JPS62206602A - Controller containing multiplexed detector - Google Patents

Abstract

PURPOSE:To improve the trouble diagnosing accuracy by comparing immediately the deviations between the control command signal and the detector signal and using the signal obtained by adding the characteristics of a controlled system to the control command signal as a comparison object signal in case a system to be controlled has a large time constant. CONSTITUTION:When the control command signal 15 of a central processing unit 1 has the abnormality, no deviation exists between the detection signals of both systems A and B of detectors and therefore it is decided that the detectors of both systems are normal. Thus a switch circuit 14 of a detector is kept under a state set before the abnormality is produced. When a controlled system 11 to be controlled of a central processing unit 2 has the abnormality, no deviation is produced between both detector signals of both systems A and B and it is decided that the detectors of both systems are normal. While the deviation is produced between both detector signals when a detector 12 of the system A of a process input/output device 3 has the abnormality. At the same time, the deviation is also produced between the detector signal of the system A and the signal 15. Thus it is decided that the detector of the system B has the abnormality and also that the detector of the system B is normal. Then the circuit 14 is switched to the normal detector of the system B.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明は多重化された検出器をもつ制御装置に係り、特
に、検出器に対し高い故障検出能力を要求される制御装
置に好適な故障検出回路に関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a control device having multiplexed detectors, and is particularly suitable for a control device that requires high fault detection ability for the detector. Regarding a detection circuit.

〔従来の技術〕[Conventional technology]

従来の技術は、特開昭５９−２０８６０１号公報に記載
のように、検出器を多重化し、（例えばタービン制御装
置におけるタービン速度検出信号の多重化）信号間の偏
差をチェックし、最も合理的な信号を選択するものであ
った。しかし、検出器と検出対象との故障の分離、及び
故障した検出器を明確に判定する処置がなされていなか
った。The conventional technology, as described in Japanese Patent Application Laid-open No. 59-208601, involves multiplexing detectors (for example, multiplexing turbine speed detection signals in a turbine control device), checking deviations between signals, and determining the most rational method. The system was designed to select the appropriate signal. However, no measures have been taken to separate failures between the detector and the detection target, and to clearly determine which detector has failed.

〔発明が解決しようとする問題点〕[Problem that the invention seeks to solve]

上記従来技術は、多重化し之検出信号の故障検出は検出
信号間のみの偏差チェック等により行なっていることか
ら、被制御対象系やプロセス入出力装置以降の制御駆動
回路の故障等と多重化された検出器及びその回路自体の
故障との区別が難しく、また、多重化した検出回路故障
部位を明確に検出することができなかった。In the above conventional technology, failures in multiplexed detection signals are detected by checking deviations only between the detection signals. It is difficult to distinguish between failures in the detector and its circuit itself, and it is also not possible to clearly detect the failure location of the multiplexed detection circuits.

本発明の目的は、多重化した検出器のうち、故障した検
出器を適格に検出し、正常検出器を選択する高信頼性の
検出器多重化システムを提供することにある。An object of the present invention is to provide a highly reliable detector multiplexing system that properly detects a faulty detector among multiplexed detectors and selects a normal detector.

〔問題点を解決するための手段〕[Means for solving problems]

上記目的は、多重化された検出器の故障診断において、
制御指令信号と多重化された検出器信号との比較及び多
重化された検出器同志の比較診断を組み合わせて行なう
ことにより達成される。以下、第２図の検出器二重系（
Ａ−Ｂ系）を例にとり故障診断フローチャートに従って
本発明を述べる。故障診断は、先ず、Ａ−Ｂ両系の検出
器信号の偏差が規定値以内かどうかのチェックａ″Ｉｋ
：行なう。規定値以内であれば、検出器は正常と判断す
る。規定値外ならば、制御指令信号とＡ系検出器信号の
偏差が規定値以内かどうかのチェックｂを行なう。規定
値内ならばＡ糸検出器は正常と判断する。規定値外なら
ば、制御指令信号とＢ系検出器信号の偏差が規定値内な
らばＡ糸検出器は異常と判断し、規定値外ならば正常と
判断する。これはＢ糸検出器でも同様に行なう。The above purpose is to diagnose the failure of multiplexed detectors.
This is achieved by a combination of comparing the control command signal with the multiplexed detector signal and comparing and diagnosing the multiplexed detectors. Below, the dual detector system shown in Figure 2 (
The present invention will be described in accordance with a failure diagnosis flowchart using the A-B system as an example. For fault diagnosis, first check whether the deviation of the detector signals of both systems A and B is within the specified value a″Ik
: Do it. If it is within the specified value, the detector is judged to be normal. If it is outside the specified value, check b is performed to see if the deviation between the control command signal and the A-system detector signal is within the specified value. If it is within the specified value, the A thread detector is judged to be normal. If it is outside the specified value, the A yarn detector is determined to be abnormal if the deviation between the control command signal and the B system detector signal is within the specified value, and is determined to be normal if it is outside the specified value. This is done in the same way for the B yarn detector.

〔作用〕[Effect]

第１図は第２図のフローチャートで示した機能をもり故
障診断回路による多重化検出器の切換回路である。以下
、故障診断の動作について異常が発生する場所を下記の
ように分けて述べる。FIG. 1 shows a switching circuit for a multiplexed detector using a fault diagnosis circuit having the functions shown in the flowchart of FIG. Hereinafter, the locations where abnormalities occur regarding the operation of failure diagnosis will be explained separately as follows.

（１）制御指令信号１５に異常が発生した時（２）被制
御対象系１１に異常が発生した時（２）Ａ糸検出器１２
に異常が発生した時先ず、（１）の制御指令信号１５に
異常が発生した時は、両系の検出器信号は偏差がなく、
第２図ａにより検出器Ａ系・Ｂ系共正常と判断し検出器
の切換回路１４は異常発生前のままである。次に、（２
）の被制御対象１１に異常が発生した時は、両系の検出
器信号は偏差がなく（１）と同様に検出器正常と判断し
、検出器の切換回路１４は異常発生前のままである。（
８）のＡ糸検出器１２に異常が発生した時は、両系の検
出器信号は偏差があり、かつ、Ａ系検出器信号と制御指
令信号は偏差があるため、第２図ａ、ｂ、ｃによりＡ系
検出器異常と判断する。この時、Ｂ糸検出器と制御指令
信号は偏差がない九め、Ｂ糸検出器は第２図すのチェッ
クで正常と判断される。従って、検出器切換回路１４は
Ｂ糸検出器側へ切換わる。(1) When an abnormality occurs in the control command signal 15 (2) When an abnormality occurs in the controlled object system 11 (2) A thread detector 12
First, when an abnormality occurs in the control command signal 15 in (1), the detector signals of both systems have no deviation;
Based on FIG. 2a, it is determined that both the detector A system and the B system are normal, and the detector switching circuit 14 remains as it was before the abnormality occurred. Next, (2
), when an abnormality occurs in the controlled object 11, there is no deviation in the detector signals of both systems, and the detector is judged to be normal as in (1), and the detector switching circuit 14 remains as it was before the abnormality occurred. be. (
8) When an abnormality occurs in the A thread detector 12, there is a deviation between the detector signals of both systems, and there is a deviation between the A system detector signal and the control command signal, so as shown in Fig. 2 a and b. , c, it is determined that the A system detector is abnormal. At this time, there is no deviation between the B thread detector and the control command signal, and the B thread detector is determined to be normal by the check in Figure 2. Therefore, the detector switching circuit 14 is switched to the B yarn detector side.

以上の作用により、制御指令信号や被制御対象系の異常
・故障によシ多重化された検出器を異常誤検出すること
が防げ、信頼性のある検出器の多重化システムが得られ
る。The above-described effects prevent the multiplexed detectors from erroneously detecting an abnormality due to an abnormality or failure in the control command signal or the controlled object system, thereby providing a reliable multiplexed detector system.

本例は、検出器の二重化について述べたが、同様な考え
方で安易にｎ重化システムに適用できる。Although this example describes duplication of detectors, the same concept can be easily applied to an n-duplication system.

また、本例では説明の簡単化のため、制御指令信号と検
出器信号の偏差を直ちに比較しているが、被制御対象が
大きい時定数をもっている系の場合には、制御指令信号
に制御対象の特性を加味した信号を比較対象信号とする
ことにより故障診断の精度を安易に高めることができる
。In addition, in this example, to simplify the explanation, the deviation between the control command signal and the detector signal is immediately compared, but in the case of a system where the controlled object has a large time constant, the control command signal The accuracy of failure diagnosis can be easily increased by using a signal that takes into account the characteristics of the signal as a comparison target signal.

〔実施例〕〔Example〕

本発明の好適な対象事例には、電子式タービ／カハナ制
御での二重系の事例がある。この実施例を第３図に示す
。図において、プロセス入出力装置３．４は、ＤＡ変換
器３１．４１をもち、中央処理装置１．２からの制御指
令信号１５ａ、１５ｂを入力する。更に、ＡＪ）変換器
３２．３３゜４２．４３をもち、差動トランス１２０．
１３０からのサーボ弁開度位置を入力し、また、中央処
理装置１．２内の故障診断回路１０ａ、１０ｂからの差
動トランス異常出力部３０．４ｏｔ−もっている。弁開
度制御回路５０．６０は、それぞれ抵抗５１．５２．５
４．５５．６１．６２．６４゜６５及び演算増幅器５３
．６３より構成され、ＤＡ変換器３１．４１からの制御
指令信号と差動トランス１２０．１３０からのサーボ弁
開度位置の偏差全サーボ弁９０へ出力している。このサ
ーボ弁９０はタービン１００のガバナ制御を行々ってい
る。差動トランス１２０．１３０は第１図の状態検出器
１２．１３に相当する。また、１４１゜１４２は異常検
出リレーであり、切換回路１４に相当し、切換えを行な
い７０．８０のオン・オフをする。A preferred target case of the present invention is a dual system case in electronic turbo/Kahana control. This embodiment is shown in FIG. In the figure, the process input/output device 3.4 has a DA converter 31.41, and inputs control command signals 15a, 15b from the central processing unit 1.2. Furthermore, AJ) has a converter 32.33°42.43, and a differential transformer 120.
It inputs the servo valve opening position from 130, and also has a differential transformer abnormality output section 30.4ot- from the failure diagnosis circuits 10a and 10b in the central processing unit 1.2. The valve opening control circuits 50, 60 have resistors 51, 52, and 5, respectively.
4.55.61.62.64°65 and operational amplifier 53
．． 63, which outputs the control command signal from the DA converter 31.41 and the deviation of the servo valve opening position from the differential transformer 120.130 to the entire servo valve 90. This servo valve 90 performs governor control of the turbine 100. Differential transformer 120.130 corresponds to state detector 12.13 in FIG. Moreover, 141.degree. and 142 are abnormality detection relays, which correspond to the switching circuit 14, and perform switching to turn on and off 70.80.

このような構成で中央処理装置１．２に入力された二重
化されたサーボ弁開度位置信号は１０ａ。With this configuration, the duplicated servo valve opening position signal input to the central processing unit 1.2 is 10a.

１０ｂの故障診断回路で第２図のフローチャートに従っ
て差動トランス１２０，１３０が正常かどうかを判断す
る。例えば、差動トランス１２０゜１３０共正常で、切
換接点７０がオンして制御中に、差動トランス１２０の
みが異常となった場合、故障診断回路１０ａは差動トラ
ンス１２０のＡＩを異常検出部２０を介して異常検出リ
レー１４１へ出力をし、これに対し、故障診断回路１０
ｂは差動トランス１３０が正常のため、異常出力しない
ことから、切換接点７０はオフし８０がオン°すること
により制御系の切換えが行なわれ、正常な差動トランス
１３０の信号によシ運転を継続することができる。なお
、図中５，６は制御指令回路、１３はＢ糸検出器、１６
は制御装置である。The fault diagnosis circuit 10b determines whether the differential transformers 120, 130 are normal according to the flowchart in FIG. For example, if both the differential transformers 120 and 130 are normal and the switching contact 70 is turned on and only the differential transformer 120 becomes abnormal, the fault diagnosis circuit 10a detects the AI of the differential transformer 120 as the abnormality detection section. 20 to the abnormality detection relay 141, and in response, the failure diagnosis circuit 10
In b, since the differential transformer 130 is normal, there is no abnormal output, so the switching contact 70 is turned off and the switching contact 80 is turned on, thereby switching the control system and starting operation based on the signal from the normal differential transformer 130. can be continued. In the figure, 5 and 6 are control command circuits, 13 is a B thread detector, and 16 is a control command circuit.
is the control device.

〔発明の効果〕〔Effect of the invention〕

本発明によれば、多重化された検出器の故障診断を的確
に実施でき、多重系制御装置の高信頼化を図ることがで
きる。According to the present invention, failure diagnosis of multiplexed detectors can be performed accurately, and high reliability of a multiplex system control device can be achieved.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は本発明の一実施例の系統図、第２図は第１図の
処理のフローチャート、第３図は具体的な実施例の系統
図である。 第１図FIG. 1 is a system diagram of an embodiment of the present invention, FIG. 2 is a flowchart of the process shown in FIG. 1, and FIG. 3 is a system diagram of a specific embodiment. Figure 1

Claims (1)

【特許請求の範囲】 １、フィードバック制御系を構成する制御装置に於いて
、 被制御対象の状態を検出する多重化された検出手段と、
制御指令信号と前記多重化された検出手段の各々の出力
信号とを比較チェックする回路と、複数の検出手段の出
力信号の相互比較チェックを行なう回路と、以上の結果
から故障した検出手段を判定する回路と、前記多重化さ
れた検出手段の故障部位を的確に検出し、前記多重化さ
れた検出手段のうち、正常な検出手段を選択する回路と
からなることを特徴とする多重化検出器をもった制御装
置。[Claims] 1. In a control device constituting a feedback control system, multiplexed detection means for detecting the state of a controlled object;
A circuit that compares and checks the control command signal and the output signal of each of the multiplexed detection means, a circuit that mutually compares and checks the output signals of the plurality of detection means, and a faulty detection means is determined from the above results. and a circuit that accurately detects a faulty part of the multiplexed detection means and selects a normal detection means from among the multiplexed detection means. A control device with