JPH0516041B2 - - Google Patents
Info
- Publication number
- JPH0516041B2 JPH0516041B2 JP60063562A JP6356285A JPH0516041B2 JP H0516041 B2 JPH0516041 B2 JP H0516041B2 JP 60063562 A JP60063562 A JP 60063562A JP 6356285 A JP6356285 A JP 6356285A JP H0516041 B2 JPH0516041 B2 JP H0516041B2
- Authority
- JP
- Japan
- Prior art keywords
- controlled
- control
- calculation means
- actuator
- controlled variable
- 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.)
- Expired - Lifetime
Links
- 238000000926 separation method Methods 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Safety Devices In Control Systems (AREA)
Description
【発明の詳細な説明】 本発明は制御用多重化装置に関する。[Detailed description of the invention] The present invention relates to a control multiplexing device.
従来、高信頼性を要求される制御においては多
重化が図られ、３重系による多数決方式が一般的
である。この場合、３者の比較、出力の選択装置
は、１つの装置によつて構成されていたため、そ
の共通要素である比較選択論理が故障した場合、
システムダウンとなり信頼性に限界があつた。 Conventionally, multiplexing has been attempted in control that requires high reliability, and a majority voting system using a triple system is common. In this case, since the comparison and output selection devices of the three parties were constituted by one device, if their common element, the comparison and selection logic, failed,
The system went down and there was a limit to reliability.
また、共通要素の部分的な故障で、かならずし
もシステムダウンとならない場合においても、シ
ステムを動作状態において保守することは出来
で、結局はプロセスを停止させなければならな
い。 Further, even if a partial failure of a common element does not necessarily result in a system down, the system cannot be maintained in an operating state and the process must eventually be stopped.
このような問題は発電所、化学プラントなどの
ようにプロセスを停止させることにより膨大な損
失を被むるシステムにおいては大きな問題となつ
ている。 Such problems are a major problem in systems such as power plants and chemical plants, where a stoppage of a process incurs huge losses.
また動かしながら保守することを目的として、
２重系を２セツト備えた４重系方式がある。 Also, for the purpose of maintenance while moving,
There is a quadruple system with two sets of duplex systems.
これは２重系内で両系の一致をとり、不一致の
場合、他セツトに切換える方式で、この方式によ
れば、制御装置が増加し、なおかつ、故障検出機
能が故障した場合、切換が不能となり、故障検出
部の信頼性によつてシステムの信頼性が決まつて
しまう問題がある。 This is a method in which both systems are matched within a duplex system, and if they do not match, the system is switched to another set. According to this method, the number of control devices increases, and if the fault detection function fails, switching becomes impossible. Therefore, there is a problem that the reliability of the system is determined by the reliability of the failure detection section.
本発明は以上のような問題に鑑み、多重系を構
成するに当つて、共通部をなくし、多重系構成要
素自身に選択論理を設け、各要素を独立化するこ
とによつて、解決を図るものである。 In view of the above-mentioned problems, the present invention aims to solve the problems by eliminating common parts, providing selection logic in the multiplex system components themselves, and making each element independent when configuring a multiplex system. It is something.
以下、実施例においてその手段を説明する。 Hereinafter, the means will be explained in Examples.
第１図は、タービン発電機の回転数制御を例と
した３重系制御システムの構成である。 FIG. 1 shows the configuration of a triple system control system, taking as an example the rotation speed control of a turbine generator.
第１図において、１はボイラ、２は調圧弁、３
は調整弁制御アクチユエータ、４はタービン、５
は発電機、６ａ，６ｂ，６ｃは制御装置である。 In Fig. 1, 1 is a boiler, 2 is a pressure regulating valve, and 3 is a boiler.
is a regulating valve control actuator, 4 is a turbine, 5 is a regulating valve control actuator;
is a generator, and 6a, 6b, and 6c are control devices.
以上の構成において制御装置６ａ，６ｂ，６ｃ
は、発電機の回転数を、トランス７を介して得ら
れる発電機５の周波数より検出し、設定された周
波数となるようアクチユエータ３を介し調圧弁２
を制御し、タービン４への蒸気の圧旅を制御する
ことにより周波数を一定に保つ。 In the above configuration, the control devices 6a, 6b, 6c
detects the rotational speed of the generator from the frequency of the generator 5 obtained via the transformer 7, and controls the pressure regulating valve 2 via the actuator 3 so that the frequency becomes the set frequency.
The frequency is kept constant by controlling the steam pressure journey to the turbine 4.
ただし、本実施例は他の発電とは接続されてお
らないが、一般には接続され、同期化現象によ
り、引き込まれるが、本発明の本質ではないので
以下第１図の構成において説明する。 However, although this embodiment is not connected to other power generators, it is generally connected and drawn in due to the synchronization phenomenon, but this is not the essence of the present invention, so it will be explained below with reference to the configuration of FIG. 1.
以上の構成および制御において、各系制御装置
６ａ，６ｂ，６ｃはそれぞれ回転数を検出して、
アクチユエータ３の制御コイル３１ａ，３１ｂ，
３１ｃに電流を流し、調圧弁２を制御する。 In the above configuration and control, each system control device 6a, 6b, 6c detects the rotation speed,
Control coils 31a, 31b of actuator 3,
A current is applied to 31c to control the pressure regulating valve 2.
この場合アクチユエータ３はそれぞれの制御装
置である電流の和で動作し、その積分で調圧弁２
が開閉するものと仮定する。その詳細に関して
は、本発明の本質ではないので省略する。 In this case, the actuator 3 operates with the sum of the currents of the respective control devices, and the pressure regulating valve 2
Assume that it opens and closes. The details are omitted because they are not essential to the present invention.
今仮に各制御装置６ａ，６ｂ，６ｃが正常であ
つた場合、各制御装置からの制御量は多少の差は
あるが第２図に示すように許容誤差内で一致し、
その和すなわち約３倍の制御量としてアクチユエ
ータ３を作動させる。 Now, if each of the control devices 6a, 6b, and 6c were normal, the control amounts from each control device would match within the tolerance as shown in FIG. 2, although there would be some differences.
The actuator 3 is actuated with a control amount that is the sum of the amounts, that is, approximately three times as much.
尚、第２図及び第３図に示す平均値は、各制御
装置の制御量とアクチユエータを作動させる実際
の制御量である実効制御量との対比を明確にする
ために実効制御量の３分の１すなわち各制御量の
平均値を示したものである。従つて、第２図及び
第３図では理想的には目標値と制御量の平均値の
関係は45度の傾きの線になるもので、平均値が目
標値とほぼ等しい関係が保たれている状態では正
常な制御が可能なことを示すものである。 Note that the average values shown in Figures 2 and 3 are calculated based on 3 minutes of the effective control amount in order to clearly contrast the control amount of each control device with the effective control amount, which is the actual control amount that operates the actuator. 1, that is, the average value of each control amount. Therefore, in Figures 2 and 3, ideally the relationship between the target value and the average value of the controlled variable is a line with an inclination of 45 degrees, and the relationship where the average value is almost equal to the target value is maintained. This indicates that normal control is possible under these conditions.
一方、制御装置の一部たとえば６ｃに故障が発
生した場合、第３図に示すように、制御装置６ｃ
は正常な場合の平均値からはずれた許容幅を超す
異常幅の制御量を出力する。 On the other hand, if a failure occurs in a part of the control device, for example 6c, as shown in FIG.
outputs a controlled variable with an abnormal width that deviates from the average value in the normal case and exceeds the allowable range.
その結果他の制御装置６ａ，６ｂは目標とする
制御を行うために、６ｃの動きを打ち消すように
制御量を出力し、その結果制御量の平均値（正し
くはその３倍の実効制御量）が意図した制御量で
ある目標値に近づくように動作する。 As a result, the other control devices 6a and 6b output the control amount so as to cancel the movement of 6c in order to perform the target control, and as a result, the average value of the control amount (actually, the effective control amount is three times that amount) operates so that it approaches the target value, which is the intended control amount.
この時、６ａ，６ｂの制御量は正常であれば許
容誤差内（第２図、第３図に示す許容幅）で一致
し、又、正常、異常が２対１であるので仮に６ｃ
が制御量の上下限一杯の異常値を出力しても、６
ａ，６ｂが６ｃに打ち勝つて、第３図に示す平均
値（正しくは平均値の３倍）が実効制御量となり
正常な制御が続行される。 At this time, if the control amounts of 6a and 6b are normal, they will match within the allowable error (the allowable range shown in Figures 2 and 3), and since the ratio of normal and abnormal is 2:1, hypothetically 6c
Even if outputs an abnormal value that is at the upper and lower limits of the control amount, 6
When a and 6b overcome 6c, the average value shown in FIG. 3 (correctly, three times the average value) becomes the effective control amount, and normal control is continued.
以上のような状態において、各制御装置内の比
較選択論理回路６２ａ，６２ｂ，６２ｃは、自己
の制御量と、他の制御量を比較し、自己の制御量
のが他より許容誤差を越えていた場合、自己の制
御線を切り離す。 In the above state, the comparison and selection logic circuits 62a, 62b, and 62c in each control device compare their own controlled variable with other controlled variables, and determine whether the controlled variable of their own exceeds the allowable error compared to the others. If so, disconnect its own control line.
一方他の正常な系６ａ，６ｂは互いに許容誤差
内であるので、自己を正常と見なし、切り離さ
ず、以後正常な運転が続行される。 On the other hand, since the other normal systems 6a and 6b are within tolerance, they are considered to be normal, are not disconnected, and normal operation continues thereafter.
この場合、各系の故障判定に誤りがあつた場合
には、故障系を切り離せなくなる可能性があるの
で、他の異常を発見した場合、その旨を報知する
ことで操作員等によつて切離しを図る。異常系に
関しても同様、故障を発見した場合は報知し、保
守も行う。 In this case, if there is an error in the failure judgment of each system, it may become impossible to disconnect the failed system, so if another abnormality is discovered, this will be notified so that the operator can disconnect it. We aim to Similarly for abnormal systems, if a failure is discovered, it will be notified and maintenance will be carried out.
以上のような構成とした場合、共通の部分がな
いので、プロセスを動かしたままで保守を示すこ
とができる。 With the above configuration, since there are no common parts, maintenance can be indicated while the process is running.
第１図〜第３図は本発明の説明図である。 1 to 3 are explanatory diagrams of the present invention.
Claims (1)
状態量との差により、制御量を算出する少なくと
も３個の演算手段と、該演算手段に対応して少く
とも３個の入力を持ち、各演算手段より対応する
該入力に個別に与えられる制御量の和によつて作
動するアクチユエータと、該アクチユエータによ
つて制御された制御対象の状態量にたいする上記
複数の演算手段による個々の制御量を検出し、検
出した自系の制御量と他系の制御量とを相互に比
較し、他系の制御量との差が許容値以内か否かを
判定し、許容値以内であれば自系の制御量を有効
とし、自系の制御量のみが許容値を超えていれば
自系の制御量を無効として切り離すための判定切
離し手段を上記演算手段ごとに独立に具備するこ
とを特徴とする多重系制御装置。1. At least three calculation means for calculating a controlled variable based on the difference between the state quantity detected from the controlled object and a predetermined target state quantity, and at least three inputs corresponding to the calculation means, each An actuator that is actuated by the sum of control amounts individually given to the corresponding inputs from the calculation means, and detecting the individual control amounts by the plurality of calculation means with respect to the state quantity of the controlled object controlled by the actuator. Then, the detected controlled variables of the own system and the controlled variables of other systems are compared with each other, and it is determined whether the difference with the controlled variables of the other systems is within the allowable value, and if it is within the allowable value, the self-system A multiplex system characterized in that each of the calculation means is independently provided with a judgment/separation means for validating the controlled variable and disassociating the controlled variable of the own system as invalid if only the controlled variable of the own system exceeds an allowable value. System control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6356285A JPS60221802A (en) | 1985-03-29 | 1985-03-29 | Multiplexing device for control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6356285A JPS60221802A (en) | 1985-03-29 | 1985-03-29 | Multiplexing device for control |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4247796A Division JP2501166B2 (en) | 1992-09-17 | 1992-09-17 | Turbine control equipment for power plants |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60221802A JPS60221802A (en) | 1985-11-06 |
| JPH0516041B2 true JPH0516041B2 (en) | 1993-03-03 |
Family
ID=13232788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6356285A Granted JPS60221802A (en) | 1985-03-29 | 1985-03-29 | Multiplexing device for control |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60221802A (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5014987A (en) * | 1973-06-13 | 1975-02-17 |
-
1985
- 1985-03-29 JP JP6356285A patent/JPS60221802A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5014987A (en) * | 1973-06-13 | 1975-02-17 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60221802A (en) | 1985-11-06 |
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