Real-time control method for a control apparatus for a industrial technical process and real-time operating method for a computing apparatus

0001The present invention relates to a real-time control method for a controller of an industrial technical Process repeated with the following, with a cycle time executed steps, wherein the cycle time in the millisecond range or less:<ul><li>a number of detection units detects status signals of the process, wherein the sensed condition signals in their Whole constitute an image of the process,</li><li>each of the detection units received covered by their State signals to a single logical logic unit,</li><li>the logical logic unit transmits to each of the control units for the respective control unit certain control signals,</li><li>each of the controllers acting in accordance with them transmitted control signals a to the process.</li></ul>

0002The present invention further relates to a real-time operating procedure for a computing device, the method comprising, with a cycle time repeatedly executed steps, wherein the cycle time in the millisecond range or below:<ul><li>the computing device assumes at least a portion of an image an industrial technical process contrary,</li><li>the computing device determines by executing a Control program using the part of the communicated Image of the process, at least a part of a control state for the process.</li></ul>

0003Finally, the present invention relates to a still a disk stored computer program for performing a real-time control method for performing or a real-time operating procedure and a with such a Computer program programmed controller and programmed with such a computer program Computing device.

0004Control devices for industrial technological processes are generally known. They are, depending on the application, z. B. as numerical control (CNC) or programmable Controllers (PLC) formed. These control devices be with a cycle time in milliseconds or less, run the following steps:<ul><li>A number of detection units detects status signals of the process, wherein the sensed condition signals in their Whole constitute an image of the process.</li><li>Each of the detection units received covered by their State signals to a single logical logic unit.</li><li>The logical logic unit determined by executing a Control program using the image of a process Control state for the process, for a number of the Control units control signals includes.</li><li>The logical logic unit transmits to each of the control units intended for the respective control unit Control signals.</li><li>Each of the control units acting in accordance with them transmitted control signals a to the process.</li></ul>

0005In the prior art, the hardware which the control program points out, therefore arranged close to the process. Therefore the logical logic unit must always full functionality the real-time application can implement locally. If in a such a case demanded a higher functionality is, it is often necessary, the logical logic unit exchange. Furthermore, it is cumbersome and complicated, a new version of control software, in particular the Real-time kernel, implemented to all controllers to distribute.

0006The object of the present invention is this to avoid the disadvantages of the prior art.

0007The object is in a real-time control method achieved in that the logical logic unit at least a portion the image of the process via a transmission medium to a transmitted computing device and the computing device over the transmission medium at least a part of a Control state for the opposite process takes, the Control state for a number of control units control signals contains.

0008This correspondence, the object is for the realtime operating procedures achieved in that the computation unit of a single logical logic unit via a transmission medium all state signals towards a process takes and the output signals via the transmission medium to the logic Logic unit transmits.

0009Thus, there is a spatial separation of industrial technical process, detection and control units and logic Logic unit on one side and computing means on the other hand. Thus, it is possible in particular updating the computing device and / or the real-time kernel improve or without the logical logic unit having to replace locally. Because to be detected the Status signals and output to the process control signals have remained unchanged in scope. The Computing power to determine the control signals, however, is no longer needed on site. A distribution is particularly a real-time kernel for operating the computing device not necessary anymore.

0010The transmission medium can be both logically as arbitrarily also for its physical configuration be of any type.

0011Logically, it is for example possible that the Transmission medium, a computer network, eg., The Internet or a LAN is. A LAN can in particular realized as IRTE be. Also, the transmission medium can be a point-to-point connection be z. B. the telephone network. Mixed forms are possible to consider, for example dialing an Internet-connected computer via the telephone network.

0012Concerning its physical embodiment, the transmission medium - Alternatively or additionally to each other - a wireless and a wired transmission medium section include.

0013If the logical logic unit during each cycle tested, if it from the computing device of the control state or its part is transmitted, and in the absence of determined control state or its part Notausgabesignale and this is sent to the number of control units, even a behavior of the controlled-defined industrial guaranteed technical process, if the communication link between the logical and logic unit is disturbed or interrupted the computing device or the Computing device for other reasons the control state or its part not or not in time to the logical logic unit transmitted.

0014The industrial technical process is in principle any Nature. In particular, it is possible that he was a production process is, for example, a machining process of a Machine tool.

0015If the computing device before the start of cycle execution of the above-mentioned steps a real part of a be executed by the logic unit to the computer program transmitted logical logic unit, is a particularly flexible Programming of logical logic unit possible.

0016If the logical logic unit before the start of the cyclic Execution of the above-mentioned steps of the parameter data process transmitted to the computing device, is a better Determining the control state by the computing device possible.

0017If the logical logic unit before the start of the cyclic Execution of the above-mentioned steps via the transmission medium to the computing device one of the computing device transmitted executed control program, cooperation between the logical logic unit and the computing device particularly flexible. Alternatively, the control program but also in advance in the computing device be deposited. It is also possible that the logical logic unit one stored in the computer control program dials.

0018The cycle time can be fixed. It is also possible that the cycle time before the start of the cyclic Execution of the above-mentioned steps of the logical logic unit or the computing device to the other Component is transmitted.

0019Further advantages and details will emerge from the following Description of an embodiment in conjunction with the drawings. The figures are schematic diagram<dl tsize="11" compact="compact"><dt>1 shows</dt><dd>a control arrangement,</dd><dt>FIG 2</dt><dd>Time charts</dd><dt>FIG 3</dt><dd>another control arrangement and</dd><dt>Figures 4 and 5</dt><dd>Flowcharts.</dd></dl>

00201 thereof, there is an industrial technical process of 1 a control device 2 controlled. The industrial technical process 1 is, as shown in FIG 1 by the schematic indicated representation of a drill chuck and a drill is, in the present case, the manufacturing process 1, namely a machining process 1 of a machine tool. I hereby correspondence is a logical logic unit 3 of the control device 2 designed as a numerical controller 3 (CNC 3). Alternatively, the logical logic unit 3 could also as real-time industrial computer such as industrial PC formed with a NRK (NRK = numeric realtime kernel) be. You can alternatively one or - as shown in FIG 1 illustrated - several physical logic units 3 ', respectively.

0021The logic unit 3 is programmed with a computer program 4, The on a data carrier 5, such as a buffered SRAM is stored in (exclusively) machine-readable form is. Due to the programming with the computer program 4 the controller device 2 below in connection with FIGS 1 and 2 described in more detail real time control method out.

0022According to FIGS 1 and 2 by means of detection units 6 State signals of the process 1 detected. According to FIG 1 and 2 are held via the detecting units 6 all state signals the process 1 detected. Set the status signals thus in turn form an image of the process is 1.

0023After detecting the state signals of these are the Detecting units 6 transmits to the logic unit 3rd The Logic unit 3 is all this detection units 6 together. It transmits the image of the process 1 (or at least a portion thereof) over a transmission medium 7 to a Computing device. 8

0024Between the detection units 6 and the logic unit 3 may be arranged intelligent units. can also the sensing units 6 even have intelligence. The communication with the arithmetic unit 8 is carried out but only by the logic unit 3rd

0025After transmitting the image of the process 1 to the computing device 8 takes the logic unit 3 of the computing device 8 via the transmission medium 7 a control state for the process 1 (or at least part of it) contrary. The control condition in this case contains a number of control signals for of control units 9. transmitted to the control signals the control units 9. These then act in accordance with them transmitted control signals a to the process. 1

0026As apparent from FIG 2, the above-described Steps within a cycle time T run. The cycle time T lies in the millisecond range. Typical If it is less than 20 ms. It is usually even less than 1 ms and is, for example at about 100 microseconds.

0027According to the present invention, the computing device 8 Thus, in contrast to the prior art, the logic unit 3 not permanently assigned to (or identical with it), but according to FIG 1 to the logic unit 3 via the transmission medium 7. The computing device 8 may therefore be disposed at any place if only by the Transmission medium 7, the required data exchange is possible is.

0028The transfer medium 7 can be configured as desired. For example can the transmission medium 7 as a computer network, eg in the form of a LAN (LAN = Local Area Network) formed, be. An example of such a LAN is a so-called IRTE (IRTE = industrial realtime ethernet). can also the transmission medium 7, provided a sufficiently rapid and reliable communication is ensured, the Internet be.

0029Alternatively, it is also possible that the transmission medium 7 a point-to-point connection is. An example of such Point-to-point connection is the telephone network.

0030Mixed forms are also conceivable, for example, a connection to a Computer network via the telephone network.

0031The computing device 8 itself - see FIG 1 - also programmed with a computer program 10th Also this computer program 10 is on a data carrier 11, such as a CD-ROM 11, and deposited, the computing device 8 in this Manner are supplied. Due to the programming with the Computer program 10 performs the computing device 8 a real-time operating procedures from which subsequently also related will be described in more detail to Figs. 1 and 2

0032According to FIG 1 and 2 8 takes the arithmetic means of the Logic unit 3 via the transmission medium 7, the image of the Process 1 (or a portion thereof) counter. They determined then by executing a control program 12 based the image of the process 1 to the control state for the Process 1 (or a portion thereof). The control program 12 corresponds a matter of course with the industrial technical process 1. If the process 1, the manufacturing process 1 is, for example, a machining process of a machine tool 1, is also the control program 12 a control program 12 1 for such a process, the term "control program" in this case comprises only the application program, wherein a machine tool program eg a part program according to DIN 66025, but not an operating system. The (real-time) operating system Rather part of the computer program 10th

0033The determined by the computing device 8 will control state of the computing device 8 via the transmission medium 7 finally transmitted to the logic unit 3rd

0034The computing device 8 performs the running of their Steps within the cycle time T. The cycle time is T while the same cycle time T, with the logic unit 3 executes its steps.

0035In the above illustration in FIG 1 more was the logical Refinement of the transmission medium 7 highlighted. The physical configuration of the transmission medium 7 will be explained below in conjunction with FIG 3 in greater detail. The Illustration in FIG 3 is purely exemplary.

0036According to FIG 3, the transmission medium 7 two end portions 13, 14 and a middle portion 15. In the end portions 13, 14 there is a wired data transmission, for example, via copper wires or fiber optic cables. In the middle section 15 takes a wireless data transmission, for example, via a radio link. It is however also a different kind of wireless data transmission, eg., by infrared signals or Ultrasonic signals conceivable.

0037The logic unit 3 and the computing device 8 not lead only the above-described in connection with FIGS 1 and 2 Tasks. More of the logic unit 3 and the computing device 8 performed tasks are subsequently explained in more detail in conjunction with FIGS. 4 and 5 The FIG 4 refers to the logic unit 3, FIG 5 on the computing device. 8

0038According to FIG 4 3, the logic unit first in a Step S1, a communication connection with the computing device 8 ago.

0039It is possible that in the first control means 2 is just a basic program available, the only non-realtime Communication with the computing device 8 allows. In this case the logic unit takes 3 in a Step S2 via the transmission medium 7 a real part 4 the computer program of the computing device 8 counter and stores it in the media. 5 This step S2 is while only optional and therefore shown only in broken lines in FIG. 4

0040Further, the logic unit 3 transmits, in a step S3 relevant over the transmission medium 7 parameter data as For example, the concrete development and expansion of the machine, by means of which the process 1 is realized to the computing device 8th.

0041Next, the logic unit 3 transmits, in a step S4 via the transmission medium 7, the control program 12 on the computing device 8. Also, the step S4 is optional and therefore shown only in broken lines in Fig. 4

0042In a step S5, the logic unit 3 transmits finally the cycle time T via the transmission medium 7 to the Computing device 8. Alternatively, in a step S6 the logic unit 3, the cycle time T via the transmission medium 7 receive from the computing unit. 8 The Cycle time T may alternatively be pre-determined. From the steps S5 and S6, so a maximum of one is executed.

0043Only after completing these steps S1 to S6 performs the logic unit 3 steps S7 to S15. accepts in step S7 captured the logic unit 3 of the detection units 6 State signals. In step S8, it transmits the image 1 of the process via the transmission medium 7 to the computing device 8th.

0044In the event that the computing device 8, only a part of the Control state determined, the logic unit 3 into a Step S9, a determination of the remaining control state by. The step S9 is not necessarily available and therefore also represented by a dotted line.

0045In step S10, the logic unit takes the 3 by the computing device 8 transmitted via the transmission medium 7 Control state meet.

0046In step S11 checks the logic unit 3 whether her by the computing device 8, the control state is transmitted. If this is the case, the logic unit 3 in step S12, the Control signals to the control units 9, and further moves to the Step S7 back. Otherwise, the logic determines unit 3 in step S13 even Notausgabesignale and transmits it in a step S14 to the control unit 9. Thus, it is also ensured at a failure of the control signals that the logic unit 3 to process 1 controls in a defined manner, eg an emergency operation of the process 1 maintains.

0047After the step S14, it is checked in step S15 whether a Limit number is exceeded by delivery attempts. If this is not yet the case, the method jumps back to step S7. Otherwise, in a step S16, the operation the process 1 set.

0048The shown in Figure 5, executed by the computing device 8 Sequence substantially corresponding to that shown in Fig 4 illustrated, performed by the logic unit 3 flow.

0049According to FIG 5, the computing device 8 also initially in a step S17, the communications link to the logic unit 3 ago.

0050Then they received in a step S18, the real-time part the computer program 4. The step S18 is - as well as the Step S2 of FIG 4 - only optional and therefore in FIG 5 only shown in dashed lines.

0051Next 8 takes the computing device in one step S19 the relevant parameter data, for example via the concrete Construction and expansion of the controlled machine counter. It also refers to a step S20, the control program 12 opposed. The step S20 is - just like the step S4 only optional and therefore only with dashed lines in FIG 5 - of FIG 4 shown.

0052Finally, the computing device takes 8 still in a Step S21, the cycle time T counter. Alternatively, the Computing device 8 in a step S22, the cycle time T transmit to the logic unit 3rd Also, the cycle time could T be fixed. Also by steps S21 and S22 is therefore carried out a maximum.

0053Then performs the computing device 8 steps S23 to S26 out. In step S23, the computing device 8 receives from the logic unit 3 the image against the process. 1 In step S24 determines the computing device 8 under execution of Control program 12 based on the image of the process 1 the control condition for the process 1. In step S25, received the computing device 8 the control state on the transmission medium 7 to the logic unit eighth

0054In step S26, the computing device 8 checks whether the Transmission of the control state was properly. For example can be acknowledged by the logic unit 3 queried will. With proper communication is to step S23 jumped back, otherwise, - optionally only after several unsuccessful delivery attempts - the more Processing of steps S23 to S26 ends.

0055In the above, the present invention has in connection with a control device for a machine tool 2 described. but the present invention is not limited to machine tools limited. You could also in other industrial are technical processes used 1. In this case, the control device 2, if appropriate differently formed. For example, the controller 2 in this case as a programmable Controller may be configured (PLC).