JP3298239B2 - Equalization method for redundant control system - Google Patents
Equalization method for redundant control systemInfo
- Publication number
- JP3298239B2 JP3298239B2 JP15830693A JP15830693A JP3298239B2 JP 3298239 B2 JP3298239 B2 JP 3298239B2 JP 15830693 A JP15830693 A JP 15830693A JP 15830693 A JP15830693 A JP 15830693A JP 3298239 B2 JP3298239 B2 JP 3298239B2
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- JP
- Japan
- Prior art keywords
- control device
- standby
- active
- program
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Description
【０００１】[0001]
【産業上の利用分野】本発明は稼動側と待機側とに二重
化されてなり、稼動側の異常時には待機側がそれまでの
稼動側に代わって稼動状態に入るような、プログラマブ
ル・コントローラ（ＰＣとも略す）等の制御装置を持つ
二重化制御システムにおいて、稼動側制御装置と待機側
制御装置の保持するプログラムを含む全データを等しく
保つための等値化方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is provided with a dual operation system for a working controller and a standby controller. The present invention relates to an equalization method for keeping all data including a program held by an active control device and a standby control device equal in a redundant control system having a control device such as that described above.
【０００２】[0002]
【従来の技術】図１は本発明の実施例としてのシステム
構成図であるが、以下この図を流用して従来の技術を説
明する。なお同図中の手段２Ａは従来は存在しない。こ
の図１において１は稼動側のＰＣ（稼動ＰＣ）、２は待
機側のＰＣ（待機ＰＣ）、８は制御対象、７は制御対象
８に対する二重化ＰＣ１，２の共通の入出力インタフェ
ースとしての入出力装置、４はこの図１のシステムの管
理用パソコン、３は二重化ＰＣ１，２、入出力装置７、
及び管理用パソコン４等を結合する共通の伝送路であ
る。また６は稼動ＰＣ１と待機ＰＣ２間に設けられ、両
者の保持データを常時、等しく保つ（つまり等値化す
る）ためのデータ転送路としての等値化伝送路（同期バ
スともいう）、５はプログラム等をＰＣ１，２に格納す
るためのローダである。2. Description of the Related Art FIG. 1 is a block diagram showing a system according to an embodiment of the present invention. The means 2A in the figure does not exist conventionally. In FIG. 1, 1 is an active PC (active PC), 2 is a standby PC (standby PC), 8 is a control target, and 7 is an input / output interface of the redundant PC 1 and 2 for the control target 8 as a common input / output interface. An output device 4 is a management personal computer of the system shown in FIG.
And a common transmission path for connecting the management personal computer 4 and the like. Reference numeral 6 denotes an equalizing transmission line (also referred to as a synchronous bus) as a data transfer path for keeping the data held by the two always equal (that is, equalizing), provided between the active PC 1 and the standby PC 2. This is a loader for storing programs and the like in the PCs 1 and 2.
【０００３】この図１においては、二重化されたＰＣ
１，２の従来の等値化は以下の手順で実現される。 運転前に、伝送路３経由で管理用パソコン４から、あ
るいはローダ５を使って直接に、全く同じプログラムや
定義データを稼動ＰＣ１と待機ＰＣ２とに転送する。In FIG. 1, a duplicated PC is shown.
Conventional equalization of 1 and 2 is realized by the following procedure. Before the operation, the same program and definition data are transferred from the management personal computer 4 via the transmission line 3 or directly using the loader 5 to the active PC 1 and the standby PC 2.
【０００４】運転に入ると、稼動ＰＣ１が入出力装置
７とデータ交換し、制御対象８に対して制御を実行す
る。 待機ＰＣ２の待機運転開始直後には、稼動ＰＣ１から
待機ＰＣ２へ固定のデータを等値化用伝送路６を使って
転送する。 上記終了後は、ダイナミックに変化する可変データを
稼動ＰＣ１から待機ＰＣ２へ一定周期で、等値化伝送路
６を使って転送する。When the operation starts, the operating PC 1 exchanges data with the input / output device 7 and executes control on the control target 8. Immediately after the standby operation of the standby PC 2 is started, fixed data is transferred from the active PC 1 to the standby PC 2 using the transmission path 6 for equalization. After the completion of the above, dynamically changing variable data is transferred from the active PC 1 to the standby PC 2 at regular intervals using the equalization transmission line 6.
【０００５】稼動ＰＣ１と待機ＰＣ２は伝送路３を使
って相互監視を行う。稼動ＰＣ１が異常となり、稼動権
を放棄し、待機ＰＣ２が正常ならば、待機ＰＣ２が新た
に稼動側へ切換わって制御を実行する。[0005] The active PC 1 and the standby PC 2 mutually monitor using the transmission line 3. If the active PC 1 becomes abnormal, abandon the operating right, and if the standby PC 2 is normal, the standby PC 2 is newly switched to the active side to execute control.
【０００６】[0006]
【発明が解決しようとする課題】しかしながら前述のよ
うな二重化制御システムには次のような欠点があった。 プログラムや定義データを変更する場合には、前記の
運転前のプログラムロードと同様に２つのＰＣ１と２に
管理用パソコン４、又はローダ５から、この変更された
プログラムや定義データを転送しなければならない。However, the above-described dual control system has the following disadvantages. When changing the program or the definition data, the changed program or the definition data must be transferred from the management personal computer 4 or the loader 5 to the two PCs 1 and 2 in the same manner as the above-described program loading before the operation. No.
【０００７】異常となり切換が発生し、待機側となっ
たＰＣを交換した後は、この待機ＰＣへ再び管理用パソ
コン又はローダからプログラムや定義データを転送しな
ければならない。そこで本発明は上記の問題を解消し、
二重化制御システムにおいて二重化を意識することなく
１台のＰＣの制御システムと同様に簡単にプログラムや
定義データの変更、又は異常ＰＣの交換作業が行える二
重化制御システムの等値化方法を提供することを課題と
する。[0007] After switching due to an abnormal condition and replacing the PC on the standby side, it is necessary to transfer programs and definition data from the management personal computer or loader to the standby PC again. Therefore, the present invention solves the above problem,
It is an object of the present invention to provide a method of equalizing a redundant control system in which a program or definition data can be easily changed or an abnormal PC can be exchanged in the same manner as a single PC control system without being aware of redundancy in the redundant control system. Make it an issue.
【０００８】[0008]
【課題を解決するための手段】前記の課題を解決するた
めに、本発明の等値化方法では、待機側制御装置（待機
ＰＣ２など）と、予めプログラム及び固定データが格納
された稼動側制御装置（稼動ＰＣ１など）とを備え、常
時は稼動側制御装置が制御対象（８など）を制御し、待
機側制御装置は所定周期で稼動側制御装置の異常の有無
を監視すると共に、（等値化伝送路６などを介し）稼動
側制御装置からその可変データを自身へ転送させ、稼動
側制御装置の異常時には待機側制御装置がこの稼動側制
御装置に代わって制御対象を制御する二重化制御システ
ムであって、待機側制御装置は、その電源の投入時及び
リセット時に（稼動側全データ複写手段２Ａなどを介
し）稼動側制御装置からそのプログラムを含む全データ
を自身へ転送させると共に、稼動側制御装置に対する前
記の監視の際、（稼動側全データ複写手段２Ａなどを介
し）稼動側制御装置のプログラム又は固定データの変更
の有無をも調べ、この変更が有ったときは稼動側制御装
置からそのプログラムを含む全データを自身へ転送させ
るようにする。In order to solve the above-mentioned problems, according to the equalization method of the present invention, a standby-side control device (stand-by PC 2 or the like) and an operating-side control device in which a program and fixed data are stored in advance. Device (such as the operating PC 1), the operating control device always controls the control target (8, etc.), and the standby control device monitors at regular intervals for any abnormalities in the operating control device. Redundant control in which the variable data is transferred from the active control device to itself via the value transmission line 6 and the like, and when the active control device is abnormal, the standby control device controls the control target in place of the active control device. In the system, the standby-side control device causes the active-side control device to transfer all data including the program to itself when the power is turned on and reset (via the active-side all data copying unit 2A and the like). In both cases, during the above-mentioned monitoring of the operation-side control device, it is also checked whether or not the program or the fixed data of the operation-side control device has been changed (via the operation-side all data copying means 2A or the like). All data including the program is transferred from the active control device to itself.
【０００９】また請求項２の等値化方法では、請求項１
に記載の等値化方法において、待機側制御装置は稼動側
制御装置に対する前記の監視の際、（稼動側全データ複
写手段２Ａなどを介し）稼動側制御装置のプログラム又
は固定データの変更の有無をも調べ、この変更が有った
ときは稼動側制御装置からそのプログラムを含む全デー
タを自身へ転送させるようにする。Further, according to the equalizing method of the second aspect, the first aspect
In the equalization method described in 1 above, the standby-side control device checks whether the program or fixed data of the active-side control device has been changed (via the active-side all data copying means 2A or the like) during the monitoring of the active-side control device. Is checked, and when this change is made, all data including the program is transferred to itself from the operating control device.
【００１０】[0010]
【作用】待機ＰＣの電源投入時、及びリセット時、並び
に稼動ＰＣのプログラムや定義データの変更時には、待
機ＰＣが稼動ＰＣのプログラムを含む全データを自身に
転送させるようにして、システム稼動前又はプログラム
変更時にはプログラムや定義データを稼動ＰＣにロード
するのみで済むようにする。When the power of the standby PC is turned on and reset, and when the program and definition data of the active PC are changed, the standby PC transfers all data including the program of the active PC to itself, so that the standby PC can operate before the system operation or When the program is changed, it is only necessary to load the program and the definition data into the operating PC.
【００１１】[0011]
【実施例】以下図１ないし図３を用いて本発明の実施例
を説明する。本発明においては図１において、待機ＰＣ
２内に稼動側全データ複写手段２Ａが設けられる。な
お、この複写手段２Ａは待機ＰＣ２の機能のうち、本発
明に関わる機能部分を分担実行すると見做したときの部
分機能部である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. In the present invention, in FIG.
2, an operation-side all data copying means 2A is provided. The copy unit 2A is a partial function unit when it is considered that the function unit related to the present invention among the functions of the standby PC 2 is shared and executed.
【００１２】図２は本発明による待機ＰＣ２の電源投入
時又はリセット時の動作を示すフローチャートで、１０
１〜１１０はそのステップを示す。また、図３（Ａ）は
ＰＣ１，２間の相互監視のプロトコル（通信手順）を示
し、同図（Ｂ）はこの相互監視に基づき待機ＰＣ２が稼
動権移動の有無を確認する動作のフローチャートで、３
０１〜３０５はそのステップを示す。FIG. 2 is a flowchart showing the operation of the standby PC 2 when the power is turned on or reset, according to the present invention.
1 to 110 indicate the steps. FIG. 3A shows a protocol (communication procedure) for mutual monitoring between the PCs 1 and 2, and FIG. 3B is a flowchart of an operation in which the standby PC 2 confirms whether or not the operating right has been moved based on the mutual monitoring. , 3
01 to 305 indicate the steps.
【００１３】次にまず図２を説明する。稼動ＰＣ１の正
常運転中に待機ＰＣ２の電源を投入すると、待機ＰＣ２
はステップ１０１〜１０３で自身が二重化システムの待
機側制御装置であることを確定する。即ち待機ＰＣ２は
まず初期化を行ったのち（１０１）、同期バスとしての
等値化伝送路６が存在するか否かを調べ（１０２）、存
在しなければ（分岐Ｎ）、単独制御装置として動作する
（１０９）。しかしステップ１０２で等値化伝送路６が
存在するならば（分岐Ｙ）、さらに稼動ＰＣ１が存在す
るか否かを調べる（１０３）。ここで稼動ＰＣ１が存在
しなければ（分岐Ｎ）、自身が稼動側制御装置であると
して動作するが（１０８）、稼動ＰＣ１が存在すれば
（１０３，分岐Ｙ）、自身を待機側制御装置であると確
定する。そして等値化伝送路６のメッセージ通信機能を
使って、稼動ＰＣ１に対しデータ転送を要求し（１０
４）、プログラム及び定義データを含め全てのデータを
受信する（１０５，１０６）。そして全データの受信を
終了すると（１０６，分岐Ｙ）、二重化系の待機側制御
装置としての動作状態に入る（１０７）。Next, FIG. 2 will be described first. When the power supply of the standby PC 2 is turned on during the normal operation of the operating PC 1, the standby PC 2
Determines in step 101-103 that it is the standby controller of the duplex system. That is, the standby PC 2 first performs initialization (101), checks whether or not the equalization transmission line 6 as a synchronous bus exists (102). It operates (109). However, if the equalization transmission line 6 exists at step 102 (branch Y), it is checked whether or not the operating PC 1 exists (103). If the active PC 1 does not exist (branch N), it operates as the active control device (108). If the active PC 1 exists (103, branch Y), it operates as the standby control device. Confirm that there is. Then, using the message communication function of the equalization transmission line 6, the active PC 1 is requested to transfer data (10
4) Receive all data including program and definition data (105, 106). Then, when the reception of all data is completed (106, branch Y), the operation state as the standby-side control device of the duplex system is entered (107).
【００１４】稼動ＰＣ１と待機ＰＣ２間の相互監視は図
３（Ａ）に示すように、稼動ＰＣ１は伝送路３を介して
稼動権確認伝送９を行い、待機ＰＣ２はこれに対し同じ
く伝送路３を介して稼動権確認応答伝送１０を行うこと
によって実現している。これによって稼動ＰＣ１と待機
ＰＣ２は、互いに相手の存在と状態を知ることができ
る。As shown in FIG. 3A, the mutual monitoring between the active PC 1 and the standby PC 2 is performed by the active PC 1 via the transmission path 3 to transmit the operation right confirmation 9, and the standby PC 2 is similarly transmitted to the transmission path 3. This is realized by transmitting the operation right confirmation response transmission 10 via the. Thus, the active PC 1 and the standby PC 2 can know each other's presence and state.
【００１５】稼動ＰＣ１側のプログラム又は定義データ
の変更発生もこの伝送に乗せることによって、待機ＰＣ
２が知ることができる。即ち、図３（Ｂ）に示すように
待機ＰＣ２はこのとき稼動ＰＣ１からの稼動権確認９の
伝送データを解析する。そして、この解析によって稼動
ＰＣ１が稼動権を放棄したと判別すると（３０１，分岐
Ｙ）、図３（Ａ）の確認応答１０のために、稼動権を獲
得する旨の応答を起動し（３０２）、稼動ＰＣ１に代わ
り稼動側制御装置として動作を開始する（３０４）。A change in the program or definition data on the operating PC 1 can also be added to this transmission to make the standby PC
2 can know. That is, as shown in FIG. 3B, the standby PC 2 analyzes the transmission data of the operation right confirmation 9 from the operation PC 1 at this time. When it is determined by this analysis that the operating PC 1 has abandoned the operating right (301, branch Y), a response to the effect of obtaining the operating right is activated for the confirmation response 10 of FIG. 3A (302). Then, the operation is started as the active control device in place of the active PC 1 (304).
【００１６】他方、ステップ３０１で稼動権の放棄が無
いと判別したときは（分岐Ｎ）、確認応答１０のため
に、稼動権の放棄が無い旨の応答を起動し（３０３）、
さらに稼動ＰＣ１側にプログラム又は定義データの変更
（つまり稼動ＰＣ１の状態変化）が有ったか否かを調べ
る（３０５）、ここで稼動ＰＣ１の状態変化を検出した
ら（分岐Ｙ）、図２のステップ１０４に移行し稼動ＰＣ
１に対し全データの転送を要求する。これによって、プ
ログラム・定義データが稼動ＰＣ１と同一となる。On the other hand, when it is determined in step 301 that there is no relinquishing of the operating right (branch N), a response indicating that there is no relinquishing of the operating right is started for the confirmation response 10 (303).
Further, it is checked whether or not the program or the definition data has been changed (that is, a change in the state of the working PC 1) on the side of the working PC 1 (305). Operating PC after moving to 104
1 requests the transfer of all data. As a result, the program / definition data becomes the same as that of the active PC 1.
【００１７】なお、図１の稼動側全データ複写手段２Ａ
の機能は、図２のステップ１０４〜１０６、及び図３の
ステップ３０５に相当する。It is to be noted that the active side all data copying means 2A shown in FIG.
Function corresponds to steps 104 to 106 in FIG. 2 and step 305 in FIG.
【００１８】[0018]
【発明の効果】本発明によれば電源投入時又はリセット
時に、制御装置（ＰＣ）が自身を二重化系の待機側制御
装置であると確定したならば稼動側からプログラムを含
む全てのデータを複写するようにしたので、二重化立上
げ時には稼動側のみにプログラム及び定義データを格納
したのち、待機側の電源を投入するだけで稼動側の格納
全データが待機側に複写され、従来のように待機側へ別
途手操作で、稼動側と同じプログラム及び定義データを
格納する必要はなくなり、二重化立上げ及びＰＣの交換
作業が簡単になる効果がある。According to the present invention, at power-on or reset, if the control unit (PC) determines that it is the standby-side control unit of the duplex system, all data including the program is copied from the operation side. When the dual system is started up, the program and definition data are stored only on the active side, and then all the stored data on the active side is copied to the standby side just by turning on the power on the standby side. There is no need to separately store the same program and definition data as those on the operating side by hand, and this has the effect of simplifying the startup of duplication and replacement of the PC.
【００１９】また二重化系の相互監視の動作において、
稼動側からそのプログラム又は定義データの変更の有無
を待機側に通知し、変更有のときは待機側が自から稼動
側の全データ領域を複写するようにしたので、プログラ
ム又は定義データ変更の作業を行う際は稼動側に対して
この変更作業を行うだけでよく、二重化を意識すること
なく変更作業を行うことができる。In the operation of mutual monitoring of a duplex system,
The active side notifies the standby side of the change of the program or definition data, and if there is a change, the standby side copies the entire data area of the active side from itself, so the work of changing the program or definition data can be done. When performing this, it is only necessary to perform this change work on the operating side, and the change work can be performed without being aware of the duplication.
【図１】本発明の実施例としてのシステム構成図FIG. 1 is a system configuration diagram as an embodiment of the present invention.
【図２】同じく制御装置の電源投入時又はリセット時の
処理の要部を示すフローチャートFIG. 2 is a flowchart showing a main part of a process at the time of turning on or resetting the control device.
【図３】同じく二重化制御装置間の相互監視の伝送手順
と、待機側制御装置の稼動権移動確認動作の手順を示す
フローチャートFIG. 3 is a flowchart showing a transmission procedure of mutual monitoring between redundant controllers and a procedure of an operation right transfer confirmation operation of a standby controller;
１ 稼動側プログラムコントローラ（稼動ＰＣ） ２ 待機側プログラムコントローラ（待機ＰＣ） ２Ａ 稼動側全データ複写手段 ３ 伝送路 ４ 管理用パソコン ５ ローダ ６ 等値化伝送路 ７ 入出力装置 ８ 制御対象 DESCRIPTION OF SYMBOLS 1 Working-side program controller (working PC) 2 Standby-side program controller (standby PC) 2A Working-side all data copying means 3 Transmission path 4 Management personal computer 5 Loader 6 Equalization transmission path 7 I / O device 8 Control target
───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.7，ＤＢ名) G06F 11/16 - 11/20 G06F 15/16 - 15/177 ──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. 7 , DB name) G06F 11/16-11/20 G06F 15/16-15/177
Claims (1)
定データが格納された稼動側制御装置とを備え、常時は
稼動側制御装置が制御対象を制御し、待機側制御装置は
所定周期で稼動側制御装置の異常の有無を監視すると共
に、稼動側制御装置からその可変データを自身へ転送さ
せ、稼動側制御装置の異常時には待機側制御装置がこの
稼動側制御装置に代わって制御対象を制御する二重化制
御システムであって、待機側制御装置は、その電源の投
入時及びリセット時に稼動側制御装置からそのプログラ
ムを含む全データを自身へ転送させると共に、稼動側制
御装置に対する前記の監視の際、稼動側制御装置のプロ
グラム又は固定データの変更の有無をも調べ、この変更
が有ったときは稼動側制御装置からそのプログラムを含
む全データを自身へ転送させるようにしたことを特徴と
する二重化制御システムの等値化方法。1. A control device comprising: a standby control device; and an active control device in which a program and fixed data are stored in advance. The active control device always controls a control target, and the standby control device operates at a predetermined cycle. In addition to monitoring the presence or absence of an abnormality in the control unit, the variable data is transferred from the control unit to itself, and in the event of a failure in the control unit, the standby control unit controls the control target in place of the control unit. The standby-side control device transfers the entire data including the program from the active-side control device to itself when the power is turned on and resets, and performs the monitoring of the active-side control device. Also, it checks whether there is any change in the program or fixed data of the operating control device, and when this change occurs, the operating control device sends all data including the program to itself. Equalization method of duplicated control system being characterized in that so as to transfer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15830693A JP3298239B2 (en) | 1993-06-29 | 1993-06-29 | Equalization method for redundant control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15830693A JP3298239B2 (en) | 1993-06-29 | 1993-06-29 | Equalization method for redundant control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0713791A JPH0713791A (en) | 1995-01-17 |
| JP3298239B2 true JP3298239B2 (en) | 2002-07-02 |
Family
ID=15668750
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15830693A Expired - Fee Related JP3298239B2 (en) | 1993-06-29 | 1993-06-29 | Equalization method for redundant control system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3298239B2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006309637A (en) * | 2005-05-02 | 2006-11-09 | Mitsubishi Electric Corp | Monitoring control system |
| JP4816186B2 (en) * | 2006-03-27 | 2011-11-16 | 横河電機株式会社 | Control module |
| WO2015025367A1 (en) | 2013-08-20 | 2015-02-26 | 株式会社小松製作所 | Construction machine controller |
| JP6364773B2 (en) * | 2014-01-09 | 2018-08-01 | 日本電気株式会社 | Information processing apparatus, information processing system, memory replication method, and computer program |
-
1993
- 1993-06-29 JP JP15830693A patent/JP3298239B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0713791A (en) | 1995-01-17 |
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