WO2022264351A1 - Dispositif de traitement de données et procédé de traitement de données - Google Patents

Dispositif de traitement de données et procédé de traitement de données Download PDF

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Publication number
WO2022264351A1
WO2022264351A1 PCT/JP2021/022994 JP2021022994W WO2022264351A1 WO 2022264351 A1 WO2022264351 A1 WO 2022264351A1 JP 2021022994 W JP2021022994 W JP 2021022994W WO 2022264351 A1 WO2022264351 A1 WO 2022264351A1
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data
data transfer
unit
input
control unit
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PCT/JP2021/022994
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English (en)
Japanese (ja)
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健宏 河合
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三菱電機株式会社
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Priority to PCT/JP2021/022994 priority Critical patent/WO2022264351A1/fr
Priority to JP2023528874A priority patent/JP7496937B2/ja
Publication of WO2022264351A1 publication Critical patent/WO2022264351A1/fr

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  • the present disclosure relates to a data processing device and a data processing method.
  • HILS Hardware In the Loop Simulator/Simulation
  • motor controllers are tested not by operating actual motors, but by operating motors simulated by HILS. For example, if a rotation command is input to the HILS, the HILS virtually operates the motor and outputs torque, rotation speed, rotation angle, etc., so it is possible to test whether the controller can control the motor normally.
  • the HILS Since the HILS transmits and receives data to and from the controller of the actual machine, the HILS must have response performance that matches the control cycle of the controller. In particular, in the HILS process of reading inputs, calculating the behavior of the motor, and outputting to the outside, it is important to speed up data transfer within the HILS.
  • Methods for speeding up data transfer include DMA (Direct Memory Access) transfer and burst transfer such as AXI (Advanced eXtensible Interface) bus. Also, on the premise that there are a plurality of data transfer paths from the "source” to the "destination", a technique for shortening the total transfer time by simultaneously using the plurality of paths for data transfer (Patent Document 1 technology), etc.
  • DMA Direct Memory Access
  • AXI Advanced eXtensible Interface
  • non-real-time control is allowed to delay to some extent due to preferential use of shared resources by real-time control.
  • the shared resource is used for too long by real-time control, it becomes almost impossible to transfer data by non-real-time control.
  • the present disclosure has been made in view of the problems as described above, and aims to provide a technology capable of appropriately performing the first control and the second control.
  • a data processing device includes an input/output control unit that transmits and receives data to and from an external device, performs an operation based on the data received by the input/output control unit, and outputs the operation result from the input/output control unit.
  • a data transfer bus forming a plurality of data transfer paths capable of transferring the data between the input/output control unit and the calculation unit; a route acquisition unit that generates information on the required time required and acquires one data transfer route selected from the plurality of data transfer routes; a route switching unit for switching a route for transferring between the input/output control unit and the arithmetic unit to the one data transfer route acquired by the route acquiring unit; and use of the data transfer bus.
  • an execution unit that executes a second control that takes precedence over the control.
  • the path for transferring data used for the first control between the input/output control unit and the arithmetic unit is switched to one data transfer path selected from among a plurality of data transfer paths,
  • the second control is executed in which the use of the data transfer bus is prioritized over the first control.
  • FIG. 1 is a block diagram showing the configuration of a data processing device according to Embodiment 1;
  • FIG. FIG. 7 is a diagram showing an example of transfer time measurement results according to the first embodiment;
  • 4 is a timing chart for explaining real-time control according to Embodiment 1;
  • 3 is a block diagram showing the configuration of a data processing device according to Embodiment 3;
  • FIG. FIG. 12 is a diagram showing an example of criteria and weights according to Embodiment 3;
  • FIG. 12 is a diagram showing an example of values of criteria according to the third embodiment;
  • FIG. FIG. 11 is a block diagram showing a hardware configuration of a data processing device according to another modified example;
  • FIG. 11 is a block diagram showing a hardware configuration of a data processing device according to another modified example;
  • FIG. 1 is a block diagram showing the configuration of a data processing device 100 according to the first embodiment.
  • the data processing device 100 executes first control and second control.
  • the first control is the real-time control 101 that is executed periodically, and the second control, such as providing remote access and displaying a GUI, may not be executed periodically.
  • the real-time control 101 is mainly executed by the input/output control unit 103, the arithmetic unit 104, the cycle control unit 105, the data transfer bus 106, and the plurality of storage areas 107. In the following description, these components may also be referred to as "components of real-time control 101".
  • the non-real-time control 102 is mainly executed by the route acquisition unit 112, the route switching unit 113, the non-real-time control execution unit 114 that is the execution unit, and the non-volatile storage area 115.
  • these components may also be referred to as "components of non-real-time control 102".
  • the input/output control unit 103 is connected to an external IO (external input/output unit) 110 and controls the external IO 110 to transmit/receive data to/from an external device.
  • external IO external input/output unit
  • the calculation unit 104 performs calculation based on the data received by the input/output control unit 103, and outputs the calculation result from the input/output control unit to an external device.
  • the cycle control unit 105 includes, for example, a timer, and controls the cycle of the real-time control 101.
  • the cycle of the real-time control 101 includes the control cycle of the input/output control unit 103 and the calculation unit 104 and the cycle of path synchronization.
  • the cycle control unit 105 outputs a computation synchronization trigger and a path synchronization trigger to the input/output control unit 103 and the computation unit 104, thereby controlling the control cycle and the cycle of path synchronization.
  • the data transfer bus 106 is a data bus that interconnects the components of the real-time control 101 and the components of the non-real-time control 102 .
  • the data transfer bus 106 is, for example, an AXI (Advanced eXtensible Interface) bus, which is a data bus in integrated circuits such as ASIC (Application Specific Integrated Circuit) and FPGA (Field Programmable Gate Array), and PCIe (Peripheral Component Interconnect Express). Switches, Ethernet (registered trademark) switching hubs, and the like.
  • AXI Advanced eXtensible Interface
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • PCIe Peripheral Component Interconnect Express
  • the data transfer bus 106 forms a plurality of data transfer paths that do not need to be prepared as dedicated paths by using data transmission/reception (data transfer) paths.
  • a plurality of data transfer paths formed by the data transfer bus 106 are paths through which data can be transferred between the data transfer bus 106 and components.
  • the plurality of data transfer paths formed by the data transfer bus 106 are, as shown in FIG. It includes a data transfer path 106a.
  • a plurality of storage areas 107 are used for data transfer and the like.
  • the plurality of storage areas 107 are three storage areas 107 (storage areas 107A, 107B, and 107C) respectively routed through three data transfer paths 106a.
  • the number of storage areas 107 is three in the first embodiment, the number is not limited to three, and one or more storage areas 107 may be provided.
  • the input/output control unit 103 notifies the arithmetic unit 104 of data such as signals received via the external IO 110 from the controller of the motor, which is an external device.
  • the calculation unit 104 performs a test using a motor model that simulates the behavior of the motor by calculation based on the data, and transmits the rotation speed and torque of the motor obtained by the test to the controller via the external IO 110. .
  • the setting of the model and the control cycle used in the calculation unit 104 are set by the user 111 of the data processing device 100 .
  • remote access by communication equipment such as UART (Universal Asynchronous Receiver/Transmitter), Ethernet (registered trademark), Wi-Fi (registered trademark) may be used, or direct access such as button operation may be used. may be used.
  • An interface function for remote access between the data processing device 100 and the user 111 is provided by the non-real-time control execution unit 114 .
  • the non-real-time control execution unit 114 can access all components of the real-time control 101 via the data transfer bus 106 .
  • model and the control period used by the computing unit 104 are set by the user 111 after the data processing device 100 is started, the present invention is not limited to this.
  • the model and the control cycle may be stored in the non-volatile storage area 115 in advance, and the calculation unit 104 may read them from the non-volatile storage area 115 when the data processing apparatus 100 is started.
  • the path acquisition unit 112 generates information on the time required for transfer by each of the plurality of data transfer paths 106a, and acquires one data transfer path 106a selected from among the plurality of data transfer paths 106a.
  • transfer time the time required to transfer the same amount of data between the input/output control unit 103 and the calculation unit 104
  • the information may also be referred to as "transfer time information”.
  • the route acquisition unit 112 presents the transfer time information of the plurality of data transfer routes 106a to the user 111. Then, the user 111 selects one data transfer path 106a from the plurality of data transfer paths 106a with reference to the transfer time information, and the path acquisition unit 112 acquires the one data transfer path 106a.
  • the path switching unit 113 switches the path for transferring data used for the real-time control 101 between the input/output control unit 103 and the calculation unit 104 to the one data transfer path 106 a obtained by the path obtaining unit 112 .
  • the path switching unit 113 performs the switching by notifying the input/output control unit 103 and the calculation unit 104 of the one data transfer path 106a acquired by the path acquisition unit 112 .
  • the non-real-time control execution unit 114 executes non-real-time control 102 in which use of the data transfer bus 106 is prioritized over real-time control 101 .
  • the non-real-time control execution unit 114 executes the non-real-time control 102 using a plurality of data transfer paths excluding one data transfer path 106a among the plurality of data transfer paths formed by the data transfer bus 106. do.
  • the non-real-time control execution unit 114 executes the non-real-time control 102 using the one data transfer path 106a while the one data transfer path 106a is not transferring data used for the real-time control 101.
  • the number of initial measurements is the number of times the data processing device 100 measures the transfer time of each data transfer path 106 a before starting the real-time control 101 .
  • the transfer time storage location is the storage area 107 designated by the user 111 where the transfer time measured for each data transfer path 106a is stored.
  • the data processing device 100 After the data processing device 100 is powered on, the data processing device 100 automatically performs initial settings.
  • the input/output control unit 103 and the arithmetic unit 104 that have been activated store the information set in the nonvolatile storage area 115, that is, the plurality of data transfer paths 106a, the number of initial measurements, and the transfer time. Read storage location information.
  • the input/output control unit 103 and the arithmetic unit 104 read/write data from/to the storage area 107 designated by the storage location of the transfer time using each data transfer path 106a for the number of times of initial measurement. Measure the time required.
  • the input/output control unit 103 and the calculation unit 104 store the measured required time in the storage area 107 designated as the transfer time storage location.
  • the sum of the times required to read and write data between the input/output control unit 103 and the storage area 107 and between the arithmetic unit 104 and the storage area 107 is It corresponds to the transfer time of each data transfer path 106a. Also, in the first embodiment, the data transfer path 106a and the storage area 107 correspond to each other. Therefore, when the above measurement is performed in the example of FIG. 1, the measurement result of the transfer time for the data transfer path 106a passing through the storage areas 107A, 107B, and 107C is obtained as shown in FIG. In FIG.
  • the number of initial measurements is "5"
  • the transfer time measurement results for five times are obtained for each of the storage areas 107A, 107B, and 107C through which the data transfer path 106a passes.
  • the data transfer paths 106a passing through the storage areas 107A, 107B, and 107C may also be referred to as paths A, B, and C, respectively, as shown in FIG.
  • the user 111 accesses the route acquisition unit 112 by remote access.
  • the route acquisition unit 112 accesses the storage area 107 , generates transfer time information based on the transfer time shown in FIG. 2 for each data transfer route, and presents it to the user 111 .
  • the transfer time information includes at least one of the following (1) to (7).
  • Transfer time held (transfer time for the number of holds) (2) Average value of held transfer time (3) Worst time (longest time) of held transfer time (4) Best transfer time held (shortest time) (5) Average value of the transfer time from when the data processor 100 was started (6) Worst transfer time from when the data processor 100 was started (7) When the data processor 100 was started Best time of transfer time ever since
  • each storage area 107 retains the transfer time up to the maximum retention number of transfer times. For example, if the maximum number of transfer times to be held is set to 10, each storage area 107 holds up to 10 transfer times. Note that the values (1) to (7) above may be reset (deleted) by the user 111 at any timing.
  • the user 111 selects one data transfer path 106 a to be used for the real-time control 101 from among the plurality of data transfer paths 106 a by referring to the presented transfer time information, and sets it in the path acquisition unit 112 .
  • the path acquisition unit 112 acquires one data transfer path 106a selected from the plurality of data transfer paths 106a.
  • the path switching unit 113 notifies the input/output control unit 103 and the computing unit 104 of the one data transfer path 106a obtained by the path obtaining unit 112 via the data transfer bus 106. As a result, the path switching unit 113 selects the data transfer path 106a obtained by the path obtaining unit 112 as the path for transferring the data used for the real-time control 101 between the input/output control unit 103 and the calculation unit 104. switch.
  • the user 111 After selecting one data transfer path 106a, the user 111 sets the control cycle of the real-time control 101 in the cycle control unit 105, and the real-time control 101 of the control cycle starts.
  • FIG. 3 is a timing chart for explaining the real-time control 101.
  • FIG. 3 An example of the real-time control 101 will be described below.
  • the route for transferring data used for the real-time control 101 between the input/output control unit 103 and the arithmetic unit 104 may be referred to as a "use route”.
  • the route 106a may also be referred to as an "unused route”.
  • the cycle control unit 105 outputs a computation synchronization trigger to the computation unit 104 and the input/output control unit 103 for each control cycle set by the user 111 .
  • the input/output control unit 103 receives input 1 from the external IO 110 and stores it in the storage area 107 corresponding to the usage path.
  • the route A is selected as the route to be used at this time, and the input 1 is stored in the storage area 107A corresponding to the route A.
  • the input/output control unit 103 receives input 2 from the external IO 110 in the same manner as the first trigger for operation synchronization, and stores input 2 in the storage area 107A.
  • the calculation unit 104 reads the input 1 from the storage area 107A, uses the input 1 in the calculation of the model predefined by the user 111, and stores the calculation result as the output 1 in the storage area 107A.
  • the input/output control unit 103 receives the input 3 from the external IO 110, stores the input 3 in the storage area 107A, and then reads the output 1 from the storage area 107A and outputs it to the external IO 110. .
  • the calculation unit 104 reads the input 2 from the storage area 107A and stores the calculation result as the output 2 in the storage area 107A in the same manner as the second calculation synchronization trigger. After that, the same process as the third trigger for synchronization of operation is repeated unless the use path is changed.
  • each storage area 107 has an area capable of storing two or more inputs and two or more outputs.
  • the input 2 from the input/output control unit can be stored at an address different from the address of the input 1 in the storage area 107. , input 2 can be avoided from being overwritten.
  • the non-real-time control execution unit 114 uses the input/output control unit 103 and the calculation unit 104 to perform non-real-time control 102 such as measurement of transfer time and acceptance of switching of usage paths in parallel with real-time control 101. Run. For example, in parallel with the real-time control 101, the input/output control unit 103 and the calculation unit 104 measure the transfer time of each of the plurality of data transfer paths 106a in the same manner as the initial measurement. The measurement results are held for the "maximum holding number of transfer times" set in advance by the user 111, and are overwritten from the oldest one including the transfer time measured at the time of initial measurement.
  • the input/output control unit 103 and the calculation unit 104 in accordance with the measurement interval of the unused route, during the remaining time obtained by subtracting the time of the real-time control 101 from the time of the control period, transfer data equivalent to the data transfer used for measuring the used route. Data transfer is performed and the transfer time of the unused path is measured.
  • the remaining time referred to here is, for example, the time after completion of the IO control by the input/output control unit 103 and the time after the calculation unit 104 outputs the result. For example, if the unused path measurement interval is "10", the input/output control unit 103 and the calculation unit 104 measure the transfer time of the unused path each time the trigger for calculation synchronization is received ten times. . Note that the user 111 sets the measurement interval of the unused route in advance.
  • the user 111 refers to the transfer time information presented by the route acquisition unit 112 and sets one data transfer route 106a to the route acquisition unit 112 at any timing. After the setting of one data transfer path 106a is reflected in the input/output control unit 103 and the calculation unit 104, and the input/output control unit 103 and the calculation unit 104 receive the path synchronization trigger from the cycle control unit 105, One data transfer path 106a is switched.
  • the user 111 notifies the route acquisition unit 112 of a setting to switch the route to be used from route A to route B, for example.
  • the route switching unit 113 notifies the input/output control unit 103 and the calculation unit 104 that the route B is selected as the route to be used. At this point, the input/output control unit 103 and the calculation unit 104 do not switch the route to be used to the route B.
  • the path switching unit 113 instructs the cycle control unit 105 to output a path synchronization trigger.
  • the cycle control unit 105 outputs a path synchronization trigger in the cycle following the cycle in which the instruction from the path switching unit 113 is received.
  • the input/output control unit 103 and the calculation unit 104 that have received the path synchronization trigger switch the used path to the path B from the cycle following the cycle in which the path synchronization trigger is received.
  • the use path is switched to one data transfer path 106a selected from the plurality of data transfer paths 106a, and A non-real-time control 102 is performed in which the use of the bus 106 is prioritized over the real-time control 101 .
  • a non-real-time control 102 is performed in which the use of the bus 106 is prioritized over the real-time control 101 .
  • the transfer time information is presented to the user 111, and one data transfer path 106a is selected by the user 111. Therefore, the real-time control 101 and the non-real-time control 102 are performed at a rate desired by the user 111. be able to.
  • the second control is the non-real-time control 102 in the above description, it is not limited to this.
  • the second control may be real-time control with a longer period than the real-time control that is the first control.
  • the transfer time information includes at least one of (1) to (7) above, but in Embodiment 2, the transfer time information is based on each of the plurality of data transfer paths 106a. Contains information about data loss that occurred during transfer. Data loss is a data transfer failure in which the transfer time is equal to or longer than the control cycle, and data loss information includes, for example, at least one of the following (11) to (13).
  • the input/output control unit 103 and the calculation unit 104 store the number of lost data and the number of transfer times retained in the storage area 107, and the route acquisition unit 112 accesses the storage area 107 to obtain the transfer time including data loss information. Information is generated and presented to the user 111 .
  • the transfer time information includes data loss information.
  • one data transfer path 106a can be selected in consideration of the possibility of data loss, so real-time control 101 and non-real-time control 102 can be performed appropriately.
  • FIG. 4 is a block diagram showing the configuration of the data processing device 100 according to the third embodiment.
  • constituent elements that are the same as or similar to the above-described constituent elements are denoted by the same or similar reference numerals, and different constituent elements will be mainly described.
  • the data processing apparatus 100 has the same configuration as the configuration in FIG. 1 with an automatic selection unit 116 added.
  • Automatic selector 116 is a component of non-real-time control 102 .
  • FIG. 5 is a diagram showing judgment criteria corresponding to transfer time information and weights set in advance by the user 111 for the judgment criteria.
  • the criteria are identified by ID1 to ID110.
  • the automatic selection unit 116 calculates the score of each of the plurality of data transfer paths 106a based on the results of the criteria shown in FIG. 5 and the weights shown in FIG. automatically selects one data transfer path 106a with a higher value.
  • FIG. 6 is a diagram showing values for each criterion of routes A to C.
  • ID1 to ID10 in FIG. 6 correspond to ID1 to ID10 in FIG.
  • the criterion for ID1 in FIG. 6 is the "average value of the retained transfer time" indicated by ID1 in FIG. are respectively "177", "192" and "195".
  • the automatic selection unit 116 assigns X, X-1, . .
  • the values of ID1 criteria for paths A, B, and C in FIG. 6 are "177,” “192,” and "195.”
  • the route A is given “3 points”
  • the route B is given “2 points”
  • the route C is given "1 point”.
  • the automatic selection unit 116 assigns the same score to them, and then assigns the same score to the data transfer path 106a with the next smallest criterion value.
  • a score obtained by subtracting the number of transfer paths 106a is given.
  • the values of the criteria for ID7 of routes A, B, and C in FIG. 6 are "0", “0", and "1". ”, and “1 point” is given to the route C.
  • the automatic selection unit 116 obtains a multiplication score by multiplying the given score by the weight of each criterion set in advance by the user 111 .
  • the weight of ID2 in FIG. 5 is "0.5"
  • the points given to routes A, B, and C for ID2 in FIG. Therefore, the multiplication points for routes A, B, and C of ID2 are "1,5 points", "1 point", and "0.5 point” as shown in FIG.
  • the automatic selection unit 116 obtains such multiplication points for each criterion.
  • the automatic selection unit 116 obtains the total points obtained by totaling the multiplication points for each of the paths A, B, and C, and automatically selects the data transfer path 106a with the highest total score.
  • the total points of the routes A, B, and C are "14.7 points”, “11.8 points”, and "5.1 points”. is automatically selected as the data transfer path 106a.
  • the user 111 presets the automatic selection cycle in the cycle control unit 105 .
  • the period control section 105 outputs a trigger signal to the automatic selection section 116 for each period set as the automatic selection period.
  • the automatic selection unit 116 selects the transfer time between the input/output control unit 103 and the calculation unit 104 and the data processing device from the storage area 107 storing the transfer time.
  • the average value, worst value, and best value of the transfer time after starting the data processing device 100, the number of lost data, and the number of lost data and the loss rate after starting the data processing device 100 are read or calculated as appropriate. Get by.
  • the automatic selection unit 116 calculates and acquires the average value, worst value, best value, and loss rate.
  • the automatic selection unit 116 calculates the total score of each route based on the acquired transfer time information and the predetermined weight, and automatically selects one data transfer route 106a based on the total score.
  • the route acquisition unit 112 acquires one data transfer route 106 a automatically selected by the automatic selection unit 116 .
  • the data processing device 100 performs the same processing as in the first and second embodiments, thereby transferring the data used for the real-time control 101 between the input/output control unit 103 and the calculation unit 104. Switch to one data transfer path 106a.
  • one data transfer path 106a is automatically selected based on the transfer time information and the predetermined weight. can be reduced.
  • the data processing device 100 may be configured to enable selection of enabling or disabling the operation of the automatic selection unit 116 . Then, when the operation of the automatic selection unit 116 is disabled, as in the first embodiment, the transfer time information is presented to the user 111 by the route acquisition unit 112, and one data transfer route from the user 111 106a may be performed.
  • the input/output control unit 103, the calculation unit 104, the cycle control unit 105, the data transfer bus 106, the route acquisition unit 112, the route switching unit 113, and the non-real-time control execution unit 114 are hereinafter referred to as the “input/output control unit 103 etc.”
  • the input/output control unit 103 and the like are realized by the processing circuit 81 shown in FIG. That is, the processing circuit 81 performs an operation based on the input/output control unit 103 that transmits/receives data to/from an external device, and the data received by the input/output control unit 103, and outputs the operation result from the input/output control unit 103.
  • a data transfer bus 106 forming a plurality of data transfer paths 106a capable of transferring data between the arithmetic unit 104, the input/output control unit 103, and the arithmetic unit 104, and transfer by each of the plurality of data transfer paths 106a.
  • a route acquisition unit 112 that generates information on the required time and acquires one data transfer route 106a selected from among a plurality of data transfer routes 106a, and data used for real-time control that is executed every cycle.
  • a route switching unit 113 for switching the transfer route between the input/output control unit 103 and the arithmetic unit 104 to one data transfer route 106a acquired by the route acquisition unit 112, and the use of the data transfer bus 106 are controlled in real time.
  • Non-real-time control execution unit 114 that executes non-real-time control that is given priority to.
  • Dedicated hardware may be applied to the processing circuit 81, or a processor that executes a program stored in a memory may be applied.
  • Processors include, for example, central processing units, processing units, arithmetic units, microprocessors, microcomputers, and DSPs (Digital Signal Processors).
  • processing circuitry 81 may be, for example, a single circuit, multiple circuits, programmed processors, parallel programmed processors, ASICs, FPGAs, or combinations thereof. .
  • Each function of each unit such as the input/output control unit 103 may be realized by a circuit in which processing circuits are distributed, or the functions of each unit may be collectively realized by one processing circuit.
  • the processing circuit 81 When the processing circuit 81 is a processor, the functions of the input/output control unit 103 and the like are realized by combining with software and the like.
  • Software and the like correspond to, for example, software, firmware, or software and firmware.
  • Software or the like is written as a program and stored in memory.
  • a processor 82 applied to a processing circuit 81 reads out and executes a program stored in a memory 83 to implement the functions of each section. That is, the data processing device 100, when executed by the processing circuit 81, generates information on the required time required for transfer by each of the plurality of data transfer paths 106a, and selects from among the plurality of data transfer paths 106a.
  • a step of acquiring another data transfer path 106a, and a path for transferring data used for real-time control executed in each period between the input/output control unit 103 and the arithmetic unit 104 are performed by the acquired one data transfer path 106a.
  • this program causes the computer to execute the procedures and methods of the input/output control unit 103 and the like.
  • the memory 83 is, for example, a non-volatile or Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc), their drive devices, etc., or any storage media that will be used in the future There may be.
  • HDD Hard Disk Drive
  • magnetic disk flexible disk
  • optical disk compact disk
  • mini disk mini disk
  • DVD Digital Versatile Disc
  • each function such as the input/output control unit 103 is implemented by either hardware or software has been described above.
  • the configuration is not limited to this, and a configuration in which a part of the input/output control unit 103 and the like is realized by dedicated hardware and another part is realized by software or the like may be employed.
  • the input/output control unit 103 is realized by a processing circuit 81 as dedicated hardware, an interface, a receiver, and the like, and the processing circuit 81 as a processor 82 executes programs stored in the memory 83. Its function can be realized by reading and executing it.
  • the processing circuit 81 can implement each of the functions described above by means of hardware, software, etc., or a combination thereof.
  • 100 data processing device 101 real-time control, 102 non-real-time control, 103 input/output control unit, 104 calculation unit, 105 period control unit, 106 data transfer bus, 106a data transfer path, 107, 107A, 107B, 107C storage area, 111 user, 112 route acquisition unit, 113 route switching unit, 114 non-real-time control execution unit, 116 automatic selection unit.

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Abstract

Le but de la présente invention est de fournir une technologie qui permet d'effectuer de manière appropriée une première commande et une seconde commande. Un dispositif de traitement de données selon la présente invention comprend : une unité d'acquisition de trajet qui acquiert un trajet de transfert de données sélectionné parmi une pluralité de trajets de transfert de données ; une unité de basculement de trajet qui bascule, vers le trajet de transfert de données acquis par l'unité d'acquisition de trajet, un trajet le long duquel des données à utiliser dans une première commande exécutée lors de chaque cycle sont transférées entre une unité de commande d'entrée/sortie et une unité de calcul ; et une unité d'exécution qui exécute une seconde commande dans laquelle l'utilisation d'un bus de transfert de données est prioritaire sur la première commande.
PCT/JP2021/022994 2021-06-17 2021-06-17 Dispositif de traitement de données et procédé de traitement de données WO2022264351A1 (fr)

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PCT/JP2021/022994 WO2022264351A1 (fr) 2021-06-17 2021-06-17 Dispositif de traitement de données et procédé de traitement de données
JP2023528874A JP7496937B2 (ja) 2021-06-17 2021-06-17 データ処理装置及びデータ処理方法

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11219099A (ja) * 1998-02-03 1999-08-10 Mitsubishi Electric Corp シミュレータ
JP2010224972A (ja) * 2009-03-24 2010-10-07 Fujitsu Ten Ltd シミュレーションシステム
WO2011142087A1 (fr) * 2010-05-12 2011-11-17 パナソニック株式会社 Routeur et circuit sur puce
WO2011148583A1 (fr) * 2010-05-27 2011-12-01 パナソニック株式会社 Dispositif de commande de bus et dispositif de commande destiné à émettre des instructions pour le dispositif de commande de bus

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11219099A (ja) * 1998-02-03 1999-08-10 Mitsubishi Electric Corp シミュレータ
JP2010224972A (ja) * 2009-03-24 2010-10-07 Fujitsu Ten Ltd シミュレーションシステム
WO2011142087A1 (fr) * 2010-05-12 2011-11-17 パナソニック株式会社 Routeur et circuit sur puce
WO2011148583A1 (fr) * 2010-05-27 2011-12-01 パナソニック株式会社 Dispositif de commande de bus et dispositif de commande destiné à émettre des instructions pour le dispositif de commande de bus

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