication for equalizing the monitoring data via the inter-relay device communication means when the determination processing 2542c determines that communication is possible.
  • the communication is performed through the communication device between the control devices, that is, the equalization cable 40.
  • the control unit 210 operating according to the relay control program 2542 ′ includes a relay unit that executes the relay process 2542a, a determination unit that executes the determination process 2542c, and an equalization unit that executes the equalization process 2542b ′. Function as.
  • FIG. 9 is a diagram illustrating a schematic configuration and an operation example of a control system including the network device 200 ′.
  • the network device is abbreviated as “NW device”.
  • the network device 200 ′ has a determination unit so that the feature of the present embodiment becomes clear.
  • the network device 200A ′ and the network device 200B ′ cannot communicate via the equalization cable 400.
  • the network device 200A ′ and the network device 200B ′ perform data communication along the communication path C2 indicated by the dotted arrow in FIG. 9, and equalize the monitoring data.
  • the network device 200A ′ uses the monitoring data received from the IO network 30A as a transfer path that solves the communication line LA, the control device 100A, the equalization cable 40, the control device 100B, and the communication line LB in this order.
  • the network device 200B ′ receives the monitoring data, overwrites the corresponding monitoring data of the own device with the monitoring data, and returns an equalization completion notification.
  • the equalization completion notification sent back from the network device 200B ′ in this way follows the communication line LB, the control device 100B, the equalization cable 40, the control device 100A, and the communication line LA in this order to the network device 200A ′. Is transferred, and the equalization of the monitoring data is completed.
  • control device 100A and the control device 100B function only as a data transmission path that mediates data communication for equalization, so that these controls are performed as compared with the conventional redundant control system.
  • the processing load on the apparatus can be reduced.
  • the determination process 2542c a process of transmitting a ping to the partner apparatus via the equalization cable 400, determining that communication is possible if there is a response within a predetermined time, and determining that communication is impossible if there is a response Is mentioned.
  • the transmission / reception of state data between the control device 100A and the control device 100B may be switched according to the availability of data communication via the equalization cable 40.
  • the status data is transmitted to the other control device via the equalization cable 40, If this is not possible, processing for transmitting status data to the other control device via the equalization cable 400 may be executed.
  • Switching between data communication for equalization of monitoring data via the equalization cable 400 or via the equalization cable 40 depends on whether data communication via the equalization cable 400 is possible. Instead of switching, the mode may be switched according to the processing load of the control device. For example, when the network device 200 ′ measures the processing load of the connected control device, and the measured processing load is less than a predetermined threshold, each control device and equalization cable of the active system and the standby system The monitoring data is equalized by data communication via 40, and when the processing load of the control device is equal to or greater than a predetermined threshold, the monitoring data is equalized by data communication via the equalization cable 400.
  • the control unit of each of the active and standby network devices may be executed.
  • the network device 200 executes processing for acquiring data representing the CPU usage rate, the memory usage rate, and the like in the control device from the connected control device. Conceivable. Furthermore, the transfer route of the monitoring data may be switched using both the availability of data communication via the equalization cable 400 and the processing load of the control device. Specifically, when it is determined that the processing load of the control device is equal to or greater than a predetermined threshold and communication via the equalization cable 400 is possible, the monitoring data is transmitted via communication via the equalization cable 400.
  • the processing load of the control device is less than the predetermined threshold value, or the processing load is equal to or higher than the predetermined threshold value, communication via the equalization cable 400 is impossible.
  • the monitoring data should be equalized by communication via the equalization cable 40.
  • the distribution pattern of whether the monitoring data is equalized on the control device side or on the relay device side, that is, on the network device side is determined in advance, It is also conceivable to distribute the processing load related to the equalization of the monitoring data between the control device and the network device. For example, the monitoring data transmitted from the IO slave device S1 is equalized on the control device side, and the monitoring data transmitted from the IO slave device S2 is monitored on the network device side. This is because the control device 100A stores a distribution pattern table that stores a flag indicating whether the control device side or the network device side equalizes the monitoring data in association with the communication address of each IO slave device.
  • the network devices 200A ′ and 200B ′ perform equalization on the monitoring data determined to be equalized on the relay device side in the distribution table, and the control devices 100A and 100B perform control in the distribution table. What is necessary is just to make it equalize about the monitoring data determined to equalize on the apparatus side.
  • a plurality of distribution tables may be prepared in accordance with the processing load of the control device, and the stored content in which the monitoring data to be equalized on the relay device side increases as the table corresponding to the higher processing load. .
  • FIG. 10 is a diagram illustrating a configuration example of a communication system 1C according to the third embodiment of this invention.
  • This communication system 1C is also a control system laid in an industrial facility. 10, the same elements as those in FIG. 1 are denoted by the same reference numerals.
  • the communication system 1C is different from the communication system 1A in the following three points. First, a control device 100A ′ and a control device 100B ′ are provided in place of the control device 100A and the control device 100B. Second, a network device 200A ′′ and a network device 200B ′′ are provided instead of the network device 200A and the network device 200B. Thirdly, the IO network 30C is connected to the network device 200A ′′.
  • the IO slave devices S1 ′ to Sn ′ are connected to the IO network 30C.
  • the IO network 30C mediates data communication between the IO slave devices S1 ′ to Sn ′ and the network device 200A ′′.
  • the network that transmits the data transmitted from the IO slave devices S1 to Sn to the control device is duplexed by the IO network 30A and the IO network 30B, but is transmitted from the IO slave devices S1 ′ to Sn ′.
  • Such duplication is not applied to the network for transmitting data to the control device. That is, the network device 200A ′′ is connected to a duplex network and a non-duplex network.
  • a network that is not duplicated is referred to as a “single network”.
  • the network device 200A ′′ relays data communication between the IO network 30A and the control device 100A ′ in the same manner as the network device 200A in the first embodiment. Similarly to the network device 200B in the first embodiment, the network device 200B ′′ relays data communication between the IO network 30B and the control device 100B ′. Further, the network device 200A ′′ and the network device 200B ′′ can equalize monitoring data by data communication via the equalization cable 400, similarly to the network device 200A ′ and the network device 200B ′ in the second embodiment. I do. However, the network device 200A ′′ and the network device 200B ′′ perform switching between the active system and the standby system by monitoring each other regardless of whether the connection destination control device is the active system or the standby system. Different from the network device 200.
  • the network device 200A ′′ and the network device 200B ′′ perform the same processing as the above equalization on the monitoring data received from the IO network 30C. That is, the control unit of the network device 200A ′′ transmits the monitoring data received from the IO network 30C to the network device 200B ′′ via the equalization cable 400, and the control unit of the network device 200B ′′ transmits the monitoring data. Is written to the monitoring data buffer. Then, each of the network device 200A ′′ and the network device 200B ′′ transmits the monitoring data transmitted from the IO network 30C to each connection destination control device.
  • the control device 100A ′ and the control device 100B ′ are triggered by the reception of data transmitted from the IO slave devices S1 to Sn, and the devices according to the first calculation using the data and the calculation result of the first calculation Execute the control.
  • the active control device executes a second calculation using the data, triggered by reception of data transmitted from the IO slave devices S1 ′ to Sn ′. That is, the active control device in the present embodiment collects data from the IO slave devices S1 to Sn and performs the first calculation, and collects data from the IO slave devices S1 ′ to Sn ′ and performs the second operation. It also has the role of performing the operation.
  • control device that collects data from the IO slave device via the duplexed network in the redundant control system and performs some operation can also serve as a role to collect data via the single network and execute other operations.
  • the redundant network and single network There is no need to construct separate systems for the redundant network and single network, and it is expected that the system development and operation costs can be reduced.
  • the conventional redundant control system can meet such expectations. was difficult. The reason is as follows.
  • the data received from the single network and the data received from the duplicated network are given from the network device 20A to the control device 10A, while the data received from the duplicated network is received from the network device 20B to the control device 10B. Only the processed data is given. If there is a discrepancy between the data given to the control device 10A and the control device 10B, some redundant control systems determine that there is an error. In such a system, the above connection form cannot be adopted in the first place. .
  • the monitoring data received from the single network is continuously given to the active control device after the switching, The monitoring data can be collected and the calculation can be continued using the data without any problem.
  • the network device 200A ′′ is still an active relay device, and the network device 200B ′′ is still This is a standby relay device.
  • the monitoring data transmitted from each of the IO slave devices S1 ′ to Sn ′ is, for example, IO network 30C ⁇ network device 200A ′′ ⁇ equalization cable 400 ⁇ network device 200B ′′ ⁇ control device 100B ′. It is transmitted to the control device 100B ′.
  • data is collected from the IO slave device via the redundant network in the redundant control system, and the control device that performs some computation collects the data via the single network and performs other computations.
  • the system development cost can be reduced as compared with the case where the duplex network system and the single network system are constructed separately.
  • the network device connected to the single network is the active network device.
  • the monitoring data received via the single network is transferred to the other network device via the inter-relay device communication means or the control device communication means, and the monitoring data is equalized. It is sufficient to execute the processing to be executed.
  • FIG. 11 is a diagram illustrating a configuration example of a communication system 1D according to the fourth embodiment of the present invention.
  • This communication system 1D is also a control system laid in an industrial facility.
  • FIG. 11 shows a detailed connection mode of the IO slave devices S1 to S3 to the IO networks 30A and 30B, which is different from FIG.
  • FIG. 11 shows a detailed connection mode of the IO slave devices S1 to S3 to the IO networks 30A and 30B, which is different from FIG.
  • FIG. 11 shows a detailed connection mode of the IO slave devices S1
  • the IO master is abbreviated as “IOM”.
  • the IO master MAn sends the monitoring data output from the IO slave device Sn to the IO network 30A.
  • the IO master MBn sends the monitoring data output from the IO slave device Sn to the IO network 30B.
  • FIG. 1 the detailed connection configuration of the IO slave devices S1 to Sn is omitted, but is the same as that in FIG.
  • the communication system 1D is provided with a network device 200A ′′ and a network device 200B ′′ instead of the network device 200A and the network device 200B in the first embodiment. Is different from the communication system 1A.
  • One of the network device 200A “" and the network device 200B “” according to the present embodiment also behaves as an active system, and the other behaves as a standby system.
  • the network device 200A ′′ and the network device 200B ′′ behaves as an active system.
  • the network device 200A ′′ is described as “network device 200 ′′”.
  • FIG. 12 is a diagram illustrating a configuration example of the network device 200 ′ ′′.
  • the same components as those in FIG. 2 are denoted by the same reference numerals.
  • the configuration of the network device 200 ′′ ′′ is that the relay control program 2542 ′′ ′′ is stored in the nonvolatile storage unit 254 instead of the relay control program 2542.
  • the relay control program 2542 ′′ ′′ differs from the relay control program 2542 of the first embodiment in that the control unit 210 executes an equalization transmission process 2542 b 1 and an equalization reception process 2542 b 2 instead of the equalization process 2542 b. .
  • the control unit 210 of the network device 200 ′′ ′′ is a relay control program 2542 ′′ ′′ from the nonvolatile storage unit 254 to the volatile storage unit 252 when the power (not shown) of the network device 200 ′′ ′′ is turned on or reset. And start executing.
  • FIG. 13 is a diagram for explaining an operation executed by the control unit 210 of the network device 200 ′′ ′′ according to the relay control program 2542 ′′ ′′. In FIG. 13, the same processes as those in FIG. 4 are denoted by the same reference numerals.
  • the control unit 210 operating according to the relay control program 2542 ′′ ′′ writes the monitoring data to the communication buffer in the first communication I / F unit 220 in the same manner as the control unit 210 in the first embodiment described above.
  • the relay processing 2542a is executed as a trigger, that is, triggered by reception of monitoring data from the connection destination IO network 30.
  • the control unit 210 reads the monitoring data from the communication buffer in the first communication I / F unit 220 (FIG. 13: S100) and writes the monitoring data to the monitoring data buffer 2522 (FIG. 13). : S110). Note that when monitoring data is written to the monitoring data buffer 2522, the first value indicating that the equalization has not been performed is set, a flag is added, and the monitoring data buffer 2522 is written to the first embodiment. It is the same.
  • the combination of the equalization transmission process 2542b1 and the equalization reception process 2542b2 corresponds to the equalization process 2542b.
  • the execution trigger of the equalization processing 2542b in the first embodiment is different between the active network device and the standby network device.
  • the equalization processing 2542b is executed in response to the writing of the monitoring data to which the flag indicating that the equalization is not completed in the active system to the monitoring data buffer 2522, and the equalization cable 400 is performed in the standby system.
  • the equalization processing 2542b is executed when the monitoring data is received via the network.
  • the execution timing of the equalization transmission processing 2542b1 is not different between the active network device and the standby network device, and the execution timing of the equalization reception processing 2542b2 is not different.
  • the control unit 210 of the network device 200 ′ ′′ is provided with a monitoring data buffer of monitoring data to which a flag indicating that the equalization has not been performed is assigned regardless of whether or not the network device 200 ′′ is operating as an active system.
  • the equalization transmission processing 2542b1 is executed in response to the writing to 2522.
  • the control unit 210 reads the monitoring data to which the flag indicating that the equalization has not been completed is read from the monitoring data buffer 2522 (FIG. 13: S120), and the monitoring data is transmitted to the third communication I / O. This is given to the F unit 240 (FIG. 13: S130) and transferred to the other network device.
  • the monitoring data A received by the network device 200A ′′ from the IO network 30A is transferred to the network device 200B ′′ through the equalization cable 400, and the network device 200B ′′ is The monitoring data B received from the IO network 30B is also transferred to the network device 200A ′′ ′ via the equalization cable 400.
  • FIG. 14 is a flowchart showing the flow of the equalization reception process 2542b2.
  • the control unit 210 can first communicate with the IO slave device that is the transmission source of the monitoring data received from the other network device 200 ′′ ′′ via the equalization cable 400. It is determined whether or not (step SB100). As a specific determination method for determining whether or not communication with the IO slave device that is the transmission source of the monitoring data is possible, a method using an existing technology such as ping is conceivable.
  • step SB100 When the determination result of step SB100 is “No”, that is, when communication is impossible, the control unit 210 receives the monitoring data received from the other network device 200 ′′ ′′ via the equalization cable 400.
  • the monitoring data that should have been received via the IO network 30 to which the own device is connected that is, the monitoring data transmitted to the control device 100 connected to the own device is supplemented (step SB110). Since communication with the IO slave device is impossible, no monitoring data is received from the IO slave device, and step SB110 is a process for compensating for the lack of this monitoring data. More specifically, in step SB110, the control unit 210 provides information indicating the transmission destination of the header portion of the monitoring data received via the equalization cable 400 to the control device 100 connected to the own device.
  • Step SB150 the determination result in step SB100 is “No” as described above, monitoring data is not transferred to the other network device 200 ′ ′′ via the equalization cable 400.
  • the other network device may detect the completion of equalization triggered by the reception of the notification and update the flag of the corresponding monitoring data.
  • step SB100 determines whether or not its own device is an active system, as in step SA100 described above. Is determined (step SB120).
  • the control unit 210 receives from the other network device 200 ′′ ′′ via the equalization cable 400.
  • the monitoring data is discarded (step SB130), and the equalization flag of the monitoring data written in the monitoring data buffer 2522 as corresponding to the monitoring data is updated to the second value (step SB150).
  • the equalization reception process 2542b2 ends.
  • step SB120 determines whether the own apparatus is a standby system. If the determination result in step SB120 is “No”, that is, if the own apparatus is a standby system, the control unit 210 removes the equalization cable 400 in the same manner as the processing in step SA120 described above.
  • the monitoring data received from the other network device 200 "" is replaced with the monitoring data written in the monitoring data buffer 2522 as corresponding to the monitoring data (step SB140), and then the processing of step SB150 is executed. Then, the equalization reception process 2542b2 is completed.
  • the above is the configuration of the network device 200 ′ ′′.
  • the control device 100A is the active system and the control device 100B is the standby system, that is, the network device 200A ′′ is the active system and the network device 200B ′′ is the standby system is taken as an example.
  • the operation of the embodiment will be described.
  • the relay processing 2542a is executed when the monitoring data is received via the first communication I / F unit 220.
  • the monitoring data An is stored in the monitoring data buffer 2522 of the network device 200A ′′
  • the monitoring data Bn is stored in the monitoring data buffer 2522 of the network device 200B ′′.
  • the equalization transmission process 2542b1 is executed in the network device 200 ′′ when the monitoring data that has not been equalized is written to the monitoring data buffer 2522. As a result, as shown in FIG.
  • the monitoring data An is transferred from the network device 200A ′′ to the network device 200B ′′ via the equalization cable 400, and the network device 200B ′′ is transferred to the network device 200A ′.
  • Monitoring data Bn is transferred to ′′ via the equalization cable 400.
  • the control unit 210 of the network device 200 ′ ′′ executes the equalization reception process 2542b2 every time monitoring data is received via the third communication I / F unit 240. Specifically, the control unit 210 of the network device 200A ′′ ′′ executes the equalization reception process 2542b2 every time the monitoring data Bn is received via the third communication I / F unit 240.
  • step SB120 Since the network device 200A ′′ is an active system, the determination result in step SB120 is “Yes”, and the process in step SB130 is executed. That is, all the monitoring data Bn received by the network device 200A ′′ ′′ via the third communication I / F unit 240 is discarded.
  • the equalization reception process 2542b2 is executed every time the monitoring data An is received via the third communication I / F unit 240. Also in the equalization reception processing 2542b2 executed by the control unit 210 of the network device 200B ′′, the determination result in step SB100 is “Yes”, and the processing after step SB120 is executed. Since the network device 200B ′′ is a standby system, the determination result of step SB120 is “No”, and the process of step SB140 is executed. That is, all the monitoring data Bn stored in the monitoring data buffer 2522 of the network device 200B ′′ is replaced with the monitoring data An received from the network device 200A ′′ ′′ via the third communication I / F unit 240 ( (See FIG. 15B). As a result, the monitoring data An is transferred to the control device 100A via the network device 200A ′′, and the monitoring data An is also transferred to the control device 100B via the network device 200B ′′.
  • the monitoring data A1 that the network device 200A ′′ was supposed to receive is missing.
  • the monitoring data B2 that the network device 200B ′′ was supposed to receive is also lost.
  • NULL in FIG. 16A means that monitoring data is missing.
  • the monitoring data A2 and A3 are transferred from the network device 200A "" to the network device 200B "" via the equalization cable 400, and from the network device 200B ".
  • the monitoring data B1 and B3 are transferred to the network device 200A ′′ ′′ via the equalization cable 400.
  • step SB100 is “No”.
  • the process of step SB110 is executed.
  • the monitoring data A1 that should have been received by the network device 200A ′′ ′′ is complemented with the monitoring data B1.
  • the determination result in step SB100 is “No”. ", And the process of step SB110 is executed.
  • the determination result in step SB100 is “No”. ", And the process of step SB110 is executed.
  • monitoring data B2 that the network device 200B ′′ was supposed to receive is supplemented with the monitoring data A2.
  • monitoring data B1, monitoring data A2, and monitoring data A3 are transferred from the network device 200A ′′ to the control device 100A as equalized monitoring data, and equalized to the control device 100B.
  • monitoring data B1, monitoring data A2, and monitoring data A3 are transferred from the network device 200B ′′.
  • the equalized monitoring data is transferred from the network device 200A ′′ to the control device 100A, which is the active control device, so that the control of the control target device is continued without any problem. be able to.
  • the present embodiment even if a failure occurs in either the IO network connected to the active control device via the network device or a plurality of IO masters connected to the IO network. Thus, there is no need to switch the active / standby system for the control device, and the frequency of occurrence of switching of the active / standby system in the redundant control system can be reduced. Furthermore, according to the present embodiment, a failure occurs in the IO master connected to the IO network connected to the active control device via the network device, and the standby control device passes through the network device. Even if multiple failures occur, such as when a failure also occurs in an IO master connected to the connected IO network, control is not performed unless those IO masters are connected to the same IO device.
  • the standby network device transfers all the monitoring data received from the IO network to the active network device via the equalization cable 400 between the network devices. Only missing monitoring data may be transferred.
  • the standby network device transmits a list of identifier information of the received monitoring data to the standby network device via the equalization cable between the active network device, and based on the list What is necessary is just to make the standby network device detect the missing monitoring data in the active system.
  • the standby network device may determine that the monitoring data in the active system is missing.
  • the result of the calculation based on the calculation data transmitted from the control device 100 to the control target device, that is, the equalized monitoring data is represented.
  • the data transfer control may be performed in the same manner depending on whether or not the IO master that connects the control target device to the IO network 30 has failed. For example, if each of the IO slave devices S1 to S3 in FIG. 16B is a device to be controlled, the control device 100A ⁇ the network device 200A ′′ ′′ ⁇ the equalization cable for the IO slave device S1. Operation data may be transferred along a transmission path such as 400 ⁇ network device 200B ′′ ′′ ⁇ IO network 30B. Similarly, arithmetic data may be transferred to the IO slave devices S2 and S3 along a transmission path such as the control device 100A ⁇ the network device 200A ′′ ⁇ the IO network 30A.
  • the equalization of the monitoring data is performed by the network device 200 ′ ′′, the amount of monitoring data transferred to the control device increases as in the first embodiment described above. However, there is an effect that it is possible to prevent any trouble in the execution of the original calculation of the control device and to prevent the switching speed of the active system / standby system from being lowered. Of course.
  • identification information indicating the transmission source determined to be incapable of communication in step SB100 is written in a predetermined storage area of the volatile storage unit 252, and thereafter, from the device in which the identification information is stored in the storage area.
  • the monitoring data is always complemented or replaced by the monitoring data received via the equalization cable 400, and the process of initializing the storage area triggered by the power-off or reset of the own device is controlled by the network device 200 ′′. You may make it make the part 210 perform.
  • the network device 200 ′′ ′′ is turned off or reset.
  • the data transfer route from the IO slave device to the active control device 100 is not switched to a route that is not supplemented as described above, and the influence caused by the route switching can be avoided.
  • each of the network device 200A ′′ and the network device 200B ′′ determines whether or not data communication via the equalization cable 400 is possible, and, if possible, the other device via the equalization cable 400. If the monitoring data is transmitted to the network device, and if impossible, the process of transmitting the monitoring data to the other network device via the equalization cable 40 may be executed.
  • the second embodiment and the fourth embodiment may be combined, and the second, third, and fourth embodiments may be combined.
  • the application example of the present invention to the gateway device that transfers the monitoring data collected from the IO slave device to the control device has been described.
  • the application target of the present invention is not limited to the gateway device, and may be another type of relay device such as a router, a repeater, or a switching hub.
  • the network connected to the relay device of the present invention is not limited to a control network such as an IO network or a serial bus, but is a general information system that mediates data communication according to a general-purpose communication protocol such as TCP. It may be a network.
  • control device that collects monitoring data and executes operations using the monitoring data
  • network connected to a device that outputs the monitoring data, and controls the data received via the network.
  • the present invention can be applied to any relay device that transfers data to the device.
  • a mode in which a network device included in the communication system of each of the above embodiments, that is, a relay device is provided alone, that is, a mode in which the relay device is manufactured and sold may be employed.
  • Such a network device is replaced with a network device in a conventional redundancy control system, and the network devices are connected to each other by an equalization cable between relay devices, thereby making the conventional redundancy control system a communication system of each of the above embodiments. This is because it becomes possible to function as.
  • the relay processing 2542a and the equalization processing 2542b (in the fourth embodiment, the equalization transmission processing 2542b1 and the equalization reception processing 2542b2) that clearly show the features of the present invention are performed by software. It was realized.
  • each of the relay means for executing the relay process 2542a and the equalization means for executing the equalization process 2542b are configured by electronic circuits, and the networks of the first to third embodiments are combined by combining these electronic circuits.
  • An apparatus may be configured. The same applies to the network device 200 ′ ′′ of the fourth embodiment.
  • the equalization cable is used as the communication device between relay devices.
  • a wireless communication device such as a wireless LAN interface may be used as the communication device between relay devices.
  • a bus connected to both devices may be used as a communication device between relay devices. The same applies to the inter-control device communication means.
  • the warm standby control system is the same as the hot standby control system in that one of the redundant control devices becomes the active system and executes the above calculation, and the other becomes the standby system to prepare for failure of the active system. However, a difference is that the above calculation is not executed in the standby control device.
  • the monitoring data received by the first communication I / F unit 220 is written into the monitoring data buffer 2522 (FIG. 4B: S100 and Each process of S110) is executed, but the process may be omitted in the standby network device. This is because the monitoring data written by the monitoring data buffer 2522 by the processes of S100 and S110 in FIG. 4B is overwritten by the process of step SA120 of the equalization process 2542b.
  • 1A, 1C, 1D ... communication system 10A, 10B, 100A, 100B, 100A ', 100B' ... control device, 20A, 20B, 200A, 200B, 200A ', 200B', 200A ", 200B", 200A " "..., 200B” "... relay device, 210 ... control unit, 220 ... first communication I / F unit, 230 ... second communication I / F unit, 240 ... third communication I / F unit, 250 ... storage unit , 252 ... Volatile storage unit, 2522 ... Monitoring data buffer, 254 ... Nonvolatile storage unit, 2542, 2542 ', 2542 "' ... Relay control program, 2542a ... Relay process, 2542b ...
  • Equalization process 260 ... Bus 30A, 30B, 30C ... IO network, 40,400,400A, 400B ... equivalent cable, 50 ... monitoring system, S1 to Sn, S1 'to Sn' ... IO Slave device.

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Abstract

L'invention concerne un système de commande à dispositifs de commande et chemins de transfert de données redondants, avec lequel il est possible de réaliser une égalisation de données de surveillance sans altérer les calculs exécutés par les dispositifs de commande et sans provoquer une dégradation de la vitesse de basculement entre un système actif et un système de secours, même si le volume de données transférées aux dispositifs de commande augmente. Les dispositifs de commande respectifs du système actif et du système de secours sont connectés par un premier câble d'égalisation, et des dispositifs de réseau respectifs du système actif et du système de secours sont connectés l'un à l'autre par un second câble d'égalisation. Chacun des dispositifs de réseau transfère des données de surveillance, ces dernières étant reçues en provenance de dispositifs asservis d'entrée/sortie (E/S), au dispositif de commande auquel le dispositif de réseau respectif est connecté, et détermine si une communication au moyen du second câble d'égalisation est possible. Si ladite communication est possible, l'égalisation des données de surveillance est réalisée sur chacun des dispositifs de réseau respectifs par communication au moyen du second câble d'égalisation, et si ladite communication n'est pas possible, l'égalisation des données de surveillance est réalisée sur chacun des dispositifs de réseau respectifs par communication au moyen du second câble d'égalisation.
PCT/JP2015/053787 2015-02-12 2015-02-12 Système de commande et dispositif de relais WO2016129075A1 (fr)

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CN201580001548.0A CN105519050B (zh) 2015-02-12 2015-02-12 控制系统以及中继装置
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CN105519050A (zh) 2016-04-20
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