KR100264765B1 - Controlling algorithm changing system and changing method of controller - Google Patents

Abstract

PURPOSE: A controlling algorithm changing system and a changing method of a controller are provided to be capable of easily changing the control algorithm of a controller as well as performing a program function of batch processing concept by performing various functions and operations without stopping the controller. CONSTITUTION: A plant(10) consists of an object(1) to be controlled, a plurality of sensors(2) and a driver(3). An I/O interface(20) performs a mutual communication between the plant(10) and a controller module(5). A reference clock generator(30) generates a reference clock for operating timing and real-time processing of respective parts. An input unit(40) receives respective commands such as operator's command or data programs to transfer the commands to the system as command input signals. A controller operator(50) analyzes the command input signals of the input unit(40) and changes control algorithms in accordance with the analysis results.

Description

Control Algorithm Alteration System and Its Modification Method

The present invention relates to a control algorithm changing system of a controller and a changing method thereof, and more particularly to a control algorithm changing system of a controller which can easily change a control algorithm by an external operator even while the controller is operating in a system having at least one controller. And a method of changing the same.

Generally, digital controllers are widely used throughout the industry due to the many advantages over analog controllers, including the freedom to implement control algorithms, especially for controller designers.

However, the digital controller can freely change the control algorithm at the time of designing, but does not provide a systematic method of fixing the control algorithm and parameters (parameters) from the outside by the operator when the controller design is finished. Therefore, it is not possible to perform complicated operations from the outside in a programmable manner, and since such an operation can not be performed during the operation of the controller, the system uses a method of changing a control algorithm or a parameter by using a variable switch have.

Specifically, a control algorithm change method of the controller according to the related art is as follows.

First, it is a method to modify the original contents of the ROM by using a ROM writer which fixes the program's original file and recompiles it using a computer and then stores the data in the ROM.

However, in this case, in order to change the control algorithm, it is necessary to have a source file and only the operator who developed the control system can change the state of the controller.

Second, the source file is compiled and downloaded from the PC to the target board (TARGET BOARD) via communication.

At this time, the controller needs to be specialized in changing the state of the controller, and since the operation time is considerably long, there is a problem that the operation can not be performed easily.

Third, it is a method of changing a control algorithm of the controller by using a variable switch or the like in a part of a parameter that has already been determined in the system.

However, there is a problem that it is not possible to easily perform an operation because it is required to be able to repair only an extremely limited parameter and requires expertise.

In the case of controllers used for educational, research, prototype manufacturing, test equipment, and communication equipment, the operator (collectively, the external command equipment such as the operator accessing the operator and the operator for communication) It is necessary to change the control algorithm of the controller from time to time.

1. The parameters of the controller need to be changed. Among the most commonly used ones are the tuning of the control gain value of a proportional integral difference (PID) controller, the variation of the sampling time interval, and the like.

2. It is necessary for the user to designate the type of sensor input to the controller used for feedback purposes. It is necessary to change the type of sensor to affect the control performance, and to be able to cope with sensor failure immediately.

3. It is necessary to prepare at least one control algorithm of the controller in advance, and to select from among several predetermined ones. At this time, the output value of the controller can also be selected according to the algorithm, and sometimes it is possible to perform an open loop control such as maintaining a user-defined arbitrary value without control. Such a function can be used for system identification such as a step response test, which is usually used for detecting a mathematical model characteristic of a control object.

4. When the target value of the controller (control target profile) is given in the form of a function, it is necessary to change this function type and parameters.

5. It is necessary to monitor the system variables such as the controller output conveniently and quickly.

6. For the purpose of expanding the system function, it is necessary to communicate with an external PC or a device with built-in microcomputer.

However, in the control algorithm changing method of the conventional controller, unlike a simple protocol, a protocol that can be programmed is applied, and the control algorithm can not be changed from time to time.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the problems of the prior art described above, and it is an object of the present invention to provide a control apparatus and a control method thereof, The control algorithm of the controller can be easily changed by performing various functions and operations by using the storage stack and the word database to interactively execute the program function of the batch processing concept And a method for changing the control algorithm of the controller.

FIG. 1 is a block diagram showing a configuration of a control algorithm changing system of a controller according to the present invention; FIG.

FIG. 2 shows a configuration of a word database, which is a component of FIG. 1; FIG.

FIG. 3 and FIG. 4 are flow charts illustrating a method for changing a control algorithm of a controller according to the present invention.

DESCRIPTION OF THE REFERENCE NUMERALS

1: Control target 2: Sensor

3: driving part 5: controller module

10: Plant 20: Input / output interface unit

30: reference clock generator 40: input means

50: controller operating unit 51: buffer memory

52: Instruction Analyzer 53: Stack

54: stack operation processor 55: word database

56: scheduler 57: output means

According to a first aspect of the present invention, there is provided a control algorithm changing system for a controller, comprising: a plurality of sensors for detecting each operation and state of a control object and transmitting the detection result to a controller through an interface; And a driving unit that receives a control signal for the operation and state of the control object from the controller through the interface according to the sensing result of the sensor and drives and controls the control target according to the control signal. A reference clock generator for generating and outputting a reference clock for the operation timing of each unit and for real time processing; Input means for receiving each command such as an operator's command or data program for changing the parameters of the controller or the control algorithm, and transmitting it to the system as a command input signal; A command word input signal of the input means is received and interpreted to generate a specific word and a new control algorithm is calculated through a combination of pre-stored operation data and a specific word to thereby generate a new control algorithm in an ON- A controller for changing a parameter of the controller or a controller algorithm in real time; And output means for displaying an operation result of the controller operating unit to an operator.

According to a second aspect of the present invention, the controller operating unit receives a command input signal through input means and records / reads command contents of the operator, and a controller for reading and interpreting the command recorded in the memory, A command interpretation unit for generating and outputting the analysis result as a specific word so as to be able to process in the system; a stack for storing specific data of the command interpretation unit, sequentially storing the data and outputting the data in a predetermined order, An arithmetic processing unit for receiving a word or arithmetic data stored in the stack in a predetermined order and performing arithmetic processing to generate and output a specific arithmetic control algorithm; It receives the specific control algorithm of the processor and A word database for performing insertion, deletion, modification, and execution on the basis of words; and a scheduler for receiving the reference clocks from the reference clock generator and managing the priorities to determine execution timings of the respective units.

According to a third aspect of the present invention, the word database comprises two strings, a name field and a content field.

According to a fourth aspect of the present invention, there is provided an information processing apparatus comprising: an initialization step in which an initialization operation of a system is performed, and an operation of a scheduler managing the execution time and priority of each part is permitted; If it is confirmed by the scheduler that the current task is to be executed, acquire information before a sampling time from a sampling time used as an index for storing a variable from a sensor that monitors the control object according to a result of the check, An information calculation step of calculating a calculation value of a specific controller through an acquisition result and transmitting the calculated value to a plant, thereby performing a corresponding control algorithm; A set of words and command lines are paired in a one-to-one correspondence database, and each flag is checked in a stored word database. If the check result of the flag is an instruction of each flag, the corresponding word of the word database is searched A variable determining step of determining a variable for changing the control algorithm according to the control algorithm; An information storage step of receiving information according to each variable, storing the variable value, performing a control algorithm of the specific controller, and storing the result of the control; An external output determining step of increasing the sampling time by '1' and determining whether external output is required; And an updating / waiting step of updating the variable in the word database when external output is required in the external output determining step and waiting for the next operation if no external output is required.

According to a fifth aspect of the present invention, in the step of determining the parameters, the sensor selection plant is checked in the word database, and if the result of the check is a sensor, the sensor channel selection word of the word database is found, A sensor determining step of determining a sensor; A control algorithm decision step of checking a controller flag in the word database and finding a controller algorithm selection word of a word database when a result of the check is a selection of a control algorithm and determining a control algorithm according to the selected word; A parameter change step of checking a parameter change flag in the word database and finding a parameter change word of the word database and changing a parameter to the content if the check result indicates that a parameter change is required; And a target value changing step of checking the target value change flag in the word database and finding a target value change word of the word database when the inspection result requires changing of the target value function, and changing the target value function according to the target value change word.

According to a sixth aspect of the present invention, there is provided an information processing method comprising: a command line storing step of storing a command line inputted by an operator when the command line is inputted; A word separating step of separating the command lines stored in the command line storing step into a plurality of words in a predetermined order; A word registration determination step of determining whether each word separated in the word separation step is registered in a word database; A word interpretation step of searching and analyzing command information of the word in a word database if the word is registered in the word registration determination step; A data determination step of determining whether the word is data such as a number, a character string, a matrix, or an operation processing command when the corresponding word is not registered in the word registration determination step or when the word is interpreted in the word interpretation step ; A data execution step of storing each data in a stack according to the determination result of the data determination step, sequentially reading data stored in the stack, and performing operation processing; And terminating the word decryption process when it is confirmed that all the command lines stored in the command line storing step have been decrypted.

According to a seventh aspect of the present invention, in the data determination step, an error processing step is performed to perform an error processing function when the word does not correspond to specific data or an operation processing command.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram showing a configuration of a control algorithm changing system of a controller according to the present invention, FIG. 2 is a diagram showing a configuration of a word database which is a part of a constituent of FIG. 1, A method of changing the control algorithm of the controller according to the present invention is a flow chart shown.

Referring first to FIG. 1, the present invention includes a control module 1 for detecting the operation and state of the control object 1 and the control object 1, and transmitting the detection result to the controller module 5 having a plurality of controllers A driving unit 3 for receiving a control signal for the operation and state of the controlled object 1 from the controller according to the detection result of the sensor 2 and controlling the controlled object 1 according to the received control signal, (10); An input / output interface unit (20) for performing a mutual communication function between the plant (10) and the controller module (5); A reference clock generator 30 for generating and outputting a reference clock for the operation timing of each unit and for real time processing; A voice recognition device for inputting each command such as an operator's command or data program for changing the control algorithm of the controller of the controller module 5 and transmitting it to the system as a command input signal, 40); And a controller operating unit 50 for receiving a command input signal of the input unit 40 and interpreting the command input signal and performing a calculation operation according to the analysis result to perform a control algorithm changing function.

In particular, the controller operating unit 50 incorporating the controller module 5 receives a command input signal through the input unit 40 and receives a command to read / write the contents of the command from the operator. A command interpreter 52 for reading a command written in the command interpreter 51 and analyzing the command and generating and outputting the interpreted result as a specific word so that the interpretation result can be processed in the system; A stack 53 for storing operation data for changing control algorithms and for outputting the data in a predetermined order, and a processor 53 for receiving a word or operation data stored in the stack 53 in a predetermined order, A series of words and a command line are paired in a one-to-one correspondence with each other and stored as a database, and at the same time, A word database 55 that receives a specific control algorithm of the acid processor 54 and performs a function of insertion, deletion, modification, and execution on the basis of the word, a reference clock generation unit 30, A scheduler 56 for managing the priority of each unit to manage the priority of each unit and an output unit 57 for selectively displaying contents of the buffer memory 51 or the word database 55 and the stack 53 ).

Here, the controller operation unit 50 has the same function as a kind of program interpreter. When the operator is a person, the PC is connected to the input means 40 to locate the terminal terminal, but the operation and management can be automatically performed on the PC side A program such as a management program or a web browser may be connected.

In particular, although the present invention has a structure applicable to one control target, if a channel is provided to manage a plurality of plants 10 simultaneously, the control target can be applied to one or more control targets.

As shown in FIG. 2, the word database 55 is divided into a name field and a content field. The main functions of the word database 55 include a main parameter existing in the controller operating unit 50, It is the base. In addition, it is a temporary storage place for data communication with an operator or another control system, and is used as an information storage place at the time of debugging. Although the word database 55 can be changed by the program of the controller module 5, the operation can be changed by the stack 53 and the stack operation processor 54 as well.

A flag for the external output, a flag for T (time index), a variable, a macro program module, a parameter, a controller, a sensor channel selection, a sensor flag, and the like are stored in the name field of the word database 55, A series of words and command lines, such as input / output port status, target profile type, controller output value, and control algorithm, are paired in a one-to-one correspondence.

The word database 55 includes flags such as a sensor selection flag, a controller selection flag, a parameter change flag, a target value change flag, and an external output flag in order to manage the control algorithm of the controller module 5 So that it is possible to not only check the internal state of the controller operating unit 50 from outside but also change the internal state from the outside. Further, T (time index) is registered in the word database 55 again every time the controller module 5 is executed, and when it is used as a variable such as the variables 1 and 2, the data with the other control system In the case of registering the content of the stack 53 in which the result of the information storage location or the stack operation processing unit 54 is stored in the word database 55 as a temporary storage place in communication or in an information storage location in debugging, It is used for the purpose of data transfer between modules.

The macro_instruction_list_1 and the program_module_instruction_list_1 are sets of various commands and data belonging to the stack operation processing unit 54 and are stored in the corresponding list May be used in abbreviated form. The parameter _1 indicates a parameter value used in the controller module 5, and the controller module 5 copies and uses this parameter value in operation.

The controller_Algorithm_program_list is a list of various commands and data belonging to the stack operation processing unit 54. The controller_Algorithm_program_list is a list of various commands and data belonging to the stack operation processing unit 54. [ The sensor type and the target profile_type can be selected as a program in a predetermined area in association with the control algorithm of the controller respectively and it becomes possible to change the sensor and the target value type by the operator's command. Also, the input / output port state and the controller_output_value are associated with the input / output port, respectively, so that the operator can change the value thereof.

The variable value can be monitored by the configuration of the word database 55 that supports the control algorithm so that the control algorithm can be changed according to the operator's command.

On the other hand, the controller module 5 has a plant 10 control, a general digital signal processing and a software timer function, and is a routine executed at regular intervals. And is composed of various libraries for control including routine of the user suitable for the plant 10 according to a normal method. The module included in the control library includes PI, PD, LMFC, FIR filter, arbitrary function generator, data acquisition, integrator, etc., and each module can designate parameters, limiters and the like by the word database 55.

For example, PI and PD controllers of the form (1) and (2) below can be implemented and expressed by discrete time controllers as shown in equations (3) and (4). At this time, the controller has one step (STEP) delay.

[Equation 1]

&Quot; (2) "

&Quot; (3) "

&Quot; (4) "

As described above, when performance specifications can not be satisfied by using the PI and PD controllers, it is possible to use friction compensation (OVER COMPENSATION, UNDER COMPENSATION, etc.) by using a nonlinear control method that is commonly used. This method performs frictional force compensation with a value adjusted according to the sign of the speed and the sign of the controller output.

The instruction interpreter 52 follows an interpreter execution method by row-by-row input. The operator, operator, and word are separated by a space character. However, in the case of a matrix containing a space character or an arithmetic expression, the start and end of the string or matrix are enclosed in '{}'.

The stack operation processing unit 54 includes various types of data representation methods such as a matrix, a string, and a floating-point number, various arithmetic, logic, and bit operation functions and various stack operation commands, built-in functions, It is a versatile system. The stack operation processing unit 54 has a flexible variable representation method, a macro function for changing an instruction or designating a plurality of steps with a single name, thereby providing flexibility and efficient and convenient operation.

The stack operation processing unit 54 also provides functions such as a memory operation command, a time management command, and a task management function, which are normally provided in a kernel or shell command of an existing general purpose computer program operating system. When the stack 53 is used as a function or as a storage place of parameters, results and the like between the respective units or modules, each unit or module can be defined independently, and a program that is recursive (RECVRSIVE) becomes possible. As each module or module performs its own function, it can test itself and correct errors, which makes testing, debugging, and maintenance easier.

Since the stack operation processing unit 54 supports a postfix notation method, the stack operation processing unit 54 is almost similar to the Korean word order that follows the object word. For example, " Show 3 and 4 together " is expressed as " 3 + 4? &Quot; in the stack operation processing unit 54.

Meanwhile, the main algorithm included in the controller operation unit 50 is an execution algorithm of the controller module 5 and an operation algorithm of the operator interface module. Each of which is shown in FIGS. 3 and 4, wherein each of the processes performing the two algorithms described above alternately performs the execution of each part or module using the context switch function in the scheduler 56 So that each part or module has the effect of being processed in parallel, and the processing priority order of each part is managed.

The priority between the execution algorithm of the controller module 5 and the operation algorithm of the operator interface module is higher than that of the controller module 5 because the process regarding the execution algorithm of the controller module 5 is completed Context switching can not take place and the execution of a process related to the operation algorithm of the operator interface module allows another process to intervene in the middle.

In the operation of the present invention configured as described above, when an operator inputs a certain command line to perform a control algorithm change of a specific controller among the controller modules 5 through the input means 40, And stored.

Thereafter, the input command line of the operator stored in the buffer memory 51 is transferred to the command interpreter 52 and interpreted, and the analyzed contents are sequentially transmitted to the stack 53 or the stack operation processing unit 54 And the stack operation processing unit 54 performs an operation processing operation for changing the control algorithm.

At this time, the stack 53 or the stack operation processing unit 54 determines whether the analyzed content is registered in the word database 55 and whether the interpreted content is a series of data or an operation processing command, Or may wait for the next command line input after completing the input command line decoding of the operator.

When the decryption of the input command line of the operator stored in the buffer memory 51 is completed, an operation processing operation is performed to change the control algorithm of the specific controller in the controller module 5, Thereby controlling the operation and the state of the plant 10. [ That is, the controller module 5 transmits information about the operation and state of the control object 1 to the sensor 2 through the input / output interface 20 provided between the plant 10 and the controller module 5 At the same time, according to the changed control algorithm of the controller module 5, the drive unit 3 transmits the drive control signal for the control object 1 to the drive unit 3 through the input / output interface unit 20, The operation and state of the controlled object 1 are changed.

Here, the operation timing, the execution timing, and the priority of each unit are received by the reference clock generated and output by the reference clock generator 30, and are managed by the scheduler 56. The output means 57 displays contents or changes currently stored in the stack 53 and the word database 55 to the user through the buffer memory 51.

Referring to FIG. 3, a method of changing the control algorithm of the controller performed by the controller module 5 will be described below.

The execution algorithm of the controller module 5 is executed by a scheduler (not shown) at a predetermined time interval using a timer (not shown) which is moved by a reference clock to perform a control function regarding the operation and state of the control object 1. [ 56) perform context switching and alternately perform execution of each unit or module, thereby having the effect that each unit or module is processed in parallel. At this time, the execution time and the priority order of the controller module 5 and the respective units are managed in real time by the scheduler 56.

First, hardware initialization is performed as an initial setting in the first process, and an interrupt cycle is set in the timer count register, T is set to '0', and various variables are initialized. Then, if necessary, a function type table of the control target value (target profile file) is created, and the operation of the scheduler 56 is permitted (see S1).

Next, in the second process, when the time set by the scheduler 56 has elapsed, context switching is performed to determine whether it is necessary to perform the operation of the controller module 5 (refer to S2). In other words, There are cases in which a number of tasks are sleeping (SLEEP) due to certain things while several tasks are running, and the sleeped task is executed again by another matter. It is the scheduler 56 that determines whether to execute the task, determines the priority of the task, and determines whether it is necessary to perform the operation of the controller module 5 according to the confirmation result.

If it is determined in the second process S2 that the controller module 5 does not need to be operated, it is checked in the second process S2 whether it is necessary to perform the operation of the next controller while performing the standby operation in the third process If the controller module 5 is required to be operated in the second step S2, the control objective is achieved in the fourth step and the controller module 5 is completely terminated (See S4).

If it is determined in step S4 that the process is to be terminated, all the processes are completed. If the process is not finished in the fourth process (S4), the output result of the controller calculated before one sampling time in the fifth process is output to the input / The controller module 5 sends the output result of the controller module 5 to the plant 10 through the control module 5 without waiting for the next sampling time and immediately after the context switching. Since the computation time of the execution routine is not constant, the computation delay is made constant so that the operation of the controller is kept constant without being affected by the inconsistency of the computation time.

In the sixth step, the sensor selection flag in the word database 55 is checked. If it is necessary to select the sensor, the input sensor of the controller is determined according to the content of the sensor channel selection word in the seventh step (See S6 and S7.) The problem of jerking the system due to a sudden change of the controller output due to the change of the input sensor of the controller is that the average value of the two sensors is set at an intermediate level and the input of the controller is changed gently And the like can be used.

However, if the result of the sixth step S6 does not require the selection of the sensor or after the input sensor of the controller is determined in the seventh step S7, (S8). If it is determined in step S8 that the control algorithm selection of the controller is necessary, the control content of the control algorithm selection word in the word database 55 in the ninth step The control algorithm of the controller is determined according to the control algorithm of the controller, and the process proceeds to the next step (refer to S9). Here, in a system which needs to prevent jerking that may occur in the control algorithm switching step, It can be solved by using the BUMPLESS control method.

If it is determined in step S8 that the selection of the control algorithm is not required, the parameter change flag in the word database 55 is checked in step S10 (refer to step S10) The controller determines the parameter of the controller or the communication protocol parameter with the external device according to the content of the parameter change word in the word database 55 in step 11, and then proceeds to the next step. (See S11). There may be a replacement method that replaces the previous value with a new value, and designating a difference value in the current parameter to specify an increase or decrease amount in the current value prevents the sudden change in the controller output .

On the other hand, if the inspection result of the tenth step (S10) does not require parameter change of the controller, it is determined whether the target value changing plant in the word database 55 is valid in the twelfth step. If it is determined in step S12 that the type or parameter of the control target value function is required to be changed and the target value change word in the word database 55 is changed, The target value function of the controller is changed according to the content, and the process proceeds to the next step. (See S13)

The sixth through thirteenth steps S6 through S13 are performed for each of the flags of the word database regardless of the order, and perform all the operations for changing the control algorithm according to the inspection results.

In step 14, when the result of the twelfth step (S12) is 'No', the function corresponding to the original purpose of the controller acquires data from the plurality of sensors 2 located in the plant 10, The internal variables necessary for the execution of the controller and the variable values that can be displayed to the operator and the like are stored and the result of the execution is stored after performing the control algorithm determined in the sixth to thirteenth steps S6 to S13 (Refer to S14)

When the 14th step S14 is completed, the sampling time index T used as an index for the storage of the controller module 5 or for storing the variable is increased in step 15. In step 15, In step 16, it is determined whether the external output plant is valid in the word database 55. (See S16)

If the determination result of step S16 is YES, the seventh step updates the corresponding word database 55. If the determination result of step S16 is NO It is determined that the external output is not necessary and the process returns to the second step S2 to wait for the next context switching operation. (See S17) At this time, when the output of the variable is not required to be output at too high a frequency, The frequency can be appropriately adjusted in the step S17.

An algorithm in the controller operating unit 50 for a method of changing the controller control algorithm of the controller according to the present invention is shown in FIG.

First, in the first step, it is judged whether the input command line of the operator is inputted through the input means 40. (Refer to T1) Then, in the second step, if the result of the first step (T1) In the case where the result of the determination in the first step (T1) is YES, in the first step (T1), the input operation is performed in the first step (T1) And immediately stores the input command line in the buffer memory 51. (See T2 and T3)

In the fourth step, the input command line of the operator stored in the third step (T3) is transmitted to the command interpreter 52, and the command interpreter 52 decodes the input command line of the operator in order from left to right, (See T4). In the fifth step, it is confirmed whether or not the words separated by the blank are registered in the word database 55. If the result of the fifth step T5 is YES, Finds the word registered in the word database 55 and copies the content of the corresponding content field to the command line and decodes it in the same manner as the fourth step T4 and returns to the fifth step T5, Check whether the word is registered (see T5 and T6).

If a specific word is not registered in the word database 55 after the decoding of all the words included in the input command line of the operator is completed in the fifth to sixth steps T5 and T6, (Step T7). If the result of the seventh step (T7) is YES, in step 8, the corresponding word is stored in the memory of the stack 53 If the result of the seventh step T7 is NO, the ninth step determines whether the specific word is an operation processing command registered in the stack operation processing unit 54. [ (See T8 and T9)

If the result of the determination in the ninth step T9 is YES, the tenth step checks whether the word corresponds to a termination command among the commands registered in the stack operation processing unit 54 (refer to T10). If the determination result of the tenth step T10 is YES, all the programs are immediately terminated. If the result of the tenth step T10 is NO, At least one data stored in the stack operation processing unit 54 is subjected to the operation processing operation defined by the stack operation processing unit 54. (See T11)

There are instructions for inserting, changing and deleting the contents of the word database 55 from among the operation processing instructions of the stack operation processing unit 54 and for executing arithmetic operations using the stack 53, A program operation control instruction such as a stack operation such as change and copy operation, a program flow control instruction such as an iteration statement and a conditional statement, input / output with an external device, and time management using a reference clock. .

For example, if you issue a command such as "print out", you will remove the topmost value from the stack (53) and print the value on the screen. However, an instruction such as "output a list" for the word database 55 is processed irrespective of the stack 53.

If the result of the determination in the ninth step T9 is NO, the error processing is performed in the twelfth step and the process proceeds to the next step. (See T12.) Finally, in the thirteenth step, (T13). If the result of the determination in the step T13 is NO, the flow returns to the fourth step (T4) to return to the buffer memory 51, And decipher the undocoded words from the command line stored in. However, if the determination result of the thirteenth step (T13) is YES, the process returns to the first step (T1) to monitor whether the next command line is input by the operator.

The above algorithm is described based on the case where the buffer memory 51 can store one command line at a time. However, even if the buffer memory 51 has one or more storage capacities, the same algorithm can be implemented.

In another embodiment of the present invention, in the case of performing the controller parameter change, the process of the output means 57 will be described. First, the name and the change contents of the parameter to be changed are sequentially inputted to the stack 53. The stack operation processing unit 54 registers a parameter change in the word database 55 by issuing a register command to the data stored in the stack 53 in advance.

At this time, when it is necessary to change one or more parameters at the same time, the above process is performed for each parameter name. The change value may be directly indicated at the time of the parameter change or may be changed by designating an increase or a decrease amount at the current value of the parameter and may be changed using various operation commands related to the stack 53 and the word database 55, It can also be specified in the form. The current system state variable (for example, the controller output value) may be used as an input variable, and may include all control algorithms such as non-linear and linear controllers. The parameters changed through the calculation process are reflected in the operation of the actual controller by changing the parameter change flag.

It is possible to perform the selection or change operation in the same manner as the above-described controller parameter changing method by changing the variables and flags for selecting the input sensor type, selecting the control algorithm of the controller, changing the control target value, and changing the communication parameter.

In order to monitor the current value of the input port of the sensor 2 or the like, an embodiment for monitoring the system variable may be configured to monitor the current value of the analog / digital converter (A / D converter) of the input / The address is stored in the stack 53, a conversion command is issued, and the sensing value of the sensor 2, that is, the converted value of the physical quantity, is brought to the stack 53. If necessary, various operations such as an arithmetic function such as arithmetic operation, a mathematical function such as a trigonometric function, and a user-defined function are performed on the value stored in the stack 53. Thereafter, the resultant value stored in the stack 53 is sent to the screen as an output command so that the operator can observe the result value.

As a result, the present invention can realize a function of understanding the system while changing the environment of various systems while operating the system, in particular, when applied to a controller for research and learning. For example, it can be seen how the characteristics of the system change with changes in specific parameters, such as sensitivity testing. In addition, since the controller manufacturer can implement a general-purpose controller capable of controlling several similar varieties with one controller, the present invention can reduce the number of models of the controller produced, . ≪ / RTI >

The present invention can not only obtain the influence of the parameter on the entire system by changing the parameters and functions of the controller during operation of the controller and the whole system but also obtain more improved controller parameters and functions as a result of the change of the parameters or functions .

The control algorithm of the controller may be modified not only by a simple parameter modification but also by a control method included in the control algorithm of the controller. The control algorithm may be changed during operation of the system, By operating the system according to the control algorithm, it is possible to perform a variable control function in an active sense.

In addition, the present invention enables the operator to change the input sensor of the controller by instructing the operator during operation, and parameters and functions related to the sensor calibration can also be instructed by the operator during the operation.

The present invention can change the state of an output variable according to a state variable such as a time or an input condition or the like to a specific device connected to the controller without stopping the operation of the controller, have. A control target function such as a target profile, parameters, and the like may be changed according to an operator's intention or various conditions.

The present invention relates to a controller. A sensor output, etc., and performs various necessary calculations using a stack operation processing unit 54 based on a stack operation method built in the apparatus itself to detect a main variable or a physical quantity of the system, You can monitor critical conditions or performance conveniently and quickly.

In addition, when an environment is configured to communicate with a device having a PC or a microcomputer built in the outside, a communication method such as a parameter and a protocol relating to a communication method between two communication objects can be freely selected. The characterizing part and the data part associated with this part of the command must be communicated. The promise between the sender and the receiver regarding the command and data parts is called a protocol. In the communication according to the present invention, such a protocol is not fixed, but can have a program format having its own predetermined grammar.

In order to implement the above function, input or communicated commands can be expressed in various forms such as numbers, alphabets, special characters, Korean characters, etc., can be documented in a form that is easy to read, It is possible.

First of all, since tuning work can be performed on-line separately from the conventional method, it is not necessary to tune the controller using a separate device.

If the operator inputs a specific command through a predetermined protocol through the input unit 40, the command is transmitted to the buffer memory 51, the command interpreter 52, , And the parameter value such as " external output_flag " in the word database 55 is modified through the stack operation processing unit 54. [

When the controller operation unit 50 performs the operation S14 in the same manner as the operation 3 of the third embodiment to drive and control the control object 1, The control unit 5 calculates the controller output using the input value received from the control unit 1 and outputs the calculated value to the control object 1 through the driving unit 3 through the fourteenth step S14 and the fifth step S5, .

A value input to the control object 1, that is, a value output from the controller module 5 to the driving unit 3 (i.e., " controller_output_value "), The user is continuously registered in the word database 55 when performing steps 16 and 17 (S16 and S17).

In the present invention, a tuning operation is performed through an external device through the above-described operation. Here, the controller operating unit 50 simultaneously outputs internal variables in the controller operating unit 50 as well as a value (i.e., a " controller_output_value ") output from the controller module 5 to the driving unit 3 ) So that a more accurate tuning operation can be performed.

On the other hand, when an external operator or program instructs the output means 57 to output the internal variable or " controller_output_value " stored in the word database 55 via the input means 40, Quot; controller_output_value " stored in the word database 55 via the buffer memory 51 and the command interpreter 52 is converted into data through the sixth step T6 of FIG. 4, And the data converted in the sixth step T6 through the eighth step T7 and T8 are stored in the stack 53 and then the tenth and eleventh steps T10 and T11 are performed to the outputting means 57 The data can be transmitted to the external device.

Then, the external device can calculate a parameter value of an appropriate controller by a program or manual operation with a built-in data trend and a self-tuning algorithm (STR technique, etc.) for a predetermined time, The parameter change command is sent to the controller. The command delivered by the input means 40 changes the appropriate parameters such as " parameter change flag " and " parameter_1 " of the word database 55, which are stored in the buffer memory 51, 52, and the stack operation processing unit 54, and the corresponding memory in the controller is changed again by the re-10 and the eleventh steps (S10, S11) of FIG.

The control algorithm changing system and the altering method of the controller according to the present invention configured as described above may be configured such that a command transmitted through an input means such as a keyboard or a speech recognition apparatus or a command transmitted from another command device By taking commands interactively and performing various functions and operations using the storage stack and word database, it is possible to easily change the control algorithm of the controller, and at the same time, perform a program function of a batch process concept in a series of procedures There is an effect.

Claims (7)

A plurality of sensors for sensing each operation and state of the control object and transmitting the detection result to the controller through the interface and a control signal for the operation and state of the control object according to the detection result of the sensor, And a drive unit for driving and controlling the controlled object according to the received control signal; A reference clock generator for generating and outputting a reference clock for the operation timing of each unit and for real time processing; Input means for receiving each command such as an operator's command or data program for changing the parameters of the controller or the control algorithm, and transmitting it to the system as a command input signal; A command word input signal of the input means is received and interpreted to generate a specific word and a new control algorithm is calculated through a combination of pre-stored operation data and a specific word to thereby generate a new control algorithm in an ON- A controller for changing a parameter of the controller or a controller algorithm in real time; And an output means for displaying an operation result of the controller operation unit to an operator. The apparatus according to claim 1, wherein the controller operating unit receives a command input signal through an input unit and records / reads command contents of the operator, and a control unit that reads the command recorded in the memory unit and analyzes the command, A stack having stored therein operation data for changing a control algorithm while sequentially receiving and storing specific words of the command interpreter and outputting them in a predetermined order; An operation processor for generating a specific control algorithm by receiving a word or operation data stored in a predetermined order and performing a calculation process on the word or operation data; Take the control algorithm and based on that word And a scheduler for receiving a reference clock and managing a priority order and determining an execution timing of each unit by the reference clock generator, Control Algorithm Alteration System. The system of claim 1, wherein the word database comprises two strings of a name field and a content field. An initialization step of allowing an operation of a scheduler to manage an execution time and a priority of each part while an initialization operation of the system is performed; If it is determined by the scheduler that the current task is currently executed, the control unit monitors the control target based on the information before one sampling time at a sampling time used as an index for storing the variable from the sensor monitoring the control target An information calculating step of carrying out the corresponding control algorithm by transferring the calculated values of the specific controller to the plant; A set of words and command lines are paired in a one-to-one correspondence database, and each flag is checked in a stored word database. If the check result of the flag is an instruction of each flag, the corresponding word of the word database is searched A variable determining step of determining a variable for changing the control algorithm according to the control algorithm; An information storage step of receiving information according to each variable, storing the variable value, performing a control algorithm of the specific controller, and storing the result of the control; An external output determining step of increasing the sampling time by '1' and determining whether external output is required; And an update / wait step of updating the variable in the word database if the external output is required in the external output determination step and waiting for the next operation if no external output is required, How to change. 5. The method according to claim 4, wherein, in the step of determining the parameters, the sensor selection plant is inspected in the word database, and when the sensor is required, the sensor channel selection word of the word database is found and the input sensor of the controller is determined Determining a sensor; A control algorithm decision step of checking a controller flag in the word database and finding a controller algorithm selection word of a word database when a result of the check is a selection of a control algorithm and determining a control algorithm according to the selected word; A parameter change step of checking a parameter change flag in the word database and finding a parameter change word of the word database and changing a parameter to the content if the check result indicates that a parameter change is required; And a target value changing step of checking the target value change flag in the word database and finding a target value change word of the word database when the inspection result requires changing of the target value function, and changing the target value function according to the target value change word. To change the control algorithm of the controller. 6. The method of claim 5, further comprising: a command line storing step of storing a command line input by an operator when the command line is inputted; A word separating step of separating the command lines stored in the command line storing step into a plurality of words in a predetermined order; A word registration determination step of determining whether each word separated in the word separation step is registered in a word database; A word interpretation step of searching and analyzing command information of the word in a word database if the word is registered in the word registration determination step; A data determination step of determining whether the word is data such as a number, a character string, a matrix, or an operation processing command when the corresponding word is not registered in the word registration determination step or when the word is interpreted in the word interpretation step ; A data execution step of storing each data in a stack according to the determination result of the data determination step, sequentially reading data stored in the stack, and performing operation processing; And terminating the word decryption when it is determined that all the command lines stored in the command line storing step have been decrypted. 8. The method according to claim 7, wherein the data determination step includes an error processing step of performing an error processing function when the word does not correspond to specific data or an operation processing command.