JPH09128259A - Automatic equalization device for duplex control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the change work efficiency of fixed information by writing change information of fixed information inputted to an operation-side device into the tracking memory of a standby side device and changing respective pieces of fixed information on the standby side device when various fixed information which are set in the memories of respective controllers are changed. SOLUTION: When setting values which are set in the setting information memories 6a and 6b of respective controllers 3a and 3b, setting information of a parameter and the like, and fixed information on the control program and the like, which are stored in control program memories 8a and 8b, are changed, information on fixed information inputted to an operation-side device and the designated controller 3a through a tool 12a is written into the standby- side device and a tracking memory 18b in the designated controller 3b, and respective pieces of fixed information of the standby-side device 3b are changed. Thus, the change work efficiency of fixed information can be improved and the control quality of a whole control system can be improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a dual control system in which two control devices are connected to various control targets and one of the control devices controls the control target, and more particularly, a standby side device. The present invention relates to an automatic equalization device of a duplicated control system in which the storage holding information of the above is always matched with the storage holding information of the operating side device.

[0002]

2. Description of the Related Art Among control devices for controlling the operation of various plants such as factories and public facilities, if some abnormality occurs in the control device and the plant to be controlled stops, serious trouble will occur. May be predicted. Generally, for such a control target, two control devices having the same configuration are connected to each other, one of them is designated as an operating side device, and the other is designated as a standby side device, which is normally operated. The controlled object is controlled only by the side device. Then, when an abnormality occurs in the working device, the standby device is overridden to the working device.

In such a redundant control system,
The operation side device stores and holds variable information such as control data obtained by the control processing for the control target in one control cycle until the next control cycle, and stores the stored variable information in the control processing in the next control cycle. To use. The operating side device transfers the variable information obtained for each control cycle to the standby side device. Then, the standby side device stores and holds the variable information transferred from the operating side device every control cycle until the next control cycle.
In this way, it is necessary to match the storage holding information of the standby side device with the storage holding information of the constantly operating side device.

FIG. 4 is a schematic configuration diagram of a duplicated control system incorporating an automatic equalization device for automatically matching (equalizing) the stored contents of both control devices described above. Two control devices 3a and 3b having the same configuration are connected to a controlled object 1 such as a plant via an input / output circuit (I / 0) 2. Furthermore, each of the control devices 3a and 3b is connected to a host device 19 such as a monitor control device via a LAN transmission line 15.

In each of the control devices 3a (3b) having the same configuration including an information control device such as a computer, for example, the transmission processing section 5 is connected to the system bus 4a (4b).
a (5b), control processing unit 9a (b), tracking processing unit 10a (10b), a total of three processing units, setting information memory 6a (6b), variable information memory 7a (7b), control program memory 8a (8b). ), A total of 3 memories are connected.

A tracking memory 11a (11b) is connected to the tracking processing section 10a (10b). In addition, the transmission processing unit 5a (5b) receives RS232C transmission unit 13a (13b) which receives fixed information in which various fixed information is input in text format from an external tool 12a (12b) such as a personal computer, and LAN
A LAN transmission unit 14a (14b) for exchanging information with the host device 19 is connected via the transmission line 15 of FIG.

A control program for controlling the control target 1 is stored in the control program memory 8a (8b), and various kinds of control programs for executing control arithmetic processing for the control target 1 are stored in the setting information memory 6a (6b). Setting information such as parameters and setting values (constants) is stored. In the variable information memory 7a (7b), the variable information obtained by the control calculation process in one control cycle is stored and held for one control cycle.

In the redundant control system having such a configuration, it is assumed that, for example, one control device 3a is designated as the operating side device and the other control device 3b is designated as the standby side device at the present time.

The control processing unit 9a in the control unit 3a designated as the operating side unit controls the control value PV input from the controlled object 1 via the input / output circuit (I / 0) 2 at a constant control cycle T. Control based on the control program of the control program memory 8a, various setting information stored in the setting information memory 6a, and the variable information obtained in the previous control cycle stored in the variable information memory 7a. Perform arithmetic processing.

The control processing unit 9a sends the control calculation processing result as the manipulated variable MV to the controlled object 1 via the input / output circuit (I / 0) 2 and changes a part of the control calculation processing result as variable information. Write to the information memory 7a.

A control unit 3 designated as an operating unit
The tracking processing unit 10a in a reads the variable information stored in the variable information memory 7a and writes the variable information in the tracking memory 11b in the control device 3b designated as the standby device each time a new control period T arrives. Put in.

On the other hand, the control device 3 designated as the standby device
The tracking processing unit 10b in b writes the variable information written in the tracking memory 11b on its own side to the variable information memory 7b on its own side.

As a result, the variable information stored in the variable information memories 7a and 7b of the control device 3a designated as the operating side device and the control device 3b designated as the standby side device have the same value every control cycle T. Is updated and equalized.

Then, the operating side device (3a) and the standby side device (3b) mutually monitor the operating state of the other side device, and when an abnormality occurs, the standby side device (3b) changes to the operating side device and operates. The side device (3a) changes to the standby side device. Therefore, the controlled object 1 can be continuously controlled.

In such a redundant control system,
Setting information such as set values and parameters set in the setting information memories 5a and 5b and control program memories 8a and 8
When changing the fixed information such as the control program stored in b, the operator uses the text of the fixed information via the tool 12a (12b) such as a personal computer to transmit the RS232C transmission unit of each control device 3a (3b). 13a
Apply to (13b).

The RS232C transmission unit 13a (13b) transfers the input fixed information text to the transmission processing unit 5a. The transmission processing unit 5a (5b) discriminates the type of the input fixed information, and in the case of setting information, the setting information memory 6a.
The setting information of (6b) is updated to the new setting information input this time. If the fixed information is the control program, the control program in the control program memory 8a (8b) is updated to the new control program input this time.

In this way, when changing fixed information such as various set values, parameters and control programs necessary for control processing calculation for the controlled object 1, the control devices 3a and 3b are changed.
The operator carried out the changing operation every time.

[0018]

However, the above-mentioned automatic equalization device of the duplicated control system also has the following problems to be improved. That is, as described above, obtained by the control calculation processing in each control cycle,
The variable information such as control data used in the next control cycle is automatically written in the variable information memory 7b (7a) of the standby side device by the tracking processing unit 10a (10b) and the tracking memory 11b (11a).

However, when changing fixed information such as various set values, parameters and control programs necessary for control processing calculation for the controlled object 1, the operator performs the changing operation for each tool for each control device 3a, 3b. It is necessary to carry out manually using 12a and 12b.

Therefore, since the operator needs to perform the same operation twice, the efficiency of changing the fixed information for the entire control system becomes complicated, and the changing work requires a lot of time and labor.

Further, one operator uses two control devices 3
Since the change work cannot be performed simultaneously on a and 3b, it takes a certain time from the end of the change work on the first control device 3a to the end of the change work on the second control device 3a. If a failure occurs within this time and the operating side device is changed, the control process for the control target may be temporarily discontinuous, and the control quality may deteriorate.

In order to eliminate such inconvenience, the memories 6a and 8a of the control device 3a designated as the operating device are
At the time when the fixed information update process is completed for each of the memory 6a of the operating side device (3a),
A method is conceivable in which all the storage contents of 8a are collectively written in each memory 6b, 8b of the standby side device (3b) by batch processing.

However, even in this batch processing method,
Since the operator performs the operation manually, there is a concern that human error such as forgetting the processing operation may occur. Further, in batch processing, since a huge amount of data stored in the setting information memory 6a and the control program memory 8a is transmitted, troubles such as waiting for processing occur in normal control calculation processing, and a predetermined period is set within the control cycle. There is a concern that the control calculation process of 1 will not end.

The present invention has been made in view of such circumstances, and by writing the input fixed information to the tracking memory of the standby side device in the same manner as the variable information, even if a set value or Even if fixed information such as parameters and control programs is input to the operating side device, the stored contents of the operating side and standby side control devices are automatically changed and equalized by simply inputting to the operating side device. It is an object of the present invention to provide an automatic equalization device for a duplicated control system, which can improve the efficiency of changing fixed information and improve the control quality of the entire control system.

[0025]

According to the present invention, two control devices are connected to a control target, and one of these two control devices is designated as an operating side device and the other is designated as a standby side device. ,
When an abnormality occurs in the operating side device, the standby side device is overridden to the operating side device, and the operating side device stores the variable information obtained by the control processing for the control target for each control cycle in its own variable information memory and the standby side. It is applied to an automatic equalization device of a duplicated control system in which a device on the standby side writes data to a tracking memory of the device and a device on the stand-by side reads out variable information written in its own tracking memory and writes it to its own variable information memory.

In order to solve the above problems, according to the present invention, in response to the input of change information for the fixed information necessary for the control processing, the change information is stored in its own fixed information memory. The fixed information changing means for changing the fixed information and the change information transferring means for writing the changed information in the tracking memory of the standby side device are added.

Further, a fixed information changing means for changing the fixed information in the fixed information memory of its own with the changed information written in its own tracking memory is added to the standby side device.

In the automatic equalization device of the duplicated control system configured as described above, when the operator inputs the change information for the fixed information necessary for the control processing to the operating side device, the operating side device is fixed. The fixed information stored in the information memory is changed by the input change information.
Further, this change information is written in the tracking memory of the standby side device. Then, the fixed information stored in the fixed information memory of the standby device is automatically changed by the change information written in the tracking memory.

Therefore, only by the operator inputting the change information to the operating side device, the stored contents of the operating side and standby side control devices are automatically changed and equalized in a short time. .

[0030]

BEST MODE FOR CARRYING OUT THE INVENTION An automatic equalizer for a duplex control system according to an embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a schematic configuration of a duplicated control system in which the automatic equalization device of the embodiment is incorporated. The same parts as those in the conventional duplex control system shown in FIG. 4 are designated by the same reference numerals. Therefore, the detailed description of the overlapping part is omitted.

In each control device 3a (3b) having the same configuration of the duplicated control system of this embodiment, the transmission processor 16a (16) is connected to the system bus 4a (4b).
b), control processing unit 9a (b), tracking processing unit 10
a (10b), transmission tracking processing unit 17a (17
4) in total and the setting information memory 6a (6
b), variable information memory 7a (7b), and control program memory 8a (8b), a total of three memories are connected.

A common tracking memory 18a (18b) is connected to the tracking processing unit 10a (10b) and the transmission tracking processing unit 17a (17b). Further, the transmission processing unit 16a (16b) receives RS232C transmission units 13a (13b) and L that capture fixed information input from the tool 12a (12b) in text format.
A LAN transmission line 14a (14b) for exchanging information with the host device 19 is connected via the transmission line 15 of the AN.

A control program is stored in the control program memory 8a (8b), and the setting information memory 6a (6
In b), setting information such as various parameters and constants when executing the control calculation process for the controlled object 1 is stored. In the variable information memory 7a (7b), 1
The variable information obtained by the control calculation process in the control cycle is 1
Store and hold only the control cycle.

Then, the setting information memory 6a (6b)
The control program memory 8a (8b) constitutes a fixed information memory for storing fixed information. In the duplex control system having such a configuration, the control processing unit 9a in the control device 3a designated as the operation side device executes the control calculation process at every constant control cycle T, as described above, and executes the control calculation process. Input / output circuit (I / 0) 2 with the result as manipulated variable
Via the control target 1 and write a part of the control calculation processing result as variable information to the variable information memory 7a. The tracking processing unit 10a reads the variable information stored in the variable information memory 7a each time a new control cycle T arrives, and the control device 3 designated as the standby device.
Write to the tracking memory 18b in b.

On the other hand, the control device 3 designated as the standby device
The tracking processing unit 10b in b writes the variable information written in the tracking memory 18b on its own side to the variable information memory 7b on its own side.

As a result, the variable information stored in the variable information memories 7a and 7b of the control device 3a designated as the operating side device and the control device 3b designated as the standby side device have the same value every control cycle T. Is updated and equalized.

In such a redundant control system,
Setting information such as setting values and parameters set in the setting information memories 5a and 5b and control program memory 8a. 8
When changing the fixed information such as the control program stored in b, the operator changes the text of the change information via the tool 12a connected to the control device 3a which is currently designated as the operating side device. And applies it to the corresponding control device 3a.

The operator can input not only the above-mentioned fixed information but also the variable information to be temporarily written in the variable information memory 7a in the text format like the change information of the fixed information.

The RS232C transmission unit 13a (13b) transmits the text of the input change information or variable information to the transmission processing unit 1
6a. Furthermore, a host device 1 such as a supervisory control device
Reference numeral 9 designates the control device 3a in which the text of the change information of the fixed information or the text of the variable information is designated as the operating side device via the transmission line 15.
Send to L of the control device 3a designated as the operating device
The AN transmission unit 14a transfers the received text of change information or variable information to the transmission processing unit 16a.

Further, the control device 3 designated as the standby device
The transmission tracking processing unit 17b of b transfers the text of the change information or the variable information of the tracking device memory 18b written from the control device 3a designated as the operating side device to the transmission processing unit 16b on its own side.

Then, each transmission processing unit 16a (16b) of the control device 3a designated as the operation side device or the control device 3b designated as the standby side device is the RS232C transmission unit 13a.
Alternatively, the LAN transmission unit 14a or the transmission tracking processing unit 1
When the text of the change information or the variable information is received from 7b, the processing for the received text is executed according to the flowchart shown in FIG.

When the flow chart starts, P (Program
In step 1), the type of text received is determined. When the text is the change information of the set value or the set value of the parameter (P2), the setting information memory 6a (6b)
The corresponding setting information is changed by the input change information (P3).

If the received text is variable information such as control data (P4), the variable information is written in the variable information memory 7a (7b) (P5). Further, when the received text is the change information for the control program (P6), the corresponding control program in the control program memory 8a (8a) is changed by the input change information (P6).
7).

Then, with respect to the received text, the respective memories 6a (6b), 7a (7b), 8a of its own corresponding
When the change and write processing for (8b) is completed, P8
At present, it is determined whether or not the own control device 3a (3b) is designated as the operating side device or the standby side device. If it is designated as the operating side device, in P9, the text of the received change information or variable information is transferred to the transmission tracking processing unit 17a.

If the control device 3b (3a) of its own is designated as the standby device in P8, there is no need to transfer the text to the operating device, so this flow chart ends.

Next, each transmission tracking processing section 17a (17b) of the operating side apparatus or the standby side apparatus is transmitted from the transmission processing section 16a (16b) of its own apparatus or the transmission tracking processing section 17b (17a) of the other side apparatus. When the write notification is received, the process for the text of the change information or the variable information is executed according to the flowchart shown in FIG.

When the flow chart is started, it is determined in Q1 whether the own control device 3a (3b) is designated as the operating device or the standby device. If it is designated as the operating device, in Q2, the transmission processing unit 16a
The text of the change information or variable information received from (16b) is stored in the tracking memory 18b (18a) of the standby device.
Write to Then, the write notification is sent to the transmission tracking processing unit 17b (17a) of the standby side device (Q3).

When the own device is designated as the standby device in Q1, the transmission tracking processing section 17a (17b) of the operating device writes the tracking memory 18b (18a) in the own device in Q4. The embedded text is read (Q4), and the transmission processing unit 16b (16
Transfer to a).

In the automatic equalizing device of the duplicated control system thus configured, the setting values and parameters set in the setting information memories 5a and 5b of the respective control devices 3a and 3b and the control program memories 8a and 8b are stored. When changing fixed information such as the stored control program, the operator changes the text of the change information to the tool 1 connected to the control device 3a currently designated as the operating side device.
It is applied to the corresponding control device 3a via 2a.

Then, the transmission processing section 1 of the control device 3a.
6a is activated, and first, based on the text of the change information, the setting information or the control program in the setting information memory 6a or the control program memory 8a of the working device is changed.

Next, the transmission tracking processing section 17a is activated, and the text of this change information is written in the tracking memory 18b of the standby side device. Then, the update information written in the tracking memory 18b changes the setting information or the control program in the setting information memory 6b or the control program memory 8b of the standby side device.

As described above, only by the operator inputting the change information to the operating side device, the stored contents of the operating side and standby side control devices are automatically changed and equalized. Therefore, it is possible to greatly improve the work efficiency of changing set values, parameters, and control programs, suppress the occurrence rate of human error, and improve the reliability of the entire control system.

Further, the information actually transferred from the operating side device to the standby side device is not all the changed data stored in the memories 6a and 8a of the operating side device, but only the changed part data. Therefore, the processing load required to transfer the text of the change information from the operating side device to the standby side device, and the transmission processing units 16a and 16b fix the respective memories 6a (6b) and 8a (8b) with the corresponding change information. The processing load required to change the information is minimal. The control processing unit 9a (9) performs a series of processes for changing the stored contents of the operating-side device and the standby-side device within one control cycle T described above.
It can be performed in parallel with the control calculation process of b).

Therefore, the automatic execution of this change processing does not cause a problem such as waiting for processing in the normal control calculation processing for the controlled object 1. Further, since the stored contents of the operating side device and the standby side device are changed within one control cycle T, an abnormality occurs in the operating side device during this change processing period, and the standby side device becomes the operating side device. Since the probability of change is very small, the control processing for the controlled object will not be temporarily discontinuous and the control quality will not deteriorate,
The control quality for the controlled object can be improved.

[0055]

As described above, in the automatic equalization device of the duplicated control system of the present invention, when various fixed information set in the memory of each control device is changed,
By writing the change information of the fixed information input to the operating side device to the tracking memory of the standby side device in the same manner as the variable information, each fixed information of the standby side device is changed.

Therefore, even if fixed information such as set values, parameters, and control programs is input to the operating side device, it is automatically and quickly stored in the operating side and standby side control devices. The contents are automatically changed and equalized to improve the efficiency of changing fixed information.
The control quality of the entire control system can be improved.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a schematic configuration of a duplex control system in which an automatic equalization device according to an embodiment of the present invention is incorporated.

FIG. 2 is a flowchart showing an operation of a transmission processing unit of each control device of the embodiment.

FIG. 3 is a flowchart showing an operation of a transmission tracking processing unit of each control device of the embodiment.

FIG. 4 is a block diagram showing a schematic configuration of a duplex control system in which a conventional automatic equalization device is incorporated.

[Explanation of symbols]

1 ... Control object, 3a, 3b ... Control device, 4a, 4b ... System bus, 6a, 6b ... Setting information memory, 7a, 7b
... variable information memory, 8a, 8b ... control program memory, 9a, 9b ... control processing unit, 10a, 10b ... tracking processing unit, 12a, 12b ... tool, 13a, 13
b ... RS232C transmission unit, 14a, 14b ... LAN transmission unit, 15 ... Transmission line, 16a, 16b ... Transmission control unit, 17
a, 17b ... Transmission tracking processing unit, 18a, 18b
... Tracking memory, 19 ... Host device

Claims (1)

[Claims] 1. An abnormality occurs in a working device by connecting two control devices to a control target and designating one of the two control devices as a working device and the other as a standby device. When the standby side device is changed to the operating side device, the operating side device stores the variable information obtained by the control process for the controlled object in each control cycle to its own variable information memory and the tracking memory of the standby side device. In the automatic equalizer of the redundant control system, the writing side, the standby side device reads the variable information written in its own tracking memory and writes it in its own variable information memory, wherein the operating side device is required for the control processing. Fixed information changing means for changing the fixed information in its own fixed information memory with this changed information in response to the input of the changed information for the fixed information, A change information transfer means for writing to a king memory, and the standby side device has a fixed information change means for changing the fixed information of its own fixed information memory with the change information written to its own tracking memory. An automatic equalizer for a redundant control system, which is characterized in that