KR102211200B1 - Dual PLC Control System Based on Multi Core Processor - Google Patents

Abstract

According to an aspect of the present invention, a multi-core processor-based redundant PLC control system configured by dualizing PLC applications on a single hardware using a multi-core processor includes: a first master fieldbus communication module for receiving collected data from an external device; It is connected to the first master fieldbus communication module through a communication bus to receive the collected data from the first master fieldbus communication module, and to generate calculation data by calculating the received collected data according to a predetermined control logic. A first core processor on which a master PLC (Programmable Logic Controller) application is executed; A second core processor in which the master PLC application is configured to be duplicated, operates in a standby state, and executes a slave PLC application that monitors the operation state of the master PLC application; And a first shared memory in which the collected data and the operation data are stored by the master PLC application, and the slave PLC application is transferred to the master when an error occurs in the master PLC application, and the first shared memory and the first It is characterized in that it is connected to the master fieldbus communication module.

Description

Dual PLC Control System Based on Multi Core Processor

The present invention relates to an industrial facility management system, and more particularly, to a PLC control system.

PLC control systems that perform the operation or control of various facilities arranged in industrial sites include PLC (Programmable Logic Controller) and HMI (Human Machine Interface).

PLC is a control device used for automatic control and monitoring of industrial plants. The PLC logically processes input data by a program and uses the output result to control external devices connected to the PLC. PLC is implemented as a program so that desired control and operation can be realized by interfacing with various external devices suitable for industrial sites requiring control and operation, and these programs are downloaded to PLC dedicated hardware (H/W) to perform its functions. .

In general, a PLC can receive data from an external device or output data to an external device by interfacing with various external devices through a fieldbus communication device. This fieldbus communication device is a high-speed communication network capable of transmitting and processing a large amount of data, and is widely used in industrial sites because it enables fast and reliable data transmission.

HMI provides control of various controllers (DCS, measuring instruments, etc.) including the above-described PLC in a screen that is easy for users to recognize, and provides necessary data in various forms including graphs.

1 shows the configuration of a general PLC control system. As shown in FIG. 1, the PLC control system includes a PLC 100 and an HMI 110. The PLC 100 is implemented by installing a program for PLC on the dedicated hardware for PLC, and the HMI 110 is also implemented by installing a program for HMI on a separate dedicated hardware, and the PLC 100 and HMI 110 are either Ethernet or Modbus. It is connected through a communication interface 120 such as /TCP.

However, since the PLC 100 and HMI 110 of the general PLC control system shown in FIG. 1 are separately installed on dedicated hardware, the specifications of various manufacturers of the PLC and HMI to be applied are checked. There was an inconvenience of having to select applicable hardware, and due to this, there is a limitation that not only cannot actively respond to changes in the industrial direction, but also it is difficult to secure various product lineups with price competitiveness.

In addition, since PLC and HMI must communicate through interfaces such as Ethernet or Modbus/TCP, when a communication error occurs, it is difficult to share data smoothly between the PLC and HMI, so that control of the industrial site cannot be efficiently performed.

In addition, when the PLC control system as shown in Fig. 1 is configured by duplexing, a PLC program for the PLC function is installed on separate hardware, and the HMI program for the HMI function can also be installed on separate hardware. Because there is only one, data synchronization is required between PLC programs installed on separate hardware, and data synchronization is required between HMI programs installed on separate hardware as well as control rights are completely transferred by the time required for data synchronization. There is a problem that it cannot be used in industries that require high-speed control because switching overtime occurs.

The present invention has been made to solve the above-described problem, and it is an object of the present invention to provide a multi-core processor-based redundant PLC control system configured by redundant PLC applications on a single hardware using a multi-core processor.

In addition, another technical problem is to provide a multi-core processor-based redundant PLC control system in which both a PLC application and an HMI application are duplicated in a single hardware using a multi-core processor.

In addition, the present invention is another technical problem to provide a redundant PLC control system based on a multi-core processor configured by dualizing a fieldbus communication device that connects a PLC application with an external device.

A dualized PLC control system based on a multi-core processor according to an aspect of the present invention for achieving the above object comprises: a first master fieldbus communication module for receiving collected data from an external device; It is connected to the first master fieldbus communication module through a communication bus to receive the collected data from the first master fieldbus communication module, and to generate calculation data by calculating the received collected data according to a predetermined control logic. A first core processor on which a master PLC (Programmable Logic Controller) application is executed; A second core processor in which the master PLC application is configured to be duplicated, operates in a standby state, and executes a slave PLC application that monitors the operation state of the master PLC application; And a first shared memory in which the collected data and the operation data are stored by the master PLC application, and the slave PLC application is transferred to the master when an error occurs in the master PLC application, and the first shared memory and the first It is characterized in that it is connected to the master fieldbus communication module.

According to the present invention, since the PLC application and the HMI application are redundant on a single hardware, it is possible to save the cost of adding hardware when building a redundant system.

In addition, according to the present invention, since the dualized PLC application shares data through the shared memory and the HMI application shares data through the shared memory, not only data synchronization is performed in real time, but also data synchronization Loss of data can be prevented in advance, thereby improving the reliability of data.

In addition, according to the present invention, since the PLC application and the HMI application share data through the shared memory and a separate communication interface is not required, a communication error due to an error in the communication interface does not occur, so that the PLC application and the HMI application are smoothly Data can be shared, and this has the effect of efficiently performing control of industrial sites.

Fig. 1 shows the configuration of a general PLC control system.
2 is a diagram showing a configuration of a dualized PLC control system based on a multi-core processor according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating that a second PLC application is set as a master when a failure occurs in a first PLC application set as a master according to an embodiment of the present invention.
4 is a diagram illustrating that a first fieldbus communication module is duplicated according to an embodiment of the present invention.
5 is a diagram illustrating that a second fieldbus communication module is set as a master when a failure occurs in a first fieldbus communication module according to an embodiment of the present invention.
6 is a diagram illustrating an example in which a scheduler allocates a new task to each core processor.
7 is a diagram illustrating that a first HMI application is added to a PLC control system according to an embodiment of the present invention.
8 is a diagram illustrating an example of accessing a second shared memory of a first PLC application and a first HMI application when the first PLC application has the priority of the access key.
9 is a diagram illustrating that a first HMI application is duplicated according to an embodiment of the present invention.
10 is a diagram showing that the PLC control system is fully duplexed.

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

The meaning of the terms described in this specification should be understood as follows.

Singular expressions should be understood as including plural expressions unless clearly defined differently in context, and terms such as “first” and “second” are used to distinguish one element from other elements, The scope of rights should not be limited by these terms.

It is to be understood that terms such as "comprise" or "have" do not preclude the presence or addition of one or more other features or numbers, steps, actions, components, parts, or combinations thereof.

The term “at least one” is to be understood as including all possible combinations from one or more related items. For example, the meaning of “at least one of the first item, the second item, and the third item” means 2 among the first item, the second item, and the third item, as well as the first item, the second item, and the third item. It means a combination of all items that can be presented from more than one.

FIG. 2 is a diagram showing a configuration of a dualized PLC control system based on a multi-core processor (hereinafter referred to as “PLC control system”) according to an embodiment of the present invention.

The PLC control system 200 is a system that controls and manages devices to be controlled. The PLC control system 200 collects status data or sensing data (hereinafter referred to as'collection data') generated by various devices from the input/output card 10, and controls the input/output card 10 to control various devices. Control commands can be given through. In one embodiment, the PLC control system 200 may be implemented as a multi-core-based industrial PC.

To this end, the PLC control system 200 includes a first core processor 202, a second core processor 204, a first PLC application 210a, a second PLC application 210b, a first shared memory 220, and 1 fieldbus communication module (230a), and includes a slave fieldbus communication module (240).

The first core processor 202 and the second core processor 204 execute an application. The PLC control system 200 according to the present invention includes a plurality of cores so that the first PLC application 210a and the second PLC application 210b are both installed and operated on one hardware (H/W). It is composed of processors 202 and 204.

The first PLC application 210a is installed on the first core processor 202 and set as a master, and the second PLC application 210b is installed on the second core processor 204 and set as a slave. In an embodiment, among the first and second PLC applications 210a and 210b, a PLC application that is started first may be set as a master, and a PLC application that is started later may be set as a slave.

The first PLC application 210a set as a master acquires collected data from the first fieldbus communication module 230a and outputs output data generated according to a predetermined control logic to control an external device. Specifically, the first PLC application 210a set as the master connects to the first fieldbus communication module 230a to read the collected data and stores the collected data in the first area of the first shared memory 220 do. The first PLC application 210a generates operation data through a predetermined control logic based on the collected data and stores it in the second area of the first shared memory 210. The PLC application 210 connects and records the output data to be output to the input/output card 10 among the operation data stored in the second area to the first fieldbus communication module 230a.

In this case, the first PLC application 210a may connect to the first fieldbus communication module 230 through a Peripheral Component Interconnect (PCI) communication bus.

The second PLC application 210b set as a slave monitors whether an error occurs in the first PLC application 210a set as a master. In an embodiment, the second PLC application may monitor whether an error occurs in the first PLC application through intertask communication.

Hereinafter, a case in which a failure occurs in the first PLC application 210a set as the master will be described in more detail with reference to FIG. 3.

FIG. 3 is a diagram illustrating that a second PLC application is set as a master when a failure occurs in a first PLC application set as a master according to an embodiment of the present invention.

As shown in FIG. 3, the second PLC application 210b monitors whether an error occurs in the first PLC application 210a, and when a failure occurs in the first PLC application 210a set as the master, the second PLC application ( 210b) transfers control right from the first PLC application 210a. Accordingly, the second PLC application 210b is set as a master and the first PLC application 210a is set as a slave.

The first PLC application 210a is set as a slave, operates in a standby state, and monitors whether an error occurs in the second PLC application 210b.

The second PLC application 210b is set and operated as a master. Specifically, the second PLC application 210b accesses the first fieldbus communication module 230a to read the collected data, and stores the collected data in the first area of the first shared memory 220. The second PLC application 210b generates operation data through a predetermined control logic based on the collected data and stores it in the second area of the first shared memory 220. The second PLC application 210b connects to the first fieldbus communication module 230a and records the output data to be output to the input/output card among the operation data stored in the second area.

Referring back to FIG. 2, the first shared memory 220 stores collected data and operation data by a PLC application set as a master among the first PLC application and the second PLC application. That is, collection data and operation data are stored by the first PLC application set as the master, and when the second PLC application set as the slave is reset to the master, the collected data and output data may be stored by the second PLC application. At this time, the collected data is stored in the first area of the first shared memory 220, and the operation data is stored in the second area of the first shared memory 220.

Accordingly, the present invention can share the collected data and operation data through the first shared memory 220, so that the first PLC application 210a has a failure and the second PLC application 210b is set as the master, There is an effect that it takes no time to synchronize the data, so that the switching overtime is reduced.

The first fieldbus communication module 230a acquires collected data from the input/output card 10 connected to a plurality of devices, transmits it to the first PLC application 210a, and transmits the output data from the first PLC application 210 It is acquired and transmitted to the input/output card 10. Specifically, the first fieldbus communication module 230a reads and stores collected data from the slave fieldbus communication module 240 mounted on the input/output card 10. The stored collected data is read by the first PLC application 210a connected to the first fieldbus communication module 230a. In addition, the first fieldbus communication module 230a records output data by the PLC application 210. The recorded output data is transmitted to the slave fieldbus communication module 240 and transmitted to the input/output card 10.

To this end, the first fieldbus communication module 230a includes a first fieldbus communication application 233a and a first internal memory 236a.

In the first internal memory 236a, collected data is recorded in the first area by the first fieldbus communication application 210a, and output data is recorded in the second area by the first PLC application.

The first internal memory 236a includes a first port 237a and a second port 238a for connection to the first PLC application.

The first port 237a is a connection device that allows the first PLC application 210a to connect to read collected data recorded in the first area of the first internal memory 236a. The second port 238a is a connection device that allows the first PLC application 210a to be connected to write output data to the second area of the first internal memory 236a. At this time, the first and second ports 237a and 238a may be connected to the first PLC application 210a through a Peripheral Component Interconnect (PCI) communication bus.

In the above-described embodiment, it has been described that the first fieldbus communication module 230a is one. However, in a modified embodiment, the first fieldbus communication module 230a may be redundant.

Hereinafter, it will be described that the first fieldbus communication module 230a is redundant with reference to FIG. 4, and the same contents as those described above will be omitted.

4 is a diagram illustrating that a first fieldbus communication module is duplicated according to an embodiment of the present invention.

To this end, the PLC control system 200 may further include a second fieldbus communication module 230b in which the first fieldbus communication module 230a is duplicated, as shown in FIG. 4.

The first fieldbus communication module 230a set as a master includes a first fieldbus communication application 233a and a first internal memory 236a, and the second fieldbus communication module 230b set as a slave has a second field. It includes a bus communication application 233b and a second internal memory 236b.

The first fieldbus communication module 230a is set as a master and reads and stores collected data from the slave fieldbus communication module 240 mounted on the input/output card 10. The stored collected data is read by the first PLC application 210a connected to the first fieldbus communication module 230a. The first fieldbus communication module 230a records output data by the PLC application 210, and the recorded output data is transmitted to the slave fieldbus communication module 240 and transmitted to the input/output card 10.

The second fieldbus communication module 230b is set as a slave and can operate in a standby state.

The first fieldbus communication application 233a set as a master acquires collected data from the slave fieldbus communication module 240 mounted on the input/output card 10 connected to a plurality of devices, and the first internal memory 236a Record in the first area. In addition, the first fieldbus communication application 233a reads the output data recorded in the second area of the first internal memory 236a by the first PLC application 210a, and is mounted on the input/output card 10. It transmits to the slave fieldbus communication module 240.

The second fieldbus communication application 233b set as a slave acquires collected data from the slave fieldbus communication module 240 mounted on the input/output card 10 and writes it to the first area of the second internal memory 236b. Accordingly, the second internal memory 236b stores collected data in the first area by the second fieldbus communication application 233b.

The reason that the second fieldbus communication application 233b set as a slave according to the present invention records the collected data in the second internal memory 236b is that the first fieldbus communication module 110a has a failure and the second fieldbus This is because data synchronization is required when the communication module 110b is set as a master.

Hereinafter, a case in which a failure occurs in the first fieldbus communication module 230a will be described in detail with reference to FIG. 5.

FIG. 5 is a diagram illustrating that the second fieldbus communication module 230a is set as a master when a failure occurs in the first fieldbus communication module 230a according to an embodiment of the present invention.

As shown in FIG. 5, when a failure occurs in the first fieldbus communication module 230a, the first PLC application 210a set as the master retrieves the output data recorded in the second area of the first internal memory 236a. 2 Writes to the second area of the internal memory 237b. The first PLC application 210a set as a master sets the first fieldbus communication module 230a as a slave, and sets the second fieldbus communication module 230b set as a slave as a master.

Accordingly, the first fieldbus communication module 230a set as a slave acquires collected data from the slave communication module 240, writes it to the first area of the first internal memory 236a, and operates in a standby state.

The second fieldbus communication module 230b set as a master reads and stores collected data from the slave fieldbus communication module 240 mounted on the input/output card 10. The stored collected data is read by the first PLC application 210a connected to the second fieldbus communication module 230b. In addition, the second fieldbus communication module 230b set as the master records output data by the first PLC application 210a, and the recorded output data is transmitted to the slave fieldbus communication module 240 and the input/output card 10 Transfer to.

Referring again to FIG. 2, the scheduler 280 will be described in detail.

The PLC control system 200 may further include a scheduler 280 and an idle core processor 290.

The scheduler 280 allocates a task according to execution of the first and second PLC applications 210a and 210b to the first and second core processors 202 and 204 and the idle core processor 290. In one embodiment, the scheduler 280 includes a first scheduler 283a and a second PLC application 210b for processing a first task, which is a task of the first PLC application 210a, as shown in FIG. A second scheduler 283b for processing a second task that is a task may be included. In addition, the scheduler 280 may further include a third scheduler 283c for processing a third task of an application that may be installed in the idle core processor.

In one embodiment, the scheduler 280 according to the present invention may process the first task 410 of the first PLC application 210a set as a master in the idle core processor 290. In the case of this embodiment, the scheduler 280 processes an interrupt with a high priority such as a communication interrupt received by the first PLC application 210a set as the master through the idle core processor 290, 1 The PLC application may be executed in real time, and accordingly, the predictability of the first PLC application 210a may be improved.

Referring back to FIG. 2, the idle core processor 290 processes the first task generated in the first PLC application 210a by the scheduler 280, and transmits the processed result to the first PLC application 210a. I can. In one embodiment, there may be a plurality of idle core processors 290.

The PLC control system 200 may further include a first HMI application.

Hereinafter, a first HMI application will be described in detail with reference to FIG. 7.

7 is a diagram illustrating that a first HMI application is added to a PLC control system according to an embodiment of the present invention.

As shown in FIG. 7, the PLC control system 200 may further include a third core processor 610, a first HMI application 620a, a second shared memory 630, and a memory management unit 640. In FIG. 7, only a configuration having a function added from an existing configuration will be additionally described as the above configuration is added.

The first PLC application 210a set as the master may receive an access key from the memory management unit 640 and access the second shared memory to record collection data, operation data, and output data. In addition, the first PLC application 210a may access the second shared memory 640 to obtain control data recorded in the second shared memory 630 by the first HMI application 620a.

The third core processor 610 executes the first HMI application 620a. In the PLC control system 200 according to the present invention, the first and second PLC applications 210a and 210b and the first HMI application 620a are both installed and operated on one hardware (H/W), The processor is composed of a plurality of core processors (202, 204, 610).

The first HMI application 620a is installed on the third core processor 610 to receive the access key of the second shared memory 630 from the memory management unit 640, and the second shared memory 630 is provided by the first PLC application. ), or data recorded in the second shared memory 630 may be written. Here, the first HMI application 620a may record control data generated by the user in the second shared memory 630. The control data may mean an emergency stop command or the like, and may mean a specific Tag value of the first PLC application 210a.

When the access key is recovered by the memory management unit 640, the first HMI application 620a stops reading or writing data at the first time point when the access key is recovered, and receives the access key again from the memory management unit 640 If so, reading or writing can be resumed with respect to data whose read or write is stopped after the first point in time.

The second shared memory 630 may record collection data, operation data, and output data by a first PLC application set as a master. In addition, the second shared memory 630 may record control data generated by the user by the first HMI application 620a.

The memory management unit 640 provides an access key for accessing the second shared memory 630 to the first PLC application 210a and the first HMI application 620a, or the first PLC application 210a and the first HMI application It plays a role of recovering from (620a).

On the other hand, when the first PLC application 210a is accessing the second shared memory 630, if the first HMI application 620a accesses the second shared memory 630 at the same time, data may be damaged. The memory management unit 250 according to the present invention uses an access key for accessing the second shared memory 630 in order to allow only one application to access the second shared memory 630 at a time.

In particular, the memory management unit 640 according to the present invention gives priority to the access key to the first PLC application 210a, so that the first PLC application 210a has priority over the first HMI application 620a, and the second shared memory Make 630 accessible.

As described above, in the present invention, the first PLC application 210a and the first HMI application 620a use one access key, but the first PLC application 210a is given priority of the access key to the first PLC application 210a. ), it is possible to guarantee the real-time control of the first PLC application 210a because the second shared memory 630 may be given priority access.

According to this embodiment, as shown in FIG. 8, when the first HMI application 210a accesses the second shared memory 630 and performs the task "1, the second When a connection request to the shared memory 630 occurs, the memory management unit 640 immediately retrieves the access key from the first HMI application 620a and allocates the access key to the first PLC application 210a. The first HMI application 620a stops the work at the first point in time t1 when the access key is retrieved, and the first PLC application 210a accesses the second shared memory 630 using the access key " You're going to do a "1" task.

When the access key is retrieved by the memory management unit 640, the first HMI application 620a checks the first time point t1 at which the access key is retrieved, and the process of the first PLC application 210a is completed and the access key When is again provided to the first HMI application 620a, the read or write operation is resumed for the data that has been read or stopped after the first point in time t1.

On the other hand, as shown in FIG. 8, when control data including an emergency stop command is generated by the first HMI application 220a at a second time point t2, the control data including the emergency stop command is fast. It should be shared with the first PLC application 210a within time, but since the first HMI application 620a does not have the priority of the access key, control data is recorded until the access key is retrieved from the first PLC application 210a. You won't be able to. In addition, even if the first HMI application 620 has an access key, the queue of the first HMI application 620 handles control data according to a first-in-first-out (FIFO) method, as shown in FIG. The control data processing task "2" including the emergency stop command cannot but be processed only when the third point in time t3 after all processing of the task "1" is completed.

To solve this problem, according to the present invention, when control data including an emergency stop command is generated, the first HMI application 620a places the control data in the first queue of the queue so that the corresponding control data is processed first in the queue. Make it possible. In addition, the memory management unit 640 gives priority of the access key to the first HMI application 620a when control data including an emergency stop command is generated, so that the first PLC application 210a accesses the second shared memory 630 Even in the middle, the access key is immediately retrieved from the first PLC application 210a and provided to the first HMI application 620a, and the first HMI application 620a is controlled by accessing the second shared memory 630 with the provided access key. After data is recorded, the access key is returned to the memory management unit 640 again.

Accordingly, control data including the emergency stop command can be transferred from the first HMI application 620a to the first PLC application 210a without delay and processed immediately.

In the above-described embodiment, it has been described that the first PLC application 210a is set as the master, but when the first PLC application 210a fails, the second PLC application 210b transfers control right and is set as the master. The operation of the first PLC application 210a may be performed.

Meanwhile, in the above-described embodiment, the first HMI application 620a is described as being one, but the first HMI application 620a may be duplicated.

Hereinafter, it will be described that the first HMI application 620a is duplicated with reference to FIG. 9.

9 is a diagram illustrating that a first HMI application 620a according to an embodiment of the present invention is duplicated.

As shown in FIG. 9, the PLC control system 200 may further include a fourth core processor 612 and a second HMI application 620b. In FIG. 9, only a configuration having a function added from an existing configuration will be described as the above configuration is added.

The fourth core processor 612 executes the second HMI application. The PLC control system 200 according to the present invention operates by installing both the first and second PLC applications 210a and 210b and the first and second HMI applications 620a and 620b on one hardware (H/W). In order to be able to do so, the core processor is composed of a plurality of core processors 202, 204, 610, and 612.

The first HMI application 620a is set as a master, and the second HMI application 620b duplicated with respect to the first HMI application 620b is set as a slave. In one embodiment, among the first and second HMI applications 620a and 620b, an HMI application that is started first may be set as a master, and an HMI application that is started later may be set as a slave.

The first HMI application set as a master may be given an access key by the memory management unit 640 and access the second shared memory 640 to read or write data. The second HMI application 620b set as a slave operates in a standby state, and monitors whether an error occurs in the first HMI application 210a set as a master. At this time, the second HMI application 620b may monitor whether an error occurs in the first HMI application 620a through intertask communication.

In the above-described embodiment, it has been described that the first HMI application 620a operates as a master, but when a failure occurs in the first HMI application 620a, the second HMI application 620b transfers control rights and is set as the master. , The first HMI application 620a may be set as a slave. The second HMI application 620b set as a master receives an access key from the memory management unit 640 and accesses the second shared memory 640 to read or write data, and the first HMI application set as a slave is in a standby state. And monitors whether an error occurs in the second HMI application 210a.

As described above, since the first HMI application 620a and the second HMI application 620b according to the present invention can share data through the second shared memory 630 even if the master and the slave are switched, separate data synchronization is possible. Since it is not required, it has the effect of reducing the switching overtime.

Meanwhile, as shown in FIG. 10, the PLC control system 200 includes first and second PLC applications 210a and 210b, first and second fieldbus communication modules 230a and 230b, and first and second HMI applications. (620a, 620b) may be full duplexed.

Those skilled in the art to which the present invention pertains will appreciate that the above-described present invention can be implemented in other specific forms without changing the technical spirit or essential features thereof.

Therefore, it should be understood that the embodiments described above are illustrative in all respects and not limiting. The scope of the present invention is indicated by the claims to be described later rather than the detailed description, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention. do.

200: PLC control system 202: first core processor
204: second core processor 210a: first PLC application
210b: second PLC application 220: first shared memory
230a: first fieldbus communication module 233a: first fieldbus communication application
240: slave fieldbus communication module

Claims (15)

A first master fieldbus communication module for receiving collected data from an external device;
It is connected to the first master fieldbus communication module through a communication bus to receive the collected data from the first master fieldbus communication module, and to generate calculation data by calculating the received collected data according to a predetermined control logic. A first core processor on which a master PLC (Programmable Logic Controller) application is executed;
A second core processor in which the master PLC application is configured to be duplicated, operates in a standby state, and executes a slave PLC application that monitors the operation state of the master PLC application;
A first shared memory in which the collected data and the operation data are stored by the master PLC application;
A third core processor on which a master HMI application is installed;
A second shared memory in which the collected data, the operation data, and output data to be output to the input/output card are recorded by the master PLC application; And
Including; a memory management unit that manages an access key for accessing the second shared memory, and gives priority to the access key to the master PLC application,
When an error occurs in the master PLC application, the slave PLC application is transferred to a master and connected to the first shared memory and the first master fieldbus communication module, and the master HMI application is the master PLC application through the second shared memory. A dualized PLC control system based on a multicore processor, characterized in that it shares data and data. The method of claim 1,
The first master fieldbus communication module receives the collected data from a second fieldbus communication module mounted on an input/output card and stores it in a first area of a first internal memory,
The master PLC application is characterized in that it accesses the first area through a first port of the first internal memory to read the collected data, and writes the read collected data to the first area of the first shared memory. A dualized PLC control system based on a multi-core processor. The method of claim 2,
The first master fieldbus communication module further comprises a first slave fieldbus communication module configured by being duplicated,
The first slave fieldbus communication module receives the collected data from the second fieldbus communication module and stores it in a first area of a second internal memory,
When a failure occurs in the first master fieldbus communication module, the master PLC application connects to a second area of the second internal memory through a first port of the second internal memory of the first slave fieldbus communication module, A dualized PLC control system based on a multi-core processor, characterized in that to lead. The method of claim 1,
The master PLC application generates the operation data by calculating the data stored in the first area of the first shared memory according to the control logic, and stores the generated operation data in a second area of the first shared memory. , Among the operation data stored in the second area, output data to be output to the input/output card is read and written to a second area through a second port of the first internal memory of the first master fieldbus communication module,
The first master fieldbus communication module outputs the output data recorded in the second area of the first internal memory to a second fieldbus communication module mounted on the input/output card. Control system. The method of claim 4,
The first master fieldbus communication module further comprises a first slave fieldbus communication module configured by being duplicated,
When a failure occurs in the first master fieldbus communication module, the master PLC application reads the output data from a second area of the first shared memory to open a second port of the second internal memory of the first slave fieldbus communication module. Record in the second area through,
The first slave fieldbus communication module outputs the output data recorded in the second area of the second internal memory to the second fieldbus communication module. The method of claim 1,
The master PLC application and the first master fieldbus communication module are connected through a Peripheral Component Interconnect (PCI) communication bus. The method of claim 1,
The slave PLC application monitors whether or not an error occurs in the master PLC application through intertask communication. delete delete The method of claim 1,
The memory management unit,
When the master HMI application is accessing the second shared memory using the access key, when an access request for the second shared memory is received from the master PLC application, the access key is retrieved from the master HMI application, and the A dualized PLC control system based on a multi-core processor, which is provided to a master PLC application. The method of claim 1,
When the access key is recovered by the memory management unit, the master HMI application stops reading or writing data at a first time point when the access key is recovered, and when the access key is received again from the memory management unit, the first A dualized PLC control system based on a multicore processor, characterized in that reading or writing resumes for data that has been read or written after the point in time. The method of claim 1,
The memory management unit,
When the master PLC application is accessing the second shared memory using the access key and a request for recording control data including an emergency stop command is received from the master HMI application, the master HMI application sends the emergency stop command. A dualized PLC control system based on a multi-core processor, characterized in that the access key is retrieved from a master PLC application so that the included control data can be recorded in the second shared memory and provided to the master HMI application. The method of claim 1,
The master HMI application,
When control data including the emergency stop command is generated, the control data including the emergency stop command is stored in the first queue of a queue processed in a first-in, first-out method,
When the access key is provided from the memory management unit, control data including the emergency stop command stored in the first queue of the queue is recorded in the second shared memory. . The method of claim 1,
Further comprising a fourth core processor operating in a standby state, wherein the master HMI application is installed with a duplicated slave HMI application,
The slave HMI application transfers to the master when an error occurs in the master HMI application, and shares data with the master PLC application through the second shared memory. The method of claim 1,
At least one idle core processor; And
Further comprising a scheduler for managing tasks of the first and second core processors and the idle core processor,
The scheduler is characterized in that when an interrupt to be executed prior to the PLC application occurs in the first or second core processor, the task for executing the interrupt is assigned to the idle core processor so that the PLC application is executed in real time. A dualized PLC control system based on a multi-core processor.

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