JPS60245001A - Multiplexing controller - Google Patents

Abstract

PURPOSE:To speed up the processing of the multiplexing controller by transmitting integral arithmetic results of respective controlled systems to respective controllers, judging whether output signals of the respective controllers are inputted to the respective controlled systems, and deciding on the integral arithmetic results that the respective controllers employ. CONSTITUTION:The multiplexing controller has the triplex constitution of controllers 2-4, and the output signal of one of the controllers 2-4 is selected by a signal selecting circuit 5 and inputted to a controlled system 6. The controllers 2-4 input a setting signal SS inputted to a terminal 1 and a process signal PS outputted from the system 6 to perform integral arithmetic. Coincidence decision circuits 201-20n input output signals outputted from circits 51-5n to systems 61-6n and the output signals of the controllers 2-4 corresponding to the systems 61-6n to decide which controller's output signal is outputted to the systems 61-6n from the circuits 51-5n. The controllers 2-4 send the integral arithmetic results of the respective systems 61-6n through transmission parts 15, 16, and 18 and they are stored. Thus, the high-speed processing is performed.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a multiplexed control device equipped with a plurality of control devices that include an integral element in control calculations, and more specifically, relates to a multiplex control device that includes a plurality of control devices that include integral elements in control calculations, and more specifically, to The present invention relates to a multiplexing control device suitable for minimizing the deviation of.

[Background of the invention]

Conventionally, in control systems that require high reliability, control devices are duplicated or tripled, and their outputs are compared to detect abnormalities and switch to a normal control device. It has become common to apply multiplexed control devices. Each control device used in such a multiplexed control device generally performs an integral calculation as a control element in order to cancel steady-state deviations.

By the way, in the above-mentioned multiplexed control device, even if one control device fails, it does not affect other control devices, and control can be automatically transferred to another normal control device. is important.

For example, No. 11. The figure shows a conventional example.

The multiplex control device shown in FIG. 1 has a triplex configuration consisting of control devices 2, 3.4, and the output signal of one of the three control devices 2, 3.4 is selected as a signal. It is selected by the circuit 5 and input to the controlled object 6.

For example, as shown in the figure, if the output signal of the signal selection circuit 5 is selected and inputted to the controlled object 6, only the output signal of the control device 2 is inputted to the controlled object 6, and the other control devices 3. The output signal of No. 4 is not inputted and becomes open-loose. In this state, when each control device 2.3.4 takes in the setting signal SS input to the terminal 1 and the process signal 9P8e output from the controlled object 6, there is a reading error, so each control device 2.3. These signal values captured by 4 differ by the above-mentioned capture error. As described above, since each control device 2, 3.4 executes an integral calculation, the above error is integrated, and as a result, the values of the output signals of each control device 2, 3.4 become different. . If the control device 2 malfunctions in such a state and is switched to another control device 3 or 4, the values of the output signals of each control device 2, 3.4 are different, so the signal selection circuit 5 Bumps or discontinuities occur in the output signal, making it impossible to perform stable control.

In order to prevent such a situation from occurring, conventionally, the integral operation result stored in the integrating section 8 in the control device z that provides the output signal to the controlled object 6 is transmitted to the transmitting section 9 and transmitted to other control devices. 3
．． The integrated calculation result of the control device 3.4, which is always on standby, is made to match the integration result of the control device 2, so that bumps do not occur when switching the control device. In the figure, 10
．． 12 is a receiving section, and 11.13 is a transmission data storage section for storing data received by the receiving section 11.12.

However, in the above-mentioned means, as the signal selection circuit 5, an intermediate value selection circuit (a circuit that selects and outputs an intermediate value among a plurality of output signals) or a high value selection circuit (a circuit that selects the highest value among a plurality of output signals) is used. In a control system that employs a low value selection circuit (a circuit that selects and outputs the lowest value of two or more output signals) and has multiple control objects 6, the integration calculation result A problem arises in that the transmission takes time and the control processing speed of the multiplex control device decreases.

This state will be explained next using FIG. 2.

In FIG. ts2, the same parts as in FIG. The difference between Figures 1 and 2 is terminal 1! n setting signals 881 to 8B in ~1s
, is input, there are n controlled objects 60 to 6S, and each controlled object 61 to 6. , respectively, the process signal PSs-
PS is input to each control device 2, 3.4, and each control device 2.3.4 receives n setting signals 881 to 8B- and n
In response to the process signals P81-PS, the n signal selection circuits 51 to 51 each select one output signal to output the n output signals to the corresponding control objects 61 to 6.
．． This means that it is being output to .

The controller 2 is now giving the controlled object 61 an output signal corresponding to the setting signal S's input to the terminal 11.
Assume that terminal 1. The setting signal SS input to
The output signal corresponding to the controlled object 6. Assume that it is the control device 4 that is giving the . In this way, each controlled object 61 to 6
．． The reason why the control devices that give output signals to the controllers is different is that the setting signals 11 to 1 . and process signals PSs to PS, each of the control devices 2 to 4 controls the controlled objects 61 to 6. Each signal selection circuit 51-5. This is because they are selected separately according to certain criteria.

In the example shown in FIG. 2, the transmission of the integral calculation results described above is as follows.
It is executed as follows. First, regarding the control of the controlled object 6□, the integral calculation result of the integration section 81 of the control device 2 is transmitted from the transmission section 9 to the reception sections 101 and 121 of the other control devices 3.4. Next, control target 6. Regarding the control of the integration unit 13 of the controlled object 4. The integral operation result is transmitted to the transmitter 12. to the receiving section 11. of the other control device 2.3. ．． 9. to be transmitted.

Here, 111.131.10-. 8. is a transmission data storage section.

In this way, the controlled objects 61 to 6. The direction of transmission of the integral calculation result of the control device differs depending on the case. Therefore, in general, when there are multiple control targets, each control device uses a signal selection circuit to select its own control device for each control target and determines whether or not it is outputting to the control target. If so, it is necessary to transmit the integral calculation results related to the control to other control devices. If no output signal is selected, the transmitted integral calculation result is used, processed, and outputted as a control signal.

For the reasons described above, when there are a plurality of control objects, the control device that transmits the integral calculation result is different for each control object. As a result, each control device requires a large amount of time to transmit, receive, and process the integral calculation results for each controlled object, and the control processing speed is significantly reduced.

[Purpose of the invention]

The present invention has been made in view of the above points, and its purpose is to obtain the integral calculation result of a control device controlling a control object even if there are a plurality of control objects in a multiplex control device. The objective is to transmit the information to other control devices at high speed and to prevent a decrease in the control processing speed of the multiplex control device.

[Summary of the invention]

The multiplex control device of the present invention includes a plurality of control devices that periodically take in a plurality of setting signals and a plurality of process signals and performs a plurality of integral operations corresponding to a plurality of control objects, and each of the plurality of control devices described above. comprising a plurality of signal selection circuits that select one of the output signals corresponding to the controlled object according to a certain logic, and further transmits an integral calculation result for each controlled object in each control device between the control devices, Transmission means for storing all integral calculation results in other control devices in each control device, and determining for each control device which control device among the plurality of control devices the output signal of each signal selection circuit is output from. and one integral calculation used for integral calculation for each controlled object according to the judgment result of the matching judgment means among the plurality of integral calculation results for each controlled object stored in each control device. and means for determining the results for each control device.

[Embodiments of the invention]

The present invention will be explained in more detail below with reference to embodiments shown in the accompanying drawings.

FIG. 3 is a block diagram showing a first embodiment of the present invention, and the same parts as in the conventional example shown in FIG. 2 are given the same reference numerals. The difference between the embodiment shown in FIG. 3 and the conventional example shown in FIG. 2 is that the match determination circuits 201 to 20. is provided. Each match determination circuit 201-20. are each signal selection circuit 51-5. to each controlled object 61 to 6. The output signals outputted to the control devices 61 to 6 of the respective control devices 2 to 4. Each output signal is inputted to each signal selection circuit 51 to 5. Which control device's output signal from each controlled object 61 to 6. This is to determine whether the output is being output. Since the coincidence determination circuits 201 to 20° have the same configuration,
The configuration of the match determination circuit 201 as shown in the figure will be explained by taking it as an example.

The match determination circuit 201 receives 3 signals input to the signal selection circuit 51.
The subtracters 22, 23, and 24 take the difference between the two signals and the output signal of the signal selection circuit 51, and the subtraction result is used as the output signal power source 28.
The comparison circuit 25, 26, and 27 determine whether or not the value is smaller than a reference value set in advance. The subtraction results of the subtracters 22, 23, and 24 are absolute values, and if the subtraction results are below the reference value, the output signal from the control device input to the subtractor is the output signal of the signal selection circuit 51. . now,
Assuming that the output signal of the control device 2 is output from the signal selection circuit 51, the output line 29 of the comparison circuit 25 has a logical value "
"1" is set, and the output lines 30. of the comparator circuits 26.27. -3
1 has the logical value plus 7.

In this way, each signal selection circuit 51-5. to each controlled object 61 to 6. Information indicating which of the three control devices 2.3.4 the output signal is output from is input to each control device 2, 3.4.

In the other 5, each control device 2 to 4 has a transmission section 15.16.
．． 18, of the integral calculation results calculated for each controlled object 61 to 6, the integration parts 141 to 14m*
17 s~1711 #191~19, the own integral calculation results are stored in the integration units 141~ of other control devices 2~4.
14m*17t~17m, 19t~19. to be transmitted.

Each integration section 141-14a*17t-17. , 191~
As shown in FIG. 4, the 19° configuration consists of a part that stores the integral calculation results of its own control device and a part that stores the integral calculation results transmitted from other control devices. Here, the control system is not a triple system but a quadruple system.

If you have a quintuple system with a large number of redundant units, you just need to increase the part that stores the integral calculation results of other control devices.On the other hand, if you have a dual system with a small number of redundant units, you can increase the number of integral calculation results of other control devices. What is necessary is to reduce the portion that stores the calculation results.

Each of the control devices 2 to 4 employs a loop data transmission method in order to transmit integral calculation results at high speed. FIG. 5 is a block diagram showing data transmission of integral calculation results using this loop data transmission method. The same parts as in the embodiment shown in FIG. 3 are given the same reference numerals. In the same figure, input stations 32.degree. 33.34 have the function of connecting each control device 2, 3.4 and a loop data transmission line 35.

In the loop data transmission method, when transmitting data from one control device 2 to 4 to another control device 2 to 4, there is no need to determine whether transmission is possible or not, and data can always be transmitted in a loop. . Therefore, high-speed transmission of integral calculation results is possible.

As described above, each of the control devices 2 to 4 has an output signal from which control device to each controlled object 61 to 6. (Output of each match determination circuit 201 to 20.)
and the integral calculation results of each control device 2 to 4 are always given. As a result, each control device 2 to 4 controls each controlled object 6t.
~6. When performing each integral calculation, it becomes possible to easily recognize the integral calculation results of other control devices to be employed and employ them as data. For example, when the output signal of the control device 2 is input to the controlled object 6K as described above, the control device 3.4 recognizes this from the output lines 29 to 31, and transmits loop data to each control device 3.4. Control device 2 for the six controlled objects stored in the integration unit of .4
It is sufficient to adopt the integral calculation result of .

The above configuration is advantageous because even if there are multiple control objects, the integral calculation results of the control device controlling the control objects can be adopted without time delay, which makes it possible to use multiple control devices. This can contribute to improving control processing speed.

Note that the signal selection circuits 51 to 5. shown in FIG. As such, a high value selection circuit, an intermediate value selection circuit, or a low value selection circuit can be used.

FIG. 6 is a diagram showing a specific example of the control device 2 in the embodiment described above. Note that the control device 3.4 also has a completely similar configuration. That is, the control device 2, as shown in the figure,
It is composed of a central processing unit 40, a RAM 14, a transmission section 15, and other hardware not shown, and has a configuration similar to that of a general computer control device. The central processing unit 40 and the RAM 14. The transmission unit 15° is connected to other hardware (not shown) via an address bus 41 and a data bus 42.

The RAM 14, as shown in FIG.
．． In addition, it has a storage area 14a used when the central processing unit 40 executes other operations. and,
Integration unit 14. ~14. As explained with reference to FIG. 4, storage area 1 stores the integral calculation results of its own control device.
411 to 141 and storage areas 14u to 14ag @ 14ts to 14.411 to 141 and storage areas 14u to 14ag @ 14ts to 14.
It consists of 3.

The central processing unit 40 executes a program stored in a ROM (not shown), which includes a cyclic transmission procedure using a loop data transmission method for the integral calculation results of each control device 2 to 4, and each coincidence determination circuit. 201
A procedure is written in which a corresponding integral calculation result is adopted in accordance with the output of .about.2.theta., and the above-described operations are thereby executed.

FIG. 8 is a block diagram showing a second embodiment of the present invention, and the same parts as those in the first embodiment shown in FIG. The difference from the first embodiment shown in FIG. 3 is that the match determination circuits 201 to 20. is not provided, and which control device output signal is connected to each controlled object 6.
1-6. The point is that the judgment as to whether the input data is made within the control devices 2 to 4 is made.

That is, the signal selection circuits 51 to 5.0 output signals are the control target 6.
1-6. The signal is output to the control circuits 2 to 4, and is also taken into each of the control circuits 2 to 4. Each of the control devices 2 to 4 uses this captured output signal and the seventh
A signal obtained by adding a proportional element to the contents of the integrating units 141 to 14.0 shown in the figure, that is, an output signal output from each control device, is compared 7, and the result of the integral calculation of the control device for the matched signal is adopted. In this way, the functions of the match determination circuits 201 to 20.0 in FIG. 3 are executed by the control devices 2 to 4.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, the integral calculation results obtained by performing integral calculations for each controlled object in each multiplexed control device are transmitted to each control device, and the The system determines whether the output signal is input to each controlled object and determines the integral calculation result that each control device should adopt. Therefore, the integral calculation results can be transmitted at high speed between each control device, and multiplexing is possible. This makes it possible to enable high-speed processing of the control device.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing an example of a conventional multiplexing control device with a single control object, M2 is a block diagram showing an example of a conventional multiplexing control device with multiple control objects, and Fig. 3 is a block diagram of a conventional multiplexing control device with a single control object. Block diagram showing the first embodiment of the invention, Fig. 4 i No. 3
FIG. 5 is a block diagram showing the transmission method of integral calculation results between the control devices shown in FIG. 3, and FIG. 6 is a specific example of the control device shown in FIG. 3. FIG. 7 is an explanatory diagram showing details of the storage areas of R and AM shown in FIG. 6, and FIG. 8 is a block diagram showing a second embodiment of the present invention. 2.3.4...Control device, 51-5. ...Signal selection circuit, 61-6m...Controlled object, 141-14. . 171~l 7 mm 19 x~19. ... Integration section, 15° $6.18 ... Transmission section, 201-20.・
...=match determination circuit, 32.33.34...input station, 35...loop data transmission line. Agent Patent Attorney Masami Akimoto No. 1 No. 3 F5゜ No. 4

Claims (1)

[Claims] 1. A plurality of control devices that periodically take in a plurality of setting signals and a plurality of process signals and perform a plurality of integral calculations corresponding to a plurality of control objects, and each control of the plurality of control devices. In a multiplex control device consisting of a plurality of signal selection circuits that select one of the output signals corresponding to the object according to a certain logic, the integral calculation results for each control object in each control device are transmitted between the control devices. A transmission means for storing all integral operation results in other control devices in each control device, and a transmission means for each control device to indicate from which control device among the plurality of control devices the output signal of each signal selection circuit is output. Among the plurality of integral calculation results for each controlled object stored in each control device, one of the plurality of coincidence judgment means used for the integral calculation for each controlled object according to the judgment result of the said coincidence judgment means. A multiplex control device comprising: means for determining an integral calculation result for each control device. -2. The multiplexing control device according to claim 1, wherein the transmission means uses a loop data transmission method. 3. The multiplexing control device according to claim 1, wherein the signal selection circuit is an intermediate value selection circuit. 4. The multiplexing control device according to claim 1, wherein the signal selection circuit is a high value selection circuit. 5. The multiplexing control device according to claim 1, wherein the signal selection circuit is a low value selection circuit.