Verfahren zum betrieb einer speicherprogrammierbaren steuerung (sps) mit dezentraler, autonomer ablaufsteuerung

[...]

[0001] the subject of the present invention is a method for operating a decentralized autonomous Scheduler and.

[0002] (SPS) after the programmable logic controllers are the [...] State of the Art For. Output modules for rudimentary tasks such as analog to digital conversion, reinforcement of adjacent analog signals, etc. designed.

[0003] in a central data processing unit (CPU) is the entire intelligence concentrated. The data processing unit reads the raw data of the modules a, the raw data is processed data represents the output modules available and further processed.

[0004] With the centralisation of the controller into the central data processing unit itself have any adverse effects such as:

[0005] Strong • [...] between data processing unit and the load of the bus system. Output Modules

[0006] The • data processing unit is the " [...] " constitute the SPC, i.e., when the data processing unit fails, so the entire automation system is. Thus is substantially through the central data processing unit determines the availability of an automation system.

[0007] The • data processing unit must be replaced by a more efficient data processing unit exhausting its performance in the case of the.

[0008] Another DE10321652 A1 common concept of data processing of the automation shows the disclosure. A central controller through communication means transfers to one or more decentralized input/tasks output modules, which their status to the overriding control returns. The communication device is in most cases in the form of a field bus pronounced. Input/output modules are as far as autonomously The that it executes for their task specific functions independently on the basis of the programs contained. These functions are configurable or reprogrammable State of the Art of. These modules are measuring modules whereas that disclosure, as they have been in place for years are also offered. Input/output modules are connected via communication means in automation systems with an autonomous function in the form of temperature regulators or as a servo amplifier for engines for decades Standard.

[0009] This modules are independent devices with private supply terminal in contrast to this invention, communication port, input/output terminals and mounting possibility in a machine or installation, for example by means of rail fastening according to DIN EN50022.

[0010] With the distribution of individual functions of control via fieldbuses comprises on distributed data processing units ([...]. Output modules) itself have any adverse effects such as:

[0011] Strong • [...] between control and the load of the fieldbus system. Output Modules

[0012] The • field bus, as well as the data processing for the operation of the fieldbus is the " [...] " of the automation system that is to say, when the communication is disturbed or its transmission power is insufficient, so the entire automation system is. Therefore the availability is determined substantially by the the field bus of an automation system.

[...]

[0013] the performance or availability of the necessary [...] Softly not from the automation, so a more efficient and more expensive must be used or a field bus networking architecture is more difficult.

[0014] the invention has made the task itself She consequently, a programmable logic controller for a process plant above such that the central data processing unit is relieved and the previously from the central data processing unit in the arithmetic operations carried out in the input/output modules programmable logic controller and is laid there in particular.

[0015] Similarlycommunication need between the central master data processing unit and decreases the internal bus connected to each other via a input/output modules the grouped. Therefore a smaller a function or lesser performance requirements to the communication device occurs between the joined A-grouped/O modules and the master data processing unit. The communication device can the internal system bus, via which the input/output modules are connected, and a field bus be.

[0016] in the present invention is quite essential feature that the intelligence of a central data processing unit, smart [...]. Output modules is displaced. All [...]. Output modules with a processor such as a DSP are Low Cost (Digital Signal Processor) equipped.

[0017] The DSP reads for example, for a programmed function blocks and these processed in the raw data corresponding to an input module partial applications , no longer must the extent that, in the central data processing unit are further processed.

[0018] In the direct or indirect physical quantities are measured according to a programmed Drain partial applications , monitored, regulated and controlled and are thus a part of the automation of the processes of a machine or installation.

[0019] "intelligence" from the central data processing unit by the displacement of the, smart [...]. Output modules have been encountered in particular the following advantages:

[0020] The central • data processing unit is relieved, since most of the activities in the local DSP is worked off.

[0021] A • SPS can by the use of additional [...]. Output modules are extended to include new functions, without therefor the central data processing unit is exchanged.

[0022] With the • decentralized intelligence redundancy is feasible, since in the decentralized [...]. Output modules running in the DSP executable code a, wherein the same code can run in two different modules. Will also be realized SPS safety-oriented.

[0023] This • redundancy can also be used to increase the availability of the entire sequence controller.

[0024] The • allows for clients of decentralized intelligent modules tailored automation solutions Collecting just-in-time.

[0025] The decentralised sequence controller will take place by creating a full-blown application in a development environment instead of, wherein this application shall be allocated by the development environment in partial applications. This Is Managed initially in the starting phase from the master scheduler the central data processing unit and then as a single application via an internal system bus, the individual input/output modules supplied, independently of consumption of built-in intelligence these applications the Run.

[0026] Decentralised autonomous scheduling is thus formed thereby that individual input/output modules are part of a decentralized automation system and only [...]

exert a communication be made. how an internal communication is maintained only for the performance of the sequence control, so that it no longer on the signals of the central, superordinate data processing unit arrives. This is nurtured only a superposed data exchange, i.e. monitoring tasks or condition changes are monitored and optionally changed, without that, just as in the case-this central data processing unit has a central scheduler monitors State of the Art, the anything and everything the downstream modules.

[0027] Thanks to the inventive idea, now accommodate the autonomous control decentrally in an automation system, occurs the essential advantage that now the modules have separate intelligence and in the event of failure of the central data processing unit or the interface of the individual modules is possible nevertheless an operation.

[0028] in a wind power plant is used, for example, such a sequence control if, upon State of the Art the disadvantage was that in the event of failure of the central data processing unit all downstream modules have had to go into a safe condition and have been switched off, what led to an emergency stop, the caused and thus a very high mechanical stress was all brakes of the wind turbine and damage.

[0029] These is avoided with the decentralized autonomous intelligence of the decentralised automation system, because despite the failure of the central data processing unit in a safe condition and now this decentralised Automation system can be brought slowly controlled, without that it comes to a sudden switching off. This the availability of the whole installation and it rises much higher [...] accomplishable are, because of the failure of the central data processing unit does not lead to a breakdown of the downstream decentralised automation systems.

[0030] In one embodiment can, based on the above-described solution, the internal system bus redundantly be realized. This can be used for increasing the availability and safety of the control system.

[0031] In another embodiment the decentralised [...] can. Output modules are made only from a data processing unit, the "only" has no connection to a primary control and being worked on by programmes on a decentralised basis.

[0032] The invention can restrict only on the region of the SPS is also.

[0033] Theinvention article of the present invention derives not only from the subject matter of the individual claims, but also from the combination of the individual claims with one another.

[0034] All in the documents, including the particulars and features disclosed summary, represented in the drawings in particular the spatial training, are claimed as invention-substantially , individually or in combination with respect to the extent that they are new State of the Art.

[0035] the invention is explained on the basis of only a remark way representing In the following drawings. Here from the drawings and description thereof further go invention-substantial characteristics and advantages of the invention arise.

[0036] It show:

[0037] Figure A: State of the Art a block diagram of a scheduler according to the

[0038] Figure B:a modified block diagram of a scheduler according to the relation to Figure A State of the Art

[0039] Figure 1:a sequencer with distributed intelligence in the starting phase

[0040] Figure 2: the sequence control according to Figure 1 in the operating phase

[0041] Figure 3:a detailed block diagram of a sequence controller of Figures 1 and 2 to perform functions

[...]

[0042] In the figures A and Β State of the Art represented is the sequence controller in accordance with the. [0043] In a central data processing unit 9 Expires a sequential program 1, 2a and 3a on which the input data processed after their processing the data on the the entrance process image 2b are output as output data output process image. The input data and output data are connected to the communication bus 3a 3b, may be formed, for example, as a system bus 4 the. A series of external modules 6 are connected to this system bus, wherein in the shown embodiment, according to the 6 7 may have, for example, its own microprocessor State of the Art the external module, the drives, for example, a regulator 12.

[0044] 5 the microprocessor 7 DESIRED module data bus Through the exchanges-data, with the central data processing unit CPU IST-data and status data via said internal system bus 4 from 1. Via the sensor/actuator interface 8 the compound is determined from the sensors and actuators of the system to be regulated, for example, of a drive.

[0045] Such a block diagram is shown in more detail in Figure B, where can be seen that the data transmitted on the communication bus 10 will be given up over the data path as actual values to the central processing unit and the central processing unit in turn generates set points, are fed via the data path 6 into the module 11.

[0046] It can be seen that this module with its built-in scheduler 13 drives a motor, whose movement is detected by a transmitter 14.

[0047] From the above-mentioned representation occurs the disadvantage of the prior art, because is recognizable that the central data processing unit 6, as it were, only 1 all control tasks and the downstream external module takes over the control instructions of the central data processing unit performs as a slave. There is then the disadvantage, however that in the event of failure of the data processing unit 6 remains in an emergency state abruptly apparatus and the external module, whereby on the engine by the motor 13 or on the moving system damage may arise.

[0048] Here the present invention requires a controller with a sequence control a modular decentralized autonomous, as is represented in Figure 1 embodiment.

[0049] Figure 1 shows in the process the system in the starting phase, in which can be seen that a complete application is developed in a development environment 17 18, 19 to a number of 20 over a division partial applications , 21.22, 23, shall be allocated.

[0050] Anypartial applicationexecutable program 20-23 is a private separately, which can take place automatically.

[0051] From the development environment 20-23, for example, via a programmatic interface partial applications are invited 17 the "slimmed-down" central data processing unit 24 in the now 15. This has only 16 still on a higher-level scheduler, the greatly simplified with respect to the sequence controller of the general data processing unit 1 after the is State of the Art according to Figure A and B.

[0052] 15 are now held in the individual applications in this ADMIN-data processing unit 20-23 in the memory and, for example, via an internal system bus into the individual input/output modules directions of arrow 27-29 in the 31, 32, 33 loaded.

[0053] It is now that each input/output module 31-33 which can run automatically, as it is represented with reference to Figure 2.

[0054] the simplified equivalent circuit diagram of the arrangement according to Figure 1 is shown there, and it is apparent that in each input/output module 20-21-23 and 31-33 is held in its own partial application which can run about what is going on, so that each input/output module operates autonomously and automatically operates.

[0055] It goes without saying that also several partial applications on a single input/output module 31-33 able to take place.

[...]

[0056] It is important that all 34 31-33 are arranged in a decentralized Automation system [...] , so that this input/output modules 35-38 communication exchange only maintain an internal one another, should be turned on not involve the ADMIN-data processing unit 15. This has only higher-level administrative tasks and operates as a decentral CPU, so that the self-employed with the input/output modules 31-33 34 decentralised Automation system which can run. It therefore autonomously operates.

[0057] in Figure 3 such a training according to Figure 2 One embodiment is represented. There is apparent that the "slimmed-down" 15 via a field bus 26 been a considerable [...]field bus head -module 39 is the superordinate data onto a, which 25 supplied with data 39 field bus head module an internal system bus. The communication bus 26 can a field bus, a proprietary non-data bus or the internal system bus be, in the latter case, the now redundant field bus head -module 39.

[0058] 25 all data are exchanged About This internal system bus. The exchange of information between the self-employed via said internal system bus information exchange need the partial applicationspartial applications takes place in accordance with the. This has been explained with reference to Figure 35-38 communication exchange 2.

[0059] It is now that a plurality of input and output modules are present, wherein only some are described. Is, for example, the input module 31 is formed as a digital input, by a switch 43 is driven as an input variable, and in this input/output module 31 run from two application programs, which is a pure signal filter and a so-called safe input.

[0060] The horizontally extending Arrows 38 show that a communication exchange with the adjacent module 32 takes place, which also is formed as a digital input (Dl), which also includes a digital filter, whose validity is checked and 31 with the filter of the first input and module 44 is a switch provided as an input variable wherein, in turn,.

[0061] Againpartial applications run from two different, wherein in the third input/output module 33 a partial application expires, the generates a certain position indicator instruction is present, when an emergency situation. Equally Acquiring partial application the valid positional location of the rotary encoder with the other and with the adjacent module through the checked communication exchange 38. The input variable is formed as a rotary encoder 45 here.

[0062] The representation according to Figure 3 shows, incidentally, also that it outputs to the output digital output modules 46 or 47 are also analog to the output and that the entire output variables on the paths 48, 49 to the inputs do not receive, as it is represented in Figure 3 by reference to the arrows.

[0063] This is, therefore, individual function blocks 40, 41, 42, the part of the decentralized automation system are 34, wherein in the shown embodiment of the function block 40 with the input/output modules of the monitoring serves there shown, the azimuth position serves other input/output modules the positioning of a wind turbine and the further function block 42 the braking the rotation of the wind turbine nacelle serve.

[0064] It is further represented in Figure 3 that this superior functions in the monitors 16 are 15 to the overriding Scheduler ADMIN-data processing unit, so that on this data processing unit 15 substantially smaller tasks and monitoring tasks and provide little time-critical control tasks, as an essential advantage over what to name the State of the Art is.

[0065] it is therefore a decentralized autonomous Scheduler here, 34 independently of the failure of the elapsing in the decentralized Automation system 15 ADMIN-data processing unit.

General output process imagemodule data bus External module microprocessor entrance process image data processing unit (decentralized) sensor/input data output data system bus interface sequential program data path (Soll-Werte) controller (Ist-Werte) data path actuator

Motor

Donors ADMIN-Data Processing Unit Parent Scheduler Development Environment Complete Application Division Part-Application Part-Application Part-Application Part-Application Programming Interface Internal System Bus Field Bus

The Direction Of The Arrow The Direction Of The Arrow The Direction Of The Arrow

Input/output module input/output module input/output module Decentralized Automation system [...]