WO2022176031A1 - 制御システム、制御方法、制御プログラム、ローカル機器、リモート機器、信号処理方法、パケット処理方法、信号処理プログラム及びパケット処理プログラム - Google Patents

制御システム、制御方法、制御プログラム、ローカル機器、リモート機器、信号処理方法、パケット処理方法、信号処理プログラム及びパケット処理プログラム Download PDF

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Publication number
WO2022176031A1
WO2022176031A1 PCT/JP2021/005764 JP2021005764W WO2022176031A1 WO 2022176031 A1 WO2022176031 A1 WO 2022176031A1 JP 2021005764 W JP2021005764 W JP 2021005764W WO 2022176031 A1 WO2022176031 A1 WO 2022176031A1
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WIPO (PCT)
Prior art keywords
local
state machine
attribute
remote
state
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Ceased
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PCT/JP2021/005764
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English (en)
French (fr)
Japanese (ja)
Inventor
昂輝 井川
洋平 塚本
治 遠山
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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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Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP2023500158A priority Critical patent/JP7278515B2/ja
Priority to DE112021006543.2T priority patent/DE112021006543B4/de
Priority to PCT/JP2021/005764 priority patent/WO2022176031A1/ja
Priority to TW110130235A priority patent/TW202234190A/zh
Publication of WO2022176031A1 publication Critical patent/WO2022176031A1/ja
Priority to US18/210,131 priority patent/US20230324868A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Program control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • 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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Program control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0421—Multiprocessor system
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23051—Remote control, enter program remote, detachable programmer

Definitions

  • the present disclosure relates to control of controlled devices.
  • the network between the controller and the input/output device may include a network (such as the Internet) where communication delays and/or packet losses are likely to occur. If communication delays and/or packet losses occur in processing that requires high responsiveness (real-time performance), the required responsiveness may not be met.
  • a controller acquires a sensor value obtained by a sensor as an input value from a device to be controlled having a sensor and a motor.
  • the controller outputs an output value for stopping the motor to the device to be controlled.
  • a controller obtains, as an input value, a state value that notifies the state of a push switch from a controlled device having a push switch and a monitor.
  • the controller Based on the state value, the controller outputs to the controlled device an output value for displaying the state of the push switch on the monitor.
  • the input/output device is provided with a function for detecting communication errors such as timeout, considering the required responsiveness. Further, when the function detects a communication error, the function performs error processing such as fail-safe processing.
  • Patent Document 1 discloses a control system in which a local device in a factory performs processing that requires high responsiveness, and a remote device in a management center via the Internet performs processing that does not require high responsiveness.
  • Patent Document 1 With the method of Patent Document 1, processing is only fixedly assigned to remote devices and local devices. For this reason, the technique of Patent Document 1 has a problem that it is not possible to switch the device that executes the output value generation process between the remote device and the local device for each state in accordance with the state transition.
  • the main purpose of this disclosure is to solve such problems. More specifically, the main object of the present disclosure is to switch the device that executes the output value generation process between the remote device and the local device for each state according to the state transition.
  • a control system includes: a state machine that performs state transitions between a plurality of states each having either a remote control attribute or a local control attribute set as an attribute; if the attribute of the current state of the state machine is the remote control attribute, causing a remote device in a remote environment to the controlled device to execute output value generation processing for generating an output value to the controlled device; and an execution control unit that causes a local device in a local environment for the controlled device to execute the output value generation process if the attribute of the current state of the state machine is the local control attribute.
  • the device that executes the output value generation process can be switched for each state between the remote device and the local device according to the state transition.
  • FIG. 1 is a diagram showing a configuration example of a control system according to Embodiment 1;
  • FIG. 4 is a diagram showing an example of a state machine according to Embodiment 1;
  • FIG. 4 is a diagram showing an example of an initial setting packet according to Embodiment 1;
  • FIG. 4 is a diagram showing an example of an input packet according to Embodiment 1;
  • FIG. 4 is a diagram showing an example of an output packet according to Embodiment 1;
  • FIG. 4 shows an example of a local control status packet according to Embodiment 1;
  • FIG. 4 shows an example of a state attribute table according to Embodiment 1;
  • FIG. 2 is a diagram showing a functional configuration example of an input/output device according to Embodiment 1;
  • FIG. 2 is a diagram showing an example functional configuration of a controller according to the first embodiment;
  • FIG. 4 is a flowchart showing an example of initialization processing according to the first embodiment; 4 is a flowchart showing an example of input processing of the input/output device according to Embodiment 1; 4 is a flowchart showing an operation example of the controller according to Embodiment 1; 4 is a flowchart showing an operation example of the input/output device according to Embodiment 1; 4 is a flowchart showing an operation example of the input/output device according to Embodiment 1; 4A and 4B are diagrams for explaining an effect according to the first embodiment; FIG. FIG.
  • FIG. 5 is a diagram showing a configuration example of a control system according to Embodiment 2; 9 is a flowchart showing an example of local input processing according to the second embodiment; 9 is a flowchart showing an operation example of the input/output device according to the second embodiment; 9 is a flowchart showing an operation example of the input/output device according to the second embodiment; The figure which shows the structural example of the control system which concerns on Embodiment 3.
  • FIG. FIG. 11 is a diagram showing an example of the functional configuration of a gateway according to the third embodiment; FIG. FIG. 11 is a flowchart showing an example of input processing of a gateway according to the third embodiment; FIG.
  • FIG. 10 is a flowchart showing an operation example of a gateway according to Embodiment 3; 11 is a flowchart showing an example of initialization processing according to the fourth embodiment; 2 is a diagram showing a hardware configuration example of an input/output device according to Embodiment 1; FIG. FIG. 2 is a diagram showing a hardware configuration example of a controller according to the first embodiment; FIG. FIG. 12 is a diagram showing a hardware configuration example of a gateway according to the third embodiment; FIG.
  • FIG. 1 shows a configuration example of a control system 60 according to this embodiment.
  • a control system 60 includes an input/output device 10 and a controller 30 .
  • the operations performed by the input/output device 10 and the controller 30 correspond to the control method.
  • the control system 60 is a system for controlling the controlled device 20 .
  • the input/output device 10 is a device in the local environment for the controlled device 20 .
  • the input/output device 10 corresponds to a local device. Further, the operation procedure of the input/output device 10 corresponds to the signal processing method.
  • the local environment for the controlled device 20 is an environment in which communication delay and jitter that occur in communication with the controlled device 20 are within an allowable range, and where it is not difficult to predict the worst values of the communication delay and jitter. .
  • the input/output device 10 is directly connected to the controlled device 20 . Therefore, almost no communication delay or jitter occurs between the input/output device 10 and the controlled device 20, and even if communication delay and jitter occur, the worst value of the communication delay and jitter can be predicted. is easy.
  • the input/output device 10 is in the local environment for the device 20 to be controlled.
  • the input/output device 10 and the controlled device 20 are directly connected is shown. may be connected via a communication line for which it is not difficult to predict the worst value of the delay and the jitter.
  • the input/output device 10 receives the initialization packet 71 transmitted from the controller 30 from the gateway 40 via the internal network 51 .
  • the initialization packet 71 is used for initialization processing of the input/output device 10 .
  • the input/output device 10 repeatedly receives the input value signal 81 from the controlled device 20 .
  • the input value signal 81 notifies the input value from the controlled device 20 .
  • the input/output device 10 transmits the input packet 72 to the gateway 40 via the internal network 51 each time it receives the input value signal 81 from the controlled device 20 .
  • the input packet 72 notifies the input value from the control target device 20 .
  • the input/output device 10 transmits a local control status packet 74 to the gateway 40 via the internal network 51 .
  • the local control status packet 74 notifies the state transition destination and the updated value of the shared internal value, which will be described later.
  • a shared internal value is an internal value shared by the input/output device 10 and the controller 30 .
  • a shared internal value is a value that is required when performing an operation in a primitive state machine and a local state machine, which will be described later.
  • the input/output device 10 and the controller 30 need to update shared internal values in synchronization.
  • the input/output device 10 receives the output packet 73 transmitted from the controller 30 from the gateway 40 via the internal network 51 .
  • the output packet 73 notifies the output value to the controlled device 20, the state transition destination, and the update value of the shared internal value.
  • the input/output device 10 transmits the output value signal 82 to the controlled device 20 .
  • the output value signal 82 notifies the output value to the controlled device 20 .
  • the controlled device 20 is, for example, a device having sensors and actuators.
  • the input value notified by the input value signal 81 is, for example, a sensor value obtained by a sensor.
  • the output value notified by the output value signal 82 is, for example, a control value for controlling an actuator.
  • the input value notified by the input value signal 81 may be a state value notifying the state of the push switch.
  • the output value notified by the output value signal 82 may be a value for displaying the state of the push switch on the monitor.
  • the controller 30 is a device in a remote environment from the controlled device 20 .
  • the controller 30 corresponds to a remote device.
  • the operation procedure of the controller 30 corresponds to a packet processing method.
  • the remote environment for the controlled device 20 is an environment in which communication delays and jitters that occur in communication with the controlled device 20 are outside the permissible range, and it is difficult to predict the worst values of the communication delays and jitters.
  • the controller 30 is connected to the controlled device 20 via the input/output device 10 , the internal network 51 , the gateway 40 and the external network 52 . Therefore, the communication delay and jitter that occur in the communication between the controller 30 and the controlled device 20 are large, and it is difficult to predict the worst values of the communication delay and jitter that occur. Therefore, the controller 30 is in a remote environment for the device 20 to be controlled.
  • the gateway 40 is connected to the input/output device 10 via the internal network 51 and connected to the controller 30 via the external network 52 .
  • the gateway 40 relays communication of the initialization packet 71 , the input packet 72 , the output packet 73 and the local control status packet 74 between the input/output device 10 and the controller 30 .
  • the internal network 51 is a communication path in which only expected traffic exists, communication delays and jitters are within permissible ranges, and the worst values of communication delays and jitters can be easily predicted.
  • the internal network 51 is, for example, a field network.
  • the external network 52 is a communication channel where unexpected traffic may exist, communication delay and jitter are out of the allowable range, and prediction of the worst value of communication delay and jitter is difficult.
  • the external network 52 is, for example, the Internet.
  • FIG. 2 shows an example of a state machine used in this embodiment.
  • State machines used in this embodiment include primitive state machines and local state machines.
  • a primitive state machine is a state machine managed by controller 30 .
  • a primitive state machine is equivalent to a remote state machine.
  • a local state machine is a state machine managed by the input/output device 10 .
  • a primitive state machine is a state machine that contains multiple states with defined control specifications.
  • a primitive state machine performs state transitions between multiple states.
  • Each of the plurality of states included in the primitive state machine has either a remote control attribute or a local control attribute set as an attribute. For example, when the number of states included in the primitive state machine is N (N ⁇ 2), the primitive state machine has L (1 ⁇ L ⁇ N) states having local control attributes and (N - There are L) states with remote control attributes.
  • each state of the primitive state machine includes a computing means.
  • Each calculation means performs calculation using the input value and the shared internal value.
  • Each calculation means obtains updated values of state transition destinations, output values, and shared internal values through calculations.
  • the controller 30 transitions the state of the primitive state machine to the state transition destination obtained by the calculation of the calculation means. Furthermore, the controller 30 may cause the state of the primitive state machine to transition to the state transition destination notified from the input/output device 10 .
  • a request response time is specified for each state.
  • the required response time is the time required for the input/output device 10 to receive an input value from the controlled device 20 and transmit an output value to the controlled device 20 .
  • the controller 30 may set the attribute of each state to either the remote control attribute or the local control attribute based on the required response time of each state.
  • the local state machine contains states that are identical to the states contained in the primitive state machine.
  • the local state machine makes state transitions in synchronization with the primitive state machine.
  • each state has the same attributes as the corresponding state in the primitive state machine. That is, in the local state machine, as in the primitive state machine, there are states having L local control attributes and states having (NL) remote control attributes.
  • states with local control attributes contain computing means.
  • a state with the remote control attribute does not include computing means.
  • a state operator having a local control attribute in a local state machine operates similarly to a corresponding state operator in a primitive state machine.
  • the input/output device 10 When the state transition destination is obtained by the calculation of the calculation means, the input/output device 10 causes the state of the primitive state machine to transition to the state transition destination obtained by the calculation of the calculation means. Also, the input/output device 10 may cause the state of the primitive state machine to transition to the state transition destination notified from the controller 30 .
  • the remote control attribute is an attribute for which output value generation processing, state transition destination identification processing, and shared internal value update processing are performed by the computing means of the primitive state machine.
  • the local control attribute is an attribute for which output value generation processing, state transition destination identification processing, and shared internal value update processing are performed by the computing means of the local state machine.
  • the output value generation process is a process of generating an output value to the controlled device 20 based on the input value from the controlled device 20 . Note that the output value generation process may be a process of generating an output value to the controlled device 20 based on the shared internal value in addition to the input value.
  • State transition destination identification processing is processing for identifying state transition destinations of primitive state machines and local state machines.
  • the shared internal value update process is a process for updating the shared internal value in the input/output device 10 and the controller 30 .
  • the primitive state machine includes four states ST_0, ST_1, ST_2 and ST_3.
  • a remote control attribute is set to ST_0, ST_1, and ST_3, and a local control attribute is set to ST_2.
  • the local state machine also includes four states ST_0, ST_1, ST_2 and ST_3, but the computing means exists only in ST_2 in which the local control attribute is set.
  • FIG. 3 shows an example of an initialization packet 71.
  • the initialization packet 71 is sent from the controller 30 to the input/output device 10 .
  • Initialization packet 71 includes a header, a state attribute table, a local state machine program and a footer.
  • the state attribute table is a table showing the attributes of each state included in primitive state machines and local state machines.
  • a local state machine program is a program that implements a state computing means having a local control attribute. That is, the local state machine program is a program for causing the local state machine to execute output value generation processing, state transition destination identification processing, and shared internal value update processing.
  • a local state machine program is generated by the controller 30 .
  • FIG. 4 shows an example of input packet 72 .
  • input packet 72 is sent from input/output device 10 to controller 30 .
  • Input packet 72 includes a header, input values and a footer.
  • the input value is the value notified by the input value signal 81 .
  • FIG. 5 shows an example of output packet 73 .
  • output packet 73 is sent from controller 30 to input/output device 10 .
  • the output packet 73 includes a header, output value, state transition destination, shared internal value and footer.
  • the attribute of the current state of the primitive state machine and the local state machine is the remote control attribute
  • the output packet 73 is used to specify the output value, the state transition destination and the shared internal value obtained by the operation of the operation means of the primitive state machine. You will be notified of the updated value. If the shared internal value is not updated, the output packet 73 may not include the shared internal value.
  • FIG. 6 shows an example of a local control status packet 74.
  • the local control status packet 74 is sent from the input/output device 10 to the controller 30 .
  • the local control status packet 74 includes a header, state transition destination, shared internal value and footer.
  • the local control status packet 74 updates the state transition destination and the shared internal value obtained by the operation of the operation means of the local state machine. value is reported. If the shared internal value is not updated, the local control status packet 74 may not include the shared internal value.
  • FIG. 7 shows an example of a state attribute table.
  • the state attribute table is a table showing the attributes of each state included in the primitive state machine and local state machine.
  • the example of FIG. 7 shows the four states ST_0, ST_1, ST_2, and ST_3 shown in FIG. 2 and the attributes of each state.
  • FIG. 8 shows a functional configuration example of the input/output device 10 according to this embodiment.
  • 25 shows a hardware configuration example of the input/output device 10. As shown in FIG. First, a hardware configuration example of the input/output device 10 will be described with reference to FIG.
  • the input/output device 10 is a computer.
  • the input/output device 10 includes a processor 701, a main storage device 702, an auxiliary storage device 703, and a communication device 704 as hardware.
  • Auxiliary storage device 703 stores a program that implements the functions of first communication unit 11, second communication unit 12, local state machine 13, and execution control unit 14, which will be described later with reference to FIG.
  • a program that implements the functions of the first communication unit 11, the second communication unit 12, and the execution control unit 14 corresponds to a signal processing program.
  • These programs are loaded from the auxiliary storage device 703 to the main storage device 702 .
  • the processor 701 executes these programs to operate the first communication unit 11, the second communication unit 12, the local state machine 13, and the execution control unit 14, which will be described later.
  • FIG. 25 schematically shows a state in which the processor 701 is executing a program that implements the functions of the first communication unit 11, the second communication unit 12, the local state machine 13, and the execution control unit .
  • a program that implements the functions of the local state machine 13 and the execution control unit 14, and a program that implements the functions of the primitive state machine 32 and the execution control unit 33, which will be described later, correspond to control programs.
  • the first communication unit 11 communicates with the controlled device 20 . Specifically, the first communication unit 11 uses the communication device 704 to receive the input value signal 81 from the control target device 20 . Also, the first communication unit 11 uses the communication device 704 to transmit the output value signal 821 or the output value signal 822 to the controlled device 20 .
  • the output value signal 821 is a signal that notifies an output value generated by the local state machine 13, which will be described later.
  • the output value signal 822 is a signal that notifies the output value generated by the controller 30 . Note that the processing performed by the first communication unit 11 corresponds to the first communication processing.
  • the second communication unit 12 communicates with the gateway 40 via the internal network 51 . Specifically, the second communication unit 12 uses the communication device 704 to transmit the input packet 72 and the local control status packet 74 to the gateway 40 . Also, the second communication unit 12 uses the communication device 704 to receive the initialization packet 71 and the output packet 73 from the gateway 40 . Note that the processing performed by the second communication unit 12 corresponds to the second communication processing.
  • the local state machine 13 is the local state machine described using FIG.
  • the execution control unit 14 performs output value generation processing for generating an output value to the controlled device 20.
  • a remote device (controller 30) in the remote environment is caused to execute.
  • the execution control unit 14 performs the output value generation process on a local device (input/output) in the local environment for the controlled device 20. Let the device 10) execute.
  • the execution control unit 14 acquires the initial setting packet 71 from the second communication unit 12 .
  • the execution control unit 14 sets the local state machine program included in the initialization packet 71 in the local state machine 13 . That is, the execution control unit 14 implements the local state machine program in the main memory 902 so that the local state machine 13 can execute the local state machine program.
  • the execution control unit 14 mounts the state attribute table included in the initialization packet 71 in the main storage device 902 .
  • the state attribute table 16 shown in FIG. 8 represents the state attribute table as it is installed in the main storage device 902 .
  • the execution control unit 14 can refer to the state attribute table 16 .
  • the execution control unit 14 acquires the input value signal 81 from the first communication unit 11 . Also, the execution control unit 14 generates an input packet 72 that notifies the input signal from the input value signal 81 . Then, it outputs the input packet 72 to the second communication unit 12 . In this manner, the execution control unit 14 receives input values from the controlled device 20 and notifies the controller 30 of the input values from the controlled device 20 in the input packet 72 . Also, the execution control unit 14 holds the input value in an input value buffer (not shown), which is an internal buffer, until the next input value signal 81 is obtained.
  • an input value buffer not shown
  • the execution control unit 14 refers to the state attribute table 16 to determine whether the attribute of the current state of the local state machine 13 is the remote control attribute or the local control attribute.
  • the current state of the local state machine 13 is the state of the local state machine 13 at the arrival of a control period T1, which will be described later. If the attribute of the current state of the local state machine 13 is the local control attribute, the execution control unit 14 causes the local state machine 13 to execute output value generation processing. That is, the execution control unit 14 notifies the local state machine 13 of the input value from the controlled device 20, and causes the local state machine 13 to execute output value generation processing using the input value.
  • the execution control unit 14 then generates an output value signal 821 that notifies the output value generated by the local state machine 13 and outputs the output value signal 821 to the first communication unit 11 . Further, if the current state of the local state machine 13 has a local control attribute, the execution control unit 14 causes the local state machine 13 to determine the state transition destination based on the input value, and changes the state of the local state machine 13 to the state transition state. transition forward. Also, the execution control unit 14 causes the local state machine 13 to generate an updated value for the shared internal value. The execution control unit 14 then generates a local control status packet 74 that notifies the state transition destination and the updated value of the shared internal value, and outputs the local control status packet 74 to the second communication unit 12 . Thus, when the attribute of the current state of the local state machine 13 is the local control attribute, the execution control unit 14 notifies the controller 30 of the state transition destination and the updated value of the shared internal value.
  • the execution control section 14 acquires the output packet 73 from the second communication section 12 .
  • the execution control unit 14 then generates an output value signal 822 that notifies the output value to the controlled device 20 from the output packet 73 and outputs the output value signal 822 to the first communication unit 11 . That is, the execution control unit 14 notifies the controlled device 20 of the output value. Further, the execution control unit 14 transitions the state of the local state machine 13 to the state transition destination notified by the output packet 73 . Also, the execution control unit 14 updates the shared internal value to the update value of the shared internal value notified by the output packet 73 .
  • the execution control unit 14 corresponds to a local execution control unit. Further, the processing performed by the execution control unit 14 corresponds to local execution control processing. Processing performed by the execution control unit 14 and the execution control unit 33, which will be described later, corresponds to execution control processing.
  • the internal value buffer 15 is a buffer that holds internal values including shared internal values. Note that the internal value buffer 15 may be omitted if the control of the controlled device 20 does not require internal values.
  • FIG. 9 shows a functional configuration example of the controller 30 according to this embodiment.
  • 26 shows a hardware configuration example of the controller 30. As shown in FIG. First, a hardware configuration example of the controller 30 will be described with reference to FIG.
  • the controller 30 is a computer such as a server.
  • the controller 30 includes a processor 801, a main storage device 802, an auxiliary storage device 803, and a communication device 804 as hardware.
  • these pieces of hardware may be implemented as virtual hardware having equivalent functions.
  • virtual hardware may be constructed by a plurality of computers such as a plurality of servers.
  • the auxiliary storage device 803 stores a program that implements the functions of the communication unit 31, the primitive state machine 32, and the execution control unit 33, which will be described later with reference to FIG.
  • a program that implements the functions of the communication unit 31 and the execution control unit 33 corresponds to a packet processing program. These programs are loaded from the auxiliary storage device 803 to the main storage device 802 .
  • FIG. 26 schematically shows a state in which the processor 801 is executing a program that implements the functions of the communication unit 31, the primitive state machine 32, and the execution control unit 33.
  • the communication unit 31 communicates with the gateway 40 . Specifically, the communication unit 31 uses the communication device 804 to transmit the initialization packet 71 to the gateway 40 . The communication unit 31 also receives the input packet 72 from the gateway 40 using the communication device 804 . Also, the communication unit 31 uses the communication device 804 to transmit the output packet 73 to the gateway 40 . Furthermore, the communication unit 31 uses the communication device 804 to receive the local control status packet 74 from the gateway 40 .
  • the primitive state machine 32 is the primitive state machine described using FIG.
  • the execution control unit 33 performs output value generation processing for generating an output value to the controlled device 20.
  • a remote device (controller 30) in the remote environment is caused to execute.
  • the execution control unit 33 causes the output value generation process to be performed by a local device (input/output) in the local environment for the control target device 20. Let the device 10) execute.
  • the execution control unit 33 generates an initialization packet 71 . Specifically, the execution control unit 33 divides the N states included in the primitive state machine 32 into a state having (NL) remote control attributes and a state having L local control attributes. decide. The execution control unit 33 then generates a local state machine program that implements arithmetic means corresponding to the L local control attributes. The execution control unit 33 then generates an initialization packet 71 containing the generated local state machine program and the state attribute table 35 and outputs the generated initialization packet 71 to the communication unit 31 .
  • the execution control unit 33 acquires the input packet 72 from the communication unit 31 .
  • the execution control unit 33 then refers to the state attribute table 35 to determine whether the attribute of the current state of the primitive state machine 32 is the remote control attribute or the local control attribute.
  • the current state of the primitive state machine 32 is the state of the primitive state machine 32 when the execution control unit 33 is notified of the input value from the controlled device 20 (that is, when the input packet 72 is acquired), or This is the state of the primitive state machine 32 when a control period T2, which will be described later, arrives. If the attribute of the current state of the primitive state machine 32 is the remote control attribute, the execution control unit 33 causes the primitive state machine 32 to execute output value generation processing.
  • the execution control unit 33 notifies the primitive state machine 32 of the input value from the controlled device 20, and causes the primitive state machine 32 to execute output value generation processing using the input value. Further, if the current state of the primitive state machine 32 has a remote control attribute, the execution control unit 33 causes the primitive state machine 32 to determine the state transition destination based on the input value, and changes the state of the primitive state machine 32 to state transition. transition forward. The execution control unit 33 also causes the primitive state machine 32 to generate an updated value for the shared internal value. The execution control unit 33 then generates an output packet 73 that notifies the output value, state transition destination, and updated value of the shared internal value, and outputs the output packet 73 to the communication unit 31 . Thus, when the attribute of the current state of the primitive state machine 32 is the remote control attribute, the execution control unit 33 sends the input/output device 10 via the gateway 40 to update the output value, the state transition destination, and the shared internal value. Notify value.
  • execution control unit 33 acquires local control status packet 74 from communication unit 31 .
  • the execution control unit 33 then transitions the state of the primitive state machine 32 to the state transition destination notified by the local control status packet 74 .
  • the execution control unit 33 also updates the shared internal value to the updated value of the shared internal value notified by the local control status packet 74 .
  • the execution control section 33 corresponds to a remote execution control section. Further, the processing performed by the execution control unit 33 corresponds to remote execution control processing. Processing performed by the execution control unit 33 and the execution control unit 14 corresponds to execution control processing.
  • the internal value buffer 34 is a buffer that holds internal values including shared internal values. Note that the internal value buffer 34 may be omitted if the control of the controlled device 20 does not require internal values.
  • the state attribute table 35 is the state attribute table shown in FIG.
  • FIG. 10 shows initialization processing.
  • the execution control unit 33 creates the state attribute table 35.
  • FIG. Specifically, the execution control unit 33 determines attributes of each of the N states of the primitive state machine 32 . For example, the execution control unit 33 sets attributes of a specified number of states in descending order of request response time as local control attributes. Also, the execution control unit 33 sets the attributes of the remaining states to remote control attributes. For example, of the N states, the execution control unit 33 sets the attributes of L states as local control attributes, and sets the attributes of (NL) states as remote control attributes. Then, the execution control unit 33 generates a state attribute table 35 indicating attributes of each state.
  • step S12 the execution control section 33 generates a local state machine program.
  • the execution control unit 33 generates, as a local state machine program, a program including L arithmetic means corresponding to L states for which the local control attribute is set.
  • step S ⁇ b>13 the execution control unit 33 generates the initialization packet 71 and transmits the generated initialization packet 71 from the communication unit 31 to the input/output device 10 . That is, the execution control unit 33 generates, as the initialization packet 71, a packet containing the state attribute table 35 generated in step S11 and the local state machine program generated in step S12. The execution control unit 33 then outputs the initialization packet 71 to the communication unit 31 , and the communication unit 31 transmits the initialization packet 71 to the gateway 40 . The gateway 40 transfers the initialization packet 71 to the input/output device 10 . Finally, the input/output device 10 receives the initialization packet 71 from the gateway 40 .
  • step S ⁇ b>14 the execution control unit 14 makes the state attribute table 35 included in the initial setting packet 71 referable as the state attribute table 16 . Furthermore, the execution control unit 14 sets the local state machine program included in the initialization packet 71 in the local state machine 13 . That is, the second communication unit 12 receives the initialization packet 71 and outputs the initialization packet 71 to the execution control unit 14 .
  • the execution control unit 14 extracts the state attribute table 35 from the initialization packet 71 , mounts the extracted state attribute table 35 in the main storage device 702 , and makes it referable as the state attribute table 16 . Further, the execution control unit 14 extracts the local state machine program from the initial setting packet 71, installs the extracted local state machine program in the main storage device 702, and enables the local state machine 13 to execute the local state machine program. do.
  • FIG. 11 shows an example of input processing by the input/output device 10 . Input processing will be described with reference to FIG. It is assumed that the flow shown in FIG. 11 is started at each prescribed control cycle T1.
  • step S ⁇ b>21 the first communication unit 11 receives the input value signal 81 from the controlled device 20 .
  • the first communication unit 11 outputs the received input value signal 81 to the execution control unit 14 .
  • step S22 the execution control unit 14 generates the input packet 72 using the input value. That is, the execution control unit 14 extracts the input value from the input value signal 81 and generates the input packet 72 using the extracted input value. The execution control unit 14 then outputs the input packet 72 to the second communication unit 12 . Note that the execution control unit 14 holds the input value in an input value buffer (not shown), which is an internal buffer, until the next control cycle T1 arrives and step S22 is performed again.
  • an input value buffer not shown
  • step S ⁇ b>23 the second communication section 12 transmits the input packet 72 to the controller 30 .
  • the second communication unit 12 transmits the input packet 72 to the gateway 40 .
  • Gateway 40 forwards incoming packet 72 to controller 30 .
  • controller 30 receives input packet 72 from gateway 40 .
  • FIG. 12 shows an operation example of the controller 30 .
  • the flow of FIG. 12 is assumed to be started when the input packet 72 is received or every prescribed control cycle T2 (T2 ⁇ T1).
  • the execution control unit 33 determines whether or not the attribute of the current state of the primitive state machine 32 is the remote control attribute. More specifically, the execution control unit 33 refers to the state attribute table 35 and determines whether or not the attribute of the current state of the primitive state machine 32 is the remote control attribute.
  • the execution control unit 33 has a state buffer (not shown) which is an internal buffer for recording the current state of the primitive state machine 32 . Every time a state transition occurs in the primitive state machine 32 , the execution control unit 33 records the state of the state transition destination in the state buffer as the current state of the primitive state machine 32 .
  • the execution control unit 33 refers to the state attribute table 35 to determine the attribute of the current state recorded in the state buffer in step S30. For example, if the state stored in the state buffer is ST_1, the execution control unit 33 can determine from the state attribute table 35 that the attribute of the current state of the primitive state machine 32 is the remote control attribute.
  • step S31 If the attribute of the current state of the primitive state machine 32 is the remote control attribute, the process proceeds to step S31. On the other hand, if the attribute of the current state of primitive state machine 32 is the local control attribute, the process proceeds to step S37.
  • the execution control unit 33 determines whether or not the input packet 72 from the input/output device 10 is received. That is, the execution control unit 33 determines whether or not the input packet 72 has been acquired from the communication unit 31 . If the input packet 72 from the input/output device 10 has been received, the process proceeds to step S32. On the other hand, if the input packet 72 from the input/output device 10 has not been received, the process ends.
  • step S ⁇ b>32 the execution control unit 33 notifies the primitive state machine 32 of the input value and the shared internal value from the controlled device 20 . That is, the execution control unit 33 notifies the primitive state machine 32 of the input value included in the input packet 72 and the shared internal value held in the internal value buffer 34 .
  • step S33 the primitive state machine 32 executes the arithmetic means corresponding to the current state, and uses the input value and shared internal value notified from the execution control unit 33 to obtain the output value, state transition destination, and Generates updated values for shared internal values. Also, the primitive state machine 32 notifies the execution control unit 33 of the output value, the state transition destination, and the updated value of the shared internal value.
  • step S34 the primitive state machine 32 transitions the state to the state transition destination generated in step S33.
  • step S35 the execution control unit 33 updates the internal value buffer 34 using the updated value of the shared internal value, and also outputs an output packet that notifies the output value, state transition destination, and updated value of the shared internal value. 73 is generated. The execution control unit 33 then outputs the output packet 73 to the communication unit 31 . Also, the execution control unit 33 updates the current state of the state buffer to the state of the state transition destination.
  • step S ⁇ b>36 the communication unit 31 transmits the output packet 73 to the input/output device 10 . Specifically, the communication unit 31 transmits the output packet 73 to the gateway 40 . The gateway 40 forwards the output packet 73 to the input/output device 10 . Finally, the input/output device 10 receives the output packet 73 from the gateway 40 .
  • the execution control unit 33 notifies the primitive state machine 32 of the input value and the shared internal value so that the primitive state machine 32 generates updated values for the output value, the state transition destination and the shared internal value, and causes the primitive state machine 32 to transition the state to the state transition destination. Furthermore, the execution control unit 33 transmits to the input/output device 10 an output packet 73 that notifies the output value generated by the primitive state machine 32, the state transition destination, and the updated value of the shared internal value.
  • step S37 the execution control unit 33 determines whether the local control status packet 74 has been received. judge. That is, the execution control unit 33 determines whether or not the local control status packet 74 has been acquired from the communication unit 31 . If the local control status packet 74 has been received, the process proceeds to step S38. On the other hand, if the local control status packet 74 has not been received, the process proceeds to step S391. In step S391, the execution control unit 33 determines whether or not the local control status packet 74 has been received once after transitioning from the state of the remote control attribute to the state of the local control attribute.
  • step S392 If the local control status packet 74 has never been received, the process proceeds to step S392. If the local control status packet 74 has been received even once, the process ends. In step S ⁇ b>392 , the execution control unit 33 retransmits the output packet 73 generated in the last remote control attribute state to the input/output device 10 . It is assumed that the output packet 73 is buffered for this process. After step S392, the process ends.
  • step S ⁇ b>38 the execution control unit 33 notifies the primitive state machine 32 of the state transition destination indicated in the local control status packet 74 .
  • the execution control unit 33 also updates the internal value buffer 34 with the updated value of the shared internal value indicated in the local control status packet 74 . Also, the execution control unit 33 updates the current state of the state buffer to the state of the state transition destination.
  • step S ⁇ b>39 the primitive state machine 32 makes a state transition to the state transition destination notified from the execution control unit 33 .
  • the execution control unit 33 notifies the primitive state machine 32 of the state transition destination determined by the input/output device 10. , causes the primitive state machine 32 to transition to the state transition destination determined by the input/output device 10 . Furthermore, the execution control unit 33 updates the internal value buffer 34 using the updated shared internal value determined by the input/output device 10 .
  • FIGS. 13 and 14 show an operation example of the input/output device 10.
  • FIG. The flows of FIGS. 13 and 14 are assumed to be started every control cycle T1.
  • the execution control unit 14 determines whether or not the attribute of the current state of the local state machine 13 is the remote control attribute. More specifically, the execution control unit 14 refers to the state attribute table 16 and determines whether or not the attribute of the current state of the local state machine 13 is the remote control attribute.
  • the execution control unit 14 has a state buffer (not shown) which is an internal buffer for recording the current state of the local state machine 13 . Every time a state transition occurs in the local state machine 13 , the execution control unit 14 records the state of the state transition destination in the state buffer as the current state of the local state machine 13 .
  • the execution control unit 14 refers to the state attribute table 16 to determine the attributes of the current state recorded in the state buffer in step S41. For example, if the state stored in the state buffer is ST_1, the execution control unit 14 can determine from the state attribute table 16 that the attribute of the current state of the local state machine 13 is the remote control attribute.
  • step S42 If the attribute of the current state of the local state machine 13 is the remote control attribute, the process proceeds to step S42. On the other hand, if the attribute of the current state of the local state machine 13 is the local control attribute, the process proceeds to step S47 in FIG.
  • step S42 the execution control unit 14 determines whether or not the output packet 73 from the controller 30 has been received. That is, the execution control unit 14 determines whether or not the output packet 73 has been acquired from the second communication unit 12 . If the output packet 73 from the controller 30 has been received, the process proceeds to step S43. On the other hand, if the output packet 73 from the controller 30 has not been received, the process proceeds to step S45.
  • step S43 the execution control unit 14 outputs the output value signal 822 to the controlled device 20, updates the internal value buffer 15, and notifies the local state machine 13 of the state transition destination. That is, the execution control unit 14 generates the output value signal 822 that notifies the output value included in the output packet 73 and outputs the generated output value signal 822 to the first communication unit 11 . Then, the first communication unit 11 transmits the output value signal 822 to the controlled device 20 .
  • the execution control unit 14 also updates the internal value buffer 15 using the updated shared internal value contained in the output packet 73 . Furthermore, the execution control unit 14 notifies the local state machine 13 of the state transition destination included in the output packet 73 .
  • step S44 the local state machine 13 makes a state transition to the state transition destination notified from the execution control unit 14.
  • step S45 the execution control unit 14 determines whether or not the state in which the output packet 73 has not been received has continued for T_err seconds. If the output packet 73 has not been received for T_err seconds, the process proceeds to step S46. On the other hand, if the output packet 73 has not been received for less than T_err seconds, the process proceeds to step S53. In step S53, the execution control unit 33 determines whether or not the output packet 73 has been received once after transitioning from the state of the local control attribute to the state of the remote control attribute. If the output packet 73 has never been received, the process proceeds to step S54. If the output packet 73 has been received even once, the process ends.
  • step S ⁇ b>54 the execution control unit 33 retransmits the local control status packet 74 generated with the last local control attribute state to the controller 30 . It is assumed that the local control status packet 74 is buffered for this process. After step S54, the process ends.
  • step S46 the execution control unit 14 performs prescribed communication error processing.
  • Communication error processing is, for example, fail-safe processing such as emergency stop.
  • the execution control unit 14 notifies the local state machine 13 of the state transition destination determined by the controller 30, thereby The state of the state machine 13 is changed to the state transition destination determined by the controller 30 . Further, the execution control unit 14 updates the internal value buffer 15 using the updated shared internal value determined by the controller 30 .
  • step S47 the execution control unit 14 transfers the input value from the control target device 20 and the shared internal value to the local Notify the state machine 13 . That is, the execution control unit 14 sends the input value included in the input value signal 81 received from the controlled device 20 and the shared internal value held in the internal value buffer 15 in step S21 of FIG. Notice.
  • Input values are values stored in an input value buffer (not shown).
  • step S48 the local state machine 13 executes the arithmetic means corresponding to the current state, and uses the input value and shared internal value notified from the execution control unit 14 to obtain the output value, state transition destination, and shared internal value. generates an updated value for . Also, the local state machine 13 notifies the execution control unit 14 of the output value, state transition destination, and updated value of the shared internal value.
  • step S49 the local state machine 13 makes a state transition to the state transition destination generated in step S48.
  • step S ⁇ b>50 the execution control unit 14 outputs the output value signal 821 to the controlled device 20 and updates the internal value buffer 15 . That is, the execution control unit 14 generates the output value signal 821 that notifies the output value generated by the local state machine 13 in step S48 and outputs the generated output value signal 821 to the first communication unit 11 . Then, the first communication unit 11 transmits the output value signal 821 to the controlled device 20 .
  • the execution control unit 14 also updates the internal value buffer 15 using the updated shared internal value generated by the local state machine 13 in step S48. Also, the execution control unit 14 updates the current state of the state buffer to the state of the state transition destination.
  • step S ⁇ b>51 the execution control unit 14 generates a local control status packet 74 . That is, the local control status packet 74 is generated as a packet for notifying the state transition destination and the updated value of the shared internal value generated by the local state machine 13 in step S48. Then, it outputs the local control status packet 74 to the second communication unit 12 .
  • step S ⁇ b>52 the second communication section 12 transmits the local control status packet 74 to the controller 30 .
  • the second communication unit 12 transmits the local control status packet 74 to the gateway 40 .
  • Gateway 40 forwards local control status packet 74 to controller 30 .
  • controller 30 receives a local control status packet 74 from gateway 40 .
  • the execution control unit 14 when the attribute of the current state of the local state machine 13 is the local control attribute, the execution control unit 14 notifies the local state machine 13 of the input value and the shared internal value so that the local state machine 13 generates updated values for the output value, the state transition destination and the shared internal value, and causes the local state machine 13 to transition the state to the state transition destination. Furthermore, the execution control unit 14 transmits to the controller 30 a local control status packet 74 that notifies the state transition destination generated by the local state machine 13 and the updated value of the shared internal value.
  • the present embodiment it is possible to switch between the remote device (controller 30) and the local device (input/output device 10) for each state in accordance with the state transition. can. That is, according to the present embodiment, in the control system 60 based on control specifications that can be defined by state machines, processing in each state can be distributed to the controller 30 or the input/output device 10 in consideration of the required responsiveness. can be done. Further, according to the present embodiment, the output value generation process for each state can be controlled in consideration of the state transition order and state transition conditions. As a result, according to the present embodiment, it is possible to reduce the frequency of error processing such as fail-safe processing due to communication errors caused by communication delay and/or packet loss. Therefore, the availability of the control system 60 can be improved.
  • error processing such as fail-safe processing due to communication errors caused by communication delay and/or packet loss. Therefore, the availability of the control system 60 can be improved.
  • FIG. 15 includes generation of output values, generation of state transition destinations, and generation of updated values of shared internal values.
  • FIG. 15(a) shows an execution example of calculation result generation processing when the control method according to the present embodiment is not used.
  • the primitive state machine 32 of the controller 30 needs to perform the calculation result generation processing in all states.
  • the timeout time in the output process of the input/output device 10 (corresponding to T_err in step S45 in FIG. 14) takes into consideration the minimum required response time in the state where the primitive state machine 32 performs the calculation result generation process. must be set. Therefore, in the example of FIG. 15(a), it is necessary to set the timeout time in the output process of the input/output device 10 in consideration of 0.5 seconds, which is the request response time of ST3.
  • FIG. 15 shows an execution example of the calculation result generation process when the control method according to the present embodiment is used.
  • the primitive state machine 32 of the controller 30 performs the calculation result generation processing of ST_0, ST_1 and ST_3.
  • the local state machine 13 of the input/output device 10 performs the operation result generation processing of ST_2 with a short request response time.
  • the timeout time in the output process of the input/output device 10 (corresponding to T_err in step S45 in FIG. 14) is the minimum required response time in the state where the primitive state machine 32 performs the operation result generation process. should be set in consideration.
  • T_err in step S45 in FIG. 14 is the minimum required response time in the state where the primitive state machine 32 performs the operation result generation process.
  • the timeout period in the output process of the input/output device 10 may be set in consideration of 4 seconds, which is the request response time of ST_3. Therefore, the timeout period can be set longer in the example of FIG. 15(b) than in the example of FIG. 15(a). Therefore, according to the present embodiment, it is possible to reduce the frequency of performing error processing such as fail-safe processing due to communication errors. As a result, availability of the control system 60 can be improved.
  • Embodiment 2 a control system 60 including a plurality of input/output devices 10 will be described. Then, in the present embodiment, the local state machine 13 of a given input/output device 10 uses an input value obtained by another input/output device 10 from the controlled device 20 to obtain an output value to the controlled device 20. Generate.
  • FIG. 16 shows a configuration example of a control system 60 according to this embodiment.
  • FIG. 16 there are two input/output devices 10, an input/output device (A) 10a and an input/output device (B) 10b.
  • the local input packet 75 is transmitted from the input/output device (A) 10a to the input/output device (B) 10b.
  • the local input packet 75 is a packet for notifying the input/output device (B) 10b of the input value that the input/output device (A) 10a has acquired from the control target device 20 .
  • the local state machine 13 included in the input/output device (B) 10b outputs the output value to the controlled device 20 using the input value from the controlled device 20 notified by the local input packet 75. , specify the state transition destination, and update the shared internal value.
  • the input/output device (B) 10b corresponds to a local device.
  • the functional configuration example of the input/output device (A) 10a and the input/output device (B) 10b is the same as the functional configuration example of the input/output device 10 shown in FIG.
  • the hardware configuration example of the input/output device (A) 10a and the input/output device (B) 10b is the same as the hardware configuration example of the input/output device 10 shown in FIG.
  • FIG. 17 shows an example of local input processing by the input/output device (A) 10a and the input/output device (B) 10b.
  • the input/output device (A) 10a performs local input processing shown in FIG. 17 in addition to the input processing (FIG. 11) shown in the first embodiment. It is assumed that the flow shown in FIG. 17 is started at each prescribed control cycle T1.
  • step S ⁇ b>61 the first communication unit 11 of the input/output device (A) 10 a receives the input value signal 81 from the control target device 20 .
  • the first communication unit 11 of the input/output device (A) 10a outputs the received input value signal 81 to the execution control unit 14 of the input/output device (A) 10a.
  • step S62 the execution control unit 14 of the input/output device (A) 10a generates the local input packet 75 using the input value. That is, the execution control unit 14 extracts the input value from the input value signal 81 and generates the local input packet 75 using the extracted input value. The execution control unit 14 then outputs the local input packet 75 to the second communication unit 12 .
  • a local input packet 75 is composed of, for example, a header, an input value and a footer. Note that the execution control unit 14 of the input/output device (A) 10a stores the input value in an input value buffer (not shown), which is an internal buffer, until the next control cycle T1 arrives and step S62 is newly performed. keep it in
  • step S 63 the second communication unit 12 of the input/output device (A) 10 a transmits the local input packet 75 to the internal network 51 .
  • the second communication unit 12 of the input/output device (A) 10a may transmit the local input packet 75 by unicast, broadcast, or multicast.
  • Input/output device (B) 10 b receives local input packet 75 from internal network 51 .
  • the flow of FIG. 17 may be started at any of the following timings other than the arrival of the control period T1.
  • the execution control unit 14 can recognize the attribute of the current state of the primitive state machine 32 of the controller 30 or the local state machine 13 of the input/output device (B) 10b by any means.
  • the execution control unit 14 of the input/output device (A) 10a determines that the attribute of the current state of the primitive state machine 32 of the controller 30 or the local state machine 13 of the input/output device (B) 10b is the local control attribute. If recognized, the flow of FIG. 17 starts. 2) When the input/output device (A) 10a receives a transmission request for the local input packet 75 from the input/output device (B) 10b. is generated, and the second communication unit 12 of the input/output device (B) 10b transmits the transmission request to the input/output device (A) 10a.
  • Steps may be added to the flow of FIG. 17 so that the flow of FIG. 17 can be started at the timings of 1) and 2) above.
  • the operation example of the controller 30 is the same as in Embodiment 1 (FIG. 12). Therefore, description of an operation example of the controller 30 according to the present embodiment is omitted.
  • Steps S71 to S76, S86 and S87 in FIG. 18 are the same as steps S41 to S46, S53 and S54 in FIG. Therefore, descriptions of steps S71 to S76, steps S86 and S87 are omitted.
  • step S77 the execution control unit 14 of the input/output device (B) 10b determines whether or not the local input packet 75 has been received from the input/output device (A) 10a. If the local input packet 75 has already been received from the input/output device (A) 10a, the process proceeds to step S78. On the other hand, if the local input packet 75 has not been received from the input/output device (A) 10a, the process proceeds to step S84.
  • step S78 the execution control unit 14 of the input/output device (B) 10b notifies the local state machine 13 of the input value and the shared internal value from the controlled device 20.
  • the execution control unit 14 puts the input value included in the local input packet 75 received from the input/output device (A) 10a in step S61 in FIG. Notify machine 13.
  • Steps S79 to S83 are the same as steps S48 to S52 in FIG. Therefore, description of steps S79 to S83 is omitted.
  • step S84 the execution control unit 14 of the input/output device (B) 10b determines that the local input packet 75 has not been received for T_err_loc seconds. Determine whether it continues. If no local input packet 75 has been received for T_err_loc seconds, the process proceeds to step S85. On the other hand, if no local input packet 75 has been received for less than T_err_loc seconds, the process ends.
  • the execution control unit 14 of the input/output device (B) 10b performs prescribed communication error processing.
  • Communication error processing is, for example, fail-safe processing such as emergency stop.
  • the internal network 51 is a communication path in which only expected traffic exists and the worst values of communication delay and jitter can be easily predicted. Therefore, it is assumed that the possibility of the process proceeding from step S77 to step S84 in FIG. 19 is extremely small.
  • Embodiment 3 In this embodiment, an example in which the gateway 40 functions as a local device instead of the input/output device 10 will be described.
  • the input/output device 10 has the local state machine 13 and the execution control unit 14, and the input/output device 10 functions as a local device.
  • the same configuration as the local state machine 13 and the execution control unit 14 described in the first and second embodiments is arranged in the gateway 40. and makes the gateway 40 function as a local device.
  • FIG. 20 shows a configuration example of a control system 60 according to this embodiment.
  • the gateway 40 corresponds to the local device.
  • the input/output device 10 transmits the input packet 721 to the gateway 40 .
  • Gateway 40 receives input packet 721 and transmits input packet 722 and local control status packet 741 to controller 30 .
  • the input packets 721 and 722 are the same as the input packet 72 shown in FIG. 1 except for the addresses included in the headers.
  • the destination address is the address of the controller 30 and the source address is the address of the input/output device 10 .
  • the destination address is the address of the gateway 40 and the source address is the address of the input/output device 10 .
  • the destination address is the controller 30 address and the source address is the gateway 40 address.
  • the local control status packet 741 is the same as the local control status packet 74 shown in FIG. 1 except for the address contained in the header.
  • the destination address is the address of the controller 30 and the source address is the address of the input/output device 10 .
  • the destination address is the controller 30 address and the source address is the gateway 40 address.
  • the controller 30 transmits the initialization packet 711 and the output packet 731 to the gateway 40 .
  • the gateway 40 receives the initialization packet 711 and the output packet 731 and transmits the output packet 732 to the input/output device 10 .
  • the initialization packet 711 is the same as the initialization packet 71 shown in FIG. 1 except for the address contained in the header.
  • the destination address is the input/output device 10 and the source address is the controller 30 .
  • the destination address is the gateway 40 and the source address is the controller 30 .
  • the output packets 731 and 732 are the same as the output packet 73 shown in FIG. 1 except for the addresses contained in the headers.
  • the destination address is the input/output device 10 and the source address is the controller 30 .
  • the destination address is the gateway 40 and the source address is the controller 30 .
  • the destination address is the input/output device 10 and the source address is the gateway 40 .
  • the output packet 731 like the output packet 73 , contains updated values for output values, state transition destinations, and shared internal values.
  • the output packet 732 may contain only the output value and may not contain the state transition destination and the updated value of the shared internal value. This is because, in the present embodiment, the input/output device 10 does not use updated values of state transition destinations and shared internal values.
  • FIG. 20 Other components shown in FIG. 20 are the same as the corresponding components in FIG.
  • Illustration of an example of the functional configuration of the input/output device 10 according to the present embodiment is omitted.
  • the configuration shown in FIG. Conceivable as an example of the functional configuration of the input/output device 10, the configuration shown in FIG. Conceivable.
  • the functional configuration of the controller 30 is the same as that shown in FIG. Therefore, the description is omitted.
  • FIG. 21 shows a functional configuration example of the gateway 40 according to this embodiment. Also, FIG. 27 shows a hardware configuration example of the gateway 40 according to the present embodiment.
  • the gateway 40 is a computer.
  • the gateway 40 includes a processor 901, a main storage device 902, an auxiliary storage device 903, and a communication device 904 as hardware.
  • Auxiliary storage device 903 stores a program that implements the functions of first communication unit 41, second communication unit 42, local state machine 43, and execution control unit 44, which will be described later with reference to FIG. These programs are loaded from the auxiliary storage device 903 to the main storage device 902 .
  • the processor 901 executes these programs to operate the first communication unit 41, the second communication unit 42, the local state machine 43, and the execution control unit 44, which will be described later.
  • FIG. 27 schematically shows a state in which the processor 901 is executing a program that implements the functions of the first communication unit 41, the second communication unit 42, the local state machine 43, and the execution control unit 44.
  • FIG. 27 schematically shows a state in which the processor 901 is executing a program that implements the functions of the first communication unit 41, the second communication unit 42, the
  • the first communication unit 41 communicates with the input/output device 10 . Specifically, the first communication unit 41 uses the communication device 904 to receive the input packet 721 from the input/output device 10 . Also, the first communication unit 41 uses the communication device 904 to transmit the output packet 732 to the input/output device 10 .
  • a second communication unit 42 communicates with the controller 30 . Specifically, the second communication unit 42 uses the communication device 904 to transmit the input packet 722 and the local control status packet 741 to the controller 30 . Also, the second communication unit 42 receives the initial setting packet 711 and the output packet 731 from the controller 30 using the communication device 904 .
  • the local state machine 43 is the local state machine described using FIG.
  • the execution control unit 44 performs output value generation processing for generating an output value to the controlled device 20 for the controlled device 20 .
  • a remote device (controller 30) in the remote environment is caused to execute.
  • the execution control unit 44 performs the output value generation process on a local device (gateway 40) in the local environment for the controlled device 20. ) to run.
  • the execution control section 44 corresponds to a local execution control section. Further, in the present embodiment, the processing performed by the execution control unit 44 and the execution control unit 33 of the controller 30 corresponds to execution control processing.
  • the internal value buffer 45 is a buffer that holds internal values including shared internal values. Note that the internal value buffer 45 may be omitted if the control of the controlled device 20 does not require internal values.
  • the state attribute table 46 is the state attribute table shown in FIG. State attribute table 46 is the same as state attribute table 16 .
  • Steps S11 to S13 are operations of the controller 30 .
  • Steps S11 to S13 are the same as those shown in the first embodiment except that the packets to be transmitted and received and the destinations of the packets are different. That is, in the present embodiment, the initialization packet 711 is sent to the gateway 40 instead of the input/output device 10 .
  • step S14 the execution control unit 44 makes the state attribute table 35 included in the initialization packet 711 referable as the state attribute table 46, and sets the local state machine program included in the initialization packet 711 in the local state machine 43. . That is, the second communication unit 42 receives the initialization packet 711 and outputs the initialization packet 711 to the execution control unit 44 .
  • the execution control unit 44 extracts the state attribute table 35 from the initialization packet 711 , mounts the extracted state attribute table 35 in the main storage device 902 , and makes it referable as the state attribute table 46 . Further, the execution control unit 44 extracts the local state machine program from the initialization packet 711, mounts the extracted local state machine program in the main storage device 902, and enables the local state machine 43 to execute the local state machine program. do.
  • FIG. 22 shows an example of input processing by the gateway 40.
  • FIG. Input processing will be described with reference to FIG. Assume that the flow shown in FIG. 22 is started each time an input packet 721 is received.
  • the execution control unit 44 determines whether or not the attribute of the current state of the local state machine 43 is the remote control attribute. More specifically, the execution control unit 44 refers to the state attribute table 46 and determines whether the attribute of the current state of the local state machine 43 is the remote control attribute.
  • the execution control unit 44 has a state buffer (not shown) which is an internal buffer for recording the current state of the local state machine 43 . Every time a state transition occurs in the local state machine 43 , the execution control unit 44 records the state of the state transition destination in the state buffer as the current state of the local state machine 43 .
  • the execution control unit 44 refers to the state attribute table 46 to determine the attributes of the current state recorded in the state buffer in step S91. For example, if the state stored in the state buffer is ST_1, the execution control unit 44 can determine from the state attribute table 46 that the attribute of the current state of the local state machine 43 is the remote control attribute.
  • step S92 If the attribute of the current state of the local state machine 43 is the local control attribute, the process proceeds to step S92. On the other hand, if the attribute of the current state of the local state machine 43 is the remote control attribute, the process proceeds to step S93.
  • the execution control unit 44 stores the input value in the input value buffer, which is an internal buffer. That is, the execution control unit 14 extracts the input value from the input packet 721 received by the first communication unit 41 from the input/output device 10, and stores the extracted input value in the input value buffer.
  • the input value buffer and the status buffer may be the same internal buffer or different internal buffers.
  • the execution control unit 44 transmits the input packet 722 to the controller 30 . That is, the execution control unit 44 generates an input packet 722 that notifies the input value contained in the input packet 721 and outputs the generated input packet 722 to the second communication unit 42 . The second communication unit 42 then transmits the input packet 722 to the controller 30 . Controller 30 receives input packet 722 .
  • the operation example of the controller 30 is the same as in Embodiment 1 (FIG. 12). Therefore, description of an operation example of the controller 30 according to the present embodiment is omitted.
  • FIG. 23 shows an operation example of the gateway 40 according to this embodiment.
  • the flow of FIG. 23 is assumed to be started every control period T1 or when the output packet 731 is received.
  • the execution control unit 44 determines whether or not the attribute of the current state of the local state machine 43 is the remote control attribute. More specifically, the execution control unit 44 refers to the state attribute table 46 and determines whether the attribute of the current state of the local state machine 43 is the remote control attribute.
  • the execution control unit 44 has a state buffer (not shown) which is an internal buffer for recording the current state of the local state machine 43 . Every time a state transition occurs in the local state machine 43 , the execution control unit 44 records the state of the state transition destination in the state buffer as the current state of the local state machine 43 .
  • the execution control unit 44 refers to the state attribute table 46 to determine the attributes of the current state recorded in the state buffer in step S101. For example, if the state stored in the state buffer is ST_1, the execution control unit 44 can determine from the state attribute table 46 that the attribute of the current state of the local state machine 43 is the remote control attribute.
  • step S113 If the attribute of the current state of the local state machine 43 is the remote control attribute, the process proceeds to step S113. On the other hand, if the attribute of the current state of the local state machine 43 is the local control attribute, the process proceeds to step S105.
  • step S113 the execution control unit 44 determines whether or not the output packet 731 has been received. If the output packet 731 has been received, the process proceeds to step S102. On the other hand, if the output packet 731 has not been received, the process proceeds to step S114.
  • step S ⁇ b>102 the execution control unit 44 notifies the local state machine 43 of the state transition destination and updates the internal value buffer 45 . That is, the execution control unit 44 notifies the local state machine 43 of the state transition destination included in the output packet 731 . Further, the execution control unit 44 updates the internal value buffer 45 using the updated shared internal value contained in the output packet 731 .
  • step S103 the local state machine 43 makes a state transition to the state transition destination notified by the execution control unit 44.
  • step S ⁇ b>104 the execution control unit 44 transmits the output packet 732 to the input/output device 10 via the first communication unit 41 . That is, the execution control unit 44 generates an output packet 732 that notifies the output value contained in the output packet 731 . The execution control unit 44 then outputs the generated output packet 732 to the first communication unit 41 . The first communication unit 41 transmits the output packet 732 to the input/output device 10 . As described above, the output packet 732 may not include the state transition destination and the updated value of the shared internal value.
  • the execution control unit 44 notifies the local state machine 43 of the state transition destination determined by the controller 30, thereby The state of the state machine 43 is changed to the state transition destination determined by the input/output device 10 . Further, the execution control unit 44 updates the internal value buffer 15 using the updated shared internal value determined by the controller 30 . Also, the execution control unit 44 notifies the controlled device 20 of the output value determined by the controller 30 .
  • step S105 the execution control unit 44 transfers the input value from the control target device 20 and the shared internal value to the local Notify the state machine 43 . That is, the execution control unit 44 sends the input value included in the input packet 721 received by the first communication unit 41 from the input/output device 10 and the shared internal value held in the internal value buffer 45 to the local state machine 43. Notice.
  • step S106 the local state machine 43 executes the arithmetic means corresponding to the current state, and uses the input value and shared internal value notified from the execution control unit 44 to obtain the output value, state transition destination, and shared internal value. generates an updated value for . Also, the local state machine 43 notifies the execution control unit 44 of the output value, state transition destination, and updated value of the shared internal value.
  • step S107 the local state machine 43 transitions the state to the state transition destination generated in step S106.
  • step S108 the execution control unit 44 updates the internal value buffer 45.
  • the execution control unit 44 updates the internal value buffer 15 using the updated shared internal value generated by the local state machine 43 in step S106. Also, the execution control unit 44 updates the current state of the state buffer to the state of the state transition destination.
  • step S ⁇ b>109 the execution control unit 44 generates an output packet 732 . That is, the execution control unit 44 generates the output packet 732 that notifies the output value generated by the local state machine 43 in step S106. As described above, the output packet 732 may not include the state transition destination and the updated value of the shared internal value. The execution control unit 44 then outputs the output packet 732 to the first communication unit 41 .
  • step S ⁇ b>110 the first communication unit 41 transmits the output packet 732 to the input/output device 10 .
  • step S ⁇ b>111 the execution control unit 44 generates a local control status packet 741 . That is, the local control status packet 741 is generated as a packet for notifying the state transition destination and the updated value of the shared internal value generated by the local state machine 43 in step S106. Then, it outputs the local control status packet 741 to the second communication unit 42 .
  • step S112 the second communication unit 42 transmits the local control status packet 741 to the controller 30.
  • step S114 the execution control unit 44 outputs the output packet 732 once after transitioning from the state of the local control attribute to the state of the remote control attribute. Determine whether or not it is received. If the output packet 731 has never been received, the process proceeds to step S115. If the output packet 731 has been received even once, the process ends. In step S ⁇ b>115 , the execution control unit 44 retransmits the local control status packet 741 generated with the last local control attribute state to the controller 30 . It is assumed that the local control status packet 741 is buffered for this process. After step S115, the process ends.
  • the execution control unit 44 notifies the local state machine 43 of the input value so that the local state machine 43 receives the output value , generate updated values for the state transition destination and the shared internal value, and cause the local state machine 43 to transition the state to the state transition destination. Further, the execution control unit 44 transmits to the controller 30 a local control status packet 741 that notifies the state transition destination generated by the local state machine 43 and the updated value of the shared internal value. Also, the execution control unit 44 transmits to the input/output device 10 an output packet 732 that notifies the output value generated by the local state machine 43 .
  • the gateway 40 has a local state machine 43 and an execution control unit 44 and functions as a local device. Therefore, according to the present embodiment, even if the input/output device 10 does not include the local state machine 13 and the execution control unit 14, the same effect as in the first embodiment can be obtained.
  • Embodiment 4 the number of states for which the execution control unit 33 sets the local control attribute is a fixed number (L).
  • L the number of states for which the execution control unit 33 sets the local control attribute.
  • execution control unit 33 determines the number of states for which local control attributes are set based on the communication quality of the communication line used when controller 30 communicates with input/output device 10 . More specifically, in the present embodiment, the execution control unit 33 sets the attribute of the state in which the requested response time is predicted to be unsatisfied among the plurality of states as the local control attribute. Then, the execution control unit 33 sets the attributes of the remaining states among the plurality of states as remote control attributes.
  • FIG. 24 shows initialization processing according to this embodiment.
  • step S121 the execution control unit 33 measures the RTT (Round Trip Time) with the gateway 40 and generates the RTT distribution. That is, the execution control unit 33 measures the RTT, which is the communication quality of the external network 52 which is the communication line used when communicating with the input/output device 10 . The execution control unit 33 then generates the measured RTT distribution. If the RTT information measured before step S121 is available in addition to the RTT measurement information measured in step S121, the RTT distribution may be generated including this information.
  • RTT Red Trip Time
  • step S122 the execution control unit 33 generates the state attribute table 35 based on the RTT distribution generated in step S121. Specifically, the execution control unit 33 calculates the probability pp of satisfying the required response time for each state included in the primitive state machine 32 based on the RTT distribution generated in step S121. Then, the execution control unit 33 sets a state in which the probability pp is less than the required probability P as the local control attribute. Further, the execution control unit 33 sets a state in which the probability pp is equal to or greater than the required probability P as the remote control attribute.
  • the required probability P is the minimum value required for the probability pp. If the probability pp is greater than or equal to the request probability P, the execution control unit 33 predicts that the requested response time can be satisfied. That is, the execution control unit 33 sets the attribute of the state in which it is predicted that the requested response time cannot be met as the local control attribute, and sets the attribute of the state in which the requested response time is predicted to be met as the remote control attribute.
  • Steps S123 to S125 are the same as steps S12 to S14 shown in FIG. 10, so description thereof will be omitted.
  • RTT distribution is used here as an indicator of the communication quality of the external network 52, other indicators may be used as the indicator of communication quality.
  • Embodiments 1 to 4 have been described above, but two or more of these embodiments may be combined for implementation. Alternatively, one of these embodiments may be partially implemented. Alternatively, two or more of these embodiments may be partially combined for implementation. Also, the configurations and procedures described in these embodiments may be changed as necessary.
  • Processors 701, 801, and 901 are ICs (Integrated Circuits) that perform processing.
  • the processors 701, 801, and 901 are CPUs (Central Processing Units), DSPs (Digital Signal Processors), and the like, respectively.
  • the main storage device 702, the main storage device 802 and the main storage device 902 are each RAM (Random Access Memory).
  • the auxiliary storage device 703, the auxiliary storage device 803, and the auxiliary storage device 903 are ROM (Read Only Memory), flash memory, HDD (Hard Disk Drive), etc., respectively.
  • Communication device 704, communication device 804, and communication device 904 are electronic circuits that perform data communication processing, respectively.
  • the communication device 704, the communication device 804, and the communication device 904 are each, for example, a communication chip or a NIC (Network Interface Card).
  • the auxiliary storage device 703 also stores an OS (Operating System). At least part of the OS is executed by the processor 701 .
  • the processor 701 executes a program that implements the functions of the first communication unit 11, the second communication unit 12, the local state machine 13, and the execution control unit 14 while executing at least part of the OS. Task management, memory management, file management, communication control, and the like are performed by the processor 701 executing the OS.
  • the auxiliary storage device 803 also stores an OS. At least part of the OS is executed by the processor 801 .
  • the processor 801 executes programs that implement the functions of the communication unit 31 , the primitive state machine 32 and the execution control unit 33 while executing at least part of the OS. Task management, memory management, file management, communication control, and the like are performed by the processor 801 executing the OS.
  • the auxiliary storage device 903 also stores an OS. At least part of the OS is executed by the processor 901 .
  • the processor 901 executes a program that implements the functions of the first communication unit 41, the second communication unit 42, the local state machine 43, and the execution control unit 44 while executing at least part of the OS. Task management, memory management, file management, communication control, and the like are performed by the processor 901 executing the OS.
  • At least one of information, data, signal values, and variable values indicating the processing results of the first communication unit 11, the second communication unit 12, the local state machine 13, and the execution control unit 14 is stored in the main storage device 702. , auxiliary storage device 703, registers in processor 701, and/or cache memory.
  • a program that realizes the functions of the first communication unit 11, the second communication unit 12, the local state machine 13, and the execution control unit 14 can be a magnetic disk, a flexible disk, an optical disk, a compact disk, or a Blu-ray (registered trademark) disk. , a portable recording medium such as a DVD. Then, a portable recording medium storing a program for implementing the functions of the first communication unit 11, the second communication unit 12, the local state machine 13, and the execution control unit 14 may be distributed.
  • the “units” of the first communication unit 11, the second communication unit 12 and the execution control unit 14 can be read as “circuit”, “step”, “procedure”, “processing” or “circuitry”. good.
  • the input/output device 10 may be realized by a processing circuit.
  • the processing circuits are, for example, logic ICs (Integrated Circuits), GAs (Gate Arrays), ASICs (Application Specific Integrated Circuits), and FPGAs (Field-Programmable Gate Arrays).
  • the first communication unit 11, the second communication unit 12, the local state machine 13, and the execution control unit 14 are each realized as part of the processing circuit.
  • At least one of information, data, signal values, and variable values indicating the processing results of the communication unit 31, the primitive state machine 32, and the execution control unit 33 is stored in the main storage device 802, auxiliary storage device 803, and processor 801. Stored in registers and/or cache memory.
  • Programs that implement the functions of the communication unit 31, the primitive state machine 32, and the execution control unit 33 are stored in portable recording media such as magnetic disks, flexible disks, optical disks, compact disks, Blu-ray (registered trademark) disks, and DVDs. may have been Then, a portable recording medium storing a program for implementing the functions of the communication unit 31, the primitive state machine 32, and the execution control unit 33 may be distributed.
  • the “unit” of the communication unit 31 and the execution control unit 33 may be read as “circuit”, “step”, “procedure”, “processing”, or “circuitry”.
  • the controller 30 may be realized by a processing circuit.
  • the processing circuit is, for example, a logic IC, GA, ASIC, FPGA, as described above.
  • the communication unit 31, the primitive state machine 32, the execution control unit 33 and the internal value buffer 34 are each implemented as part of the processing circuit.
  • At least one of information, data, signal values, and variable values indicating the processing results of the first communication unit 41, the second communication unit 42, the local state machine 43, and the execution control unit 44 is stored in the main storage device 902. , auxiliary storage device 903, registers in the processor 901, and/or cache memory.
  • a program that realizes the functions of the first communication unit 41, the second communication unit 42, the local state machine 43, and the execution control unit 44 can be a magnetic disk, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk. , a portable recording medium such as a DVD. Then, a portable recording medium storing a program for implementing the functions of the first communication unit 41, the second communication unit 42, the local state machine 43, and the execution control unit 44 may be distributed.
  • the gateway 40 may also be implemented by processing circuitry.
  • the processing circuit is, for example, a logic IC, GA, ASIC, FPGA, as described above.
  • the first communication unit 41, the second communication unit 42, the local state machine 43, and the execution control unit 44 are each realized as part of the processing circuit.
  • processors and processing circuits are each examples of “processing circuitry.”

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PCT/JP2021/005764 2021-02-16 2021-02-16 制御システム、制御方法、制御プログラム、ローカル機器、リモート機器、信号処理方法、パケット処理方法、信号処理プログラム及びパケット処理プログラム Ceased WO2022176031A1 (ja)

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