JPH1020908A - Automatic control program creation device - Google Patents

Abstract

(57) [Summary] [PROBLEMS] Conventionally, a control program is created by directly splicing execution subroutine programs according to a connection instruction in a control block diagram, so that processing time cannot be reduced. SOLUTION: Control block elements of a transfer function are connected to form a control block diagram, and input / output connection information of the symbol, control element functions and control constants are managed as symbol data. The symbol data is converted into one row data and added to the lowest order of the state space equation matrix, and the zero column data is added and extended to create an equation. The created equation is discretely transformed into a difference equation using any of the backward difference Euler method, trapezoidal method, Runge-Kutta method, and series expansion method to create an execution program.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to an apparatus for automatically creating a control program.

[0002]

2. Description of the Related Art Conventionally, a microcomputer for general-purpose control such as a programmable controller for general industry has a control device that uses a control function programmed according to an application. In these control devices, in order to create a program, a control block diagram expressing a control function by a transfer function symbol is input to the program device as a drawing image,
Using a compiling method, it was directly converted into an executable program that could be processed by a general-purpose control microcomputer. Here, in the compilation method, a fixed subroutine of an execution program is assigned to a symbol on a block diagram, and the execution program is directly spliced according to a connection instruction of the block diagram.

[0003]

However, for the creation of these programs, although it is required to automatically create the programs more efficiently for high-speed processing, conversion of the execution program by the conventional compiling method is required. However, since the technique of combining fixed subroutines is used, it is impossible to optimally compress the program, and the processing time cannot be reduced.

[0004]

SUMMARY OF THE INVENTION Therefore, the present invention solves this problem by inputting a control block diagram,
Algebraic optimization is achieved through the state-space equation matrix, which is easy to perform algebraic processing, and then the difference equation conversion is performed, and then converted to an execution program using a compiling method to reduce processing time. I made it. That is, the control block elements of the input transfer function are connected and displayed as a control block diagram on a screen, and symbol data composed of input / output connection information, control element functions, and control constants for the symbol is managed. Next, the symbol data is converted into one-row data and added to the lowest order of the state space equation matrix, and the zero-column data is added and extended to create an equation. Further, the created equation is discretely transformed into a difference equation using any of the backward difference Euler method, trapezoidal method, Runge-Kutta method, and series expansion method, and an execution program is created. In this way, in the present invention, algebraic optimization can be performed, and a minimum necessary mathematical process can be derived, so that an execution program can be efficiently created. Further, by sharing the arithmetic function which has been conventionally designated twice by the input person, one of the functions can be omitted.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a configuration of an embodiment of an automatic control program creation device according to the present invention. 1 in the figure
Is an apparatus main body, which includes an input screen unit 2 and an input operation unit 3. The main unit 1 is connected to a general-purpose control microcomputer main unit 6 via a transmission line 4. The execution program 5 is sent from the main unit 1 to the microcomputer main unit 6. The microcomputer body 6 outputs a control command signal 7 to the controlled device 8, and a detection signal is input from the controlled device 8 to the microcomputer body 6.

FIG. 2 is a flowchart showing an automatic creation process of a control program executed in the apparatus main body 1 of FIG. 1, and FIG. 3 is a diagram showing a structure of an editor for inputting a control block diagram. FIG. 4 is an explanatory diagram of a matrix conversion method. Hereinafter, the process of automatically creating a control program will be described with reference to the flowchart of FIG. First, in step 1, a control block diagram is input using an editor. To do this, a control block diagram of the editor structure shown in FIG. 3 is input on the input screen of the program device shown in FIG.

In the apparatus to which the control block diagram is input,
Symbol data consisting of input / output connection information, control element functions and control constants is automatically created in conjunction with the input symbols. In FIG. 3, a symbol 1 indicating an addition point is shown.
And the symbol 2 of the first-order lag element connected thereto are displayed. For each symbol, the input / output connection information 21, the control element function 22, and the control constant 23 are managed as symbol data.

Next, in step 2, the determinant is converted. That is, as shown in the matrix conversion method of FIG. 4, one row of row data is converted and added below the matrix format of the state variable equation from three pieces of information of the symbol data (arrow 24 in the figure). ) To extend downward, and add 0 column data to the right side (arrow 25 in the figure) to extend rightward, and perform automatic conversion by a matrix extension method. At the same time, an intermediate value variable corresponding to the output of the symbol is added (arrow 26 in the figure).

Next, in step 3, the determinant is compressed. More specifically, the intermediate value variables are eliminated by Gaussian elimination or the like, and the D matrix at the head of the left side in FIG. 4 is finally converted into a unit matrix. Next, in step 4, the determinant is divided. The output variable y is retrieved from the state variable equation, and the output matrix that is the row (including the differential term of the input variable) related to y shown in the following equation is divided and compressed.

[0010]

(Equation 1)

Next, in step 5, conversion into a difference equation is performed. That is, the following expression expressed by the Laplace function is converted into a difference equation as an integral expression using any one of the Euler method, the trapezoidal method, the Runge Duck method, and the series method.

[0012]

(Equation 2)

Next, in the difference equation conversion in step 6, the determinant converted into the difference equation is finally developed into an arithmetic program according to the continuity of the variables in the calculation, and an execution program is created. In step 5, any one of the Euler method, the trapezoidal method, the Runge-duck method, and the series method can be selected, and the method can be switched to another method. Therefore, an optimal one can be selected according to the calculation time and accuracy of each method. In addition, in the program expansion of step 6, since the difference equation is obtained as a matrix in which the variable relations are arranged,
Memory allocation with the minimum necessary capacity can be performed.

[0014]

As described above, according to the present invention, algebraic optimization can be performed, and a minimum necessary mathematical processing can be derived, so that an efficient execution program can be created. Also, as an added effect, the calculation method and accuracy can be easily changed by arbitrarily selecting the conversion method of the difference equation from Euler method, trapezoidal method, Runge duck method, series method, or switching to another method. can do. Further, in the program development, the difference equation is obtained as a matrix in which the relations of the variables are arranged, so that memory allocation with a minimum necessary capacity can be performed.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of an embodiment of the present invention.

FIG. 2 is a flowchart illustrating a process of automatically creating a control program according to the embodiment.

FIG. 3 is a diagram showing a structure of an editor for inputting a control block diagram in the embodiment.

FIG. 4 is an explanatory diagram of a matrix conversion method in the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Device main body 2 Input screen part 3 Input operation part 4 Transmission line 5 Execution program 6 General-purpose control microcomputer main body 7 Control command signal 8 Controlled device 21 I / O connection information 22 Control element function 23 Control constant 24 Conversion addition 25 0 column data addition 26 Add intermediate value variable

Claims (4)

[Claims] 1. A means for linking control block elements of an input transfer function and displaying them as a control block diagram on a screen, and for input / output connection information and control elements for each control block element symbol displayed on the screen. Means for managing symbol data consisting of functions and control constants;
Means for creating an equation by converting and adding row data and adding and expanding 0 column data; means for creating an execution program by discretely converting the created equation into a difference equation using a backward difference Euler method An automatic control program creation device, comprising: 2. A means for linking control block elements of an input transfer function and displaying them as a control block diagram on a screen, and input / output connection information and control elements for each control block element symbol displayed on the screen. Means for managing symbol data consisting of functions and control constants;
Means for creating an equation by converting and adding to row data and adding and extending 0 column data; means for creating an execution program by discretely converting the created equation into a difference equation using a trapezoidal method; An automatic creation device for a control program, comprising: 3. A means for linking control block elements of an input transfer function and displaying them as a control block diagram on a screen, and input / output connection information and control elements for each control block element symbol displayed on the screen. Means for managing symbol data consisting of functions and control constants;
Means for converting and adding to row data and adding and expanding 0 column data to create an equation; means for discretely converting the created equation to a difference equation using the Runge-Kutta method to create an execution program; An automatic creation device for a control program, comprising: 4. A means for linking control block elements of an input transfer function and displaying them as a control block diagram on a screen, and input / output connection information and control elements for each control block element symbol displayed on the screen. Means for managing symbol data consisting of functions and control constants;
Means for converting and adding row data and adding and expanding 0 column data to create an equation; means for discretely converting the created equation to a difference equation using a series expansion method to create an execution program; An automatic creation device for a control program, comprising: