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JP-2026075464-A - control system

JP2026075464AJP 2026075464 AJP2026075464 AJP 2026075464AJP-2026075464-A

Abstract

[Problem] To provide a technology that allows for the addition or removal of control devices in a control system that controls a controlled object using multiple control devices. [Solution] The control system of the present disclosure comprises a plurality of control devices, at least one controlled object controlled by the plurality of control devices, and a computer connected to the plurality of control devices and the controlled object via a control network, wherein the computer is configured to perform the following: a process of receiving an application from an additional control device to join the control system; a process of acquiring information regarding the status of the plurality of control devices and transmitting it to the additional control device; and a process of managing transmission and reception within the control network. [Selection Diagram] Figure 3

Inventors

  • 青野 正裕
  • 清水 俊樹
  • 大塚 祐策
  • 田中 勇気

Assignees

  • 株式会社日立製作所

Dates

Publication Date
20260508
Application Date
20241022

Claims (7)

  1. Multiple control devices, At least one controlled object controlled by the plurality of control devices, A control system comprising a computer connected to the plurality of control devices and the controlled object via a control network, The aforementioned computer, A process for receiving applications from additional control devices to participate in the control system, A process of acquiring information regarding the status of the plurality of control devices and transmitting it to the additional control device, A control system configured to perform processing for managing transmission and reception within the aforementioned control network.
  2. In claim 1, The aforementioned computer, Further processing is performed to record information regarding the state of the aforementioned plurality of control devices in a storage device. A control system configured to transmit, in the transmission process, information regarding the status of the recorded plurality of control devices to the additional control device that transmitted the participation application.
  3. In claim 1, The plurality of control devices transmit the command value difference to the computer. The aforementioned computer, A process of integrating the difference in the command values transmitted from the control device, A control system configured to perform the following process: transmit to the multiple control devices an error value, which is the difference between a feedback value from the controlled object and a target value, and the previous error value, as information regarding the state of the multiple control devices.
  4. In claim 3, The aforementioned at least one controlled object includes a plurality of controlled objects, The aforementioned computer, A control system configured to further perform a process to determine the control priority of the plurality of controlled objects based on command values from the plurality of control devices, information regarding the status of the plurality of control devices, or information regarding each of the plurality of controlled objects.
  5. In claim 1, A control system in which the aforementioned plurality of control devices are speed-type control devices.
  6. In claim 1, A control system in which any of the aforementioned plurality of control devices is located on a cloud that can communicate with the computer via the internet.
  7. In claim 1, The control network is of the Public/Subscribe type, and the control system is of this type.

Description

This disclosure relates to a control system. A control system is known that uses feedback control from a control device to control a controlled object. Patent Document 1 describes a control method for a state feedback control system in which the feedback coefficient is changed during operation, characterized by differentiating a predetermined state quantity detected periodically or subtracting it from the previous state quantity, multiplying the derivative or difference by the feedback coefficient, and integrating the result of the multiplication with the previous control command value to obtain the current control command value. Japanese Patent Application Publication No. 6-274201 This block diagram shows an example of a control system that uses a single control device to control a single target.This block diagram shows an example of a control system that uses two control devices to control a single target object.This is a functional block diagram showing the configuration of the control system according to the first embodiment.This is a hardware configuration diagram of the control unit.This is a hardware configuration diagram for the control system management unit.This is a functional block diagram showing the configuration of the control system according to the second embodiment.This is a functional block diagram showing the configuration of the control system according to the third embodiment. [Regarding the control of the controlled object] Figure 1 is a block diagram showing an example of a control system 100 that controls a single control target 102 using a single control device 101. Here, for example, the control device 101 is a PLC, and the control target 102 is a motor. The PLC has a ladder program implemented that performs PID control for controlling the motor's rotation speed. The control device 101 transmits the current value for motor rotation as a command value to the control target 102. The control target 102 transmits the current motor rotation speed, obtained from a sensor, to the control device 101. Control is continued by using the current rotation speed in feedback control. In some cases, a redundant system is configured to account for the event of a control unit failure. There are several ways to configure a redundant system. For example, a method called a dual system involves operating two control units simultaneously and comparing their outputs. If the outputs differ, the system is safely shut down. While this method significantly reduces malfunctions due to control unit failure, it inevitably results in a complete shutdown of control. If the likelihood of a failure is that command values will not be output rather than abnormal values being displayed, then a method of simultaneously controlling the target system from two control units, rather than a dual system, could be considered. Figure 2 is a block diagram showing an example of a control system 200 that controls a single control target 203 using two control devices 201 and 202. The two control devices 201 and 202 transmit command values to the control target 203. Sensor values are then sent from the control target 203 to each control device 201 and 202, and feedback control is performed. Control devices 201 and 202 operate alternately with staggered timings. In this configuration, even if one control device fails and can no longer transmit command values, the other control device can continue control. However, in this configuration, if the failed control device is restored, it is not possible to return to a control state from both devices while continuing control. This is because, in the case of feedback control, especially integral control such as PID control, control cannot be executed without the previous control information. Here, control information includes the control history of the control device. The control history includes the history of target values, command values, and feedback sensor values. In this specification, control information may sometimes be referred to as information regarding the state of the control device. When the control device is restored, it is necessary to obtain this information regarding the state of the control device again. [First Embodiment] <Example of a control system configuration> Disconnection and recovery due to control device failure can be generalized in the form of increasing or decreasing the number of control devices. In the first embodiment, a control system configuration is described in which it is possible to increase or decrease the number of control devices while continuing control when controlling a single control object from multiple control devices. Figure 3 is a functional block diagram showing the configuration of the control system 300 according to the first embodiment. The control system 300 is a system that controls a single control target 307 from multiple control devices. The control system 300 comprises control devices 301 and 302, a control system management unit