Transfer destination control device, control transfer method, and control transfer program

Abstract

A transfer destination control device (20) transfers control of a control object (40) from a transfer source control device (10) that periodically executes arithmetic processing to control the control object (40). In a transfer destination control device (20), an initial synchronization unit (242) acquires, as initial synchronization information, information relating to arithmetic processing of a transfer source control device (10) within a specific period. On the basis of the initial synchronization information, the computation reproduction unit (212) executes computation processing executed by the transition source control device (10) from the next computation cycle of the specific cycle to the transition cycle in which the control is transited. The computation execution unit (211) uses the results of the computation processing executed by the computation reproduction unit (212) to execute the computation processing after the transition cycle, and controls the control object (40).

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a technology of shifting control of a control target. BACKGROUND

[0002] Sometimes, control of production equipment is performed in a manner that a control device that performs periodic operation processing is connected to an input / output device that performs input / output control to / from a control target by using a network. As a specific example, the control target is a sensor or an actuator or the like in the production equipment. The input / output control performed by the input / output device is control of outputting a measurement value from the control target or inputting an operation result of the control device or the like to the control target.

[0003] Sometimes, the control device in operation is replaced with another control device for the purpose of replacement or point inspection or the like. At this time, in order to prevent a decrease in productivity, it is desirable to be able to replace the control device without stopping the production equipment as the control target.

[0004] In order to achieve this, it is sufficient that the state of operation processing of another control device that is a shift destination is shifted to the state of operation processing of the control device in operation that is a shift source while not affecting the control target.

[0005] As a related prior art, there is a recovery technology in a multiple system.

[0006] In Patent Literature 1, a recovery technology of a multiple system that makes the internal states of tasks of an active system and a standby system coincide is described. The active system corresponds to a shift source. The standby system corresponds to a shift destination. In Patent Literature 1, it is described that either of a first unit and a second unit is selected. The first unit is a unit that transfers difference data of the internal state from the active system to the standby system and reflects to the standby system. The second unit is a unit that transfers an input log from the active system to the standby system, and the standby system reenacts (replay) the processing of the active system based on the input log. Thus, in Patent Literature 1, shortening of a multiple system recovery time is achieved.

[0007] Prior Art Documents

[0008] Patent Literature

[0009] Patent Literature 1: Japanese Patent Application Publication No. 2016-206865 SUMMARY

[0010] PROBLEMS TO BE SOLVED BY THE INVENTION

[0011] In the technology of Patent Literature 1, there can be a case where the transfer time of data for state synchronization from an active system to a standby system is always longer than the period of executing a task. The data for state synchronization is differential data or an input log. In this case, the processing of the standby system cannot catch up with the processing of the active system. Therefore, the synchronization of the internal state of the task of the active system and the standby system cannot be completed.

[0012] An object of the present disclosure is to be able to replace a control device without stopping a control object even in a case where the transfer time of data for state synchronization is longer than the period of executing an operation processing.

[0013] Means for solving the problem

[0014] The present disclosure provides a transfer destination control device to which control of a control object is transferred from a transfer source control device that periodically executes an operation processing to control the control object, wherein

[0015] The transfer destination control device includes:

[0016] an initial synchronization section that acquires information related to the operation processing of the transfer source control device in a certain period as initial synchronization information;

[0017] an operation reproduction section that executes the operation processing executed by the transfer source control device from the next operation period of the certain period to a transfer period in which the control is transferred, based on the initial synchronization information acquired by the initial synchronization section; and

[0018] an operation execution section that executes the operation processing after the transfer period using the result of the operation processing executed by the operation reproduction section to control the control object.

[0019] Effects of the invention

[0020] In the present disclosure, the transfer destination control device executes the operation processing executed by the transfer source control device from the next operation period of a certain period to a transfer period in which the control is transferred, based on information related to the operation processing of the transfer source control device in the certain period.

[0021] Thereby, even in a case where the transfer time of data for state synchronization is longer than the period of executing an operation processing, it is possible to synchronize the state of the operation processing of the transfer source control device with the state of the operation processing of the transfer destination control device in a transfer period. As a result, it is possible to replace a control device without stopping a control object. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1is a configuration diagram of the control transfer system 100 of Embodiment 1.

[0023] Figure 2 is a data flow diagram in a state before transfer start of Embodiment 1.

[0024] Figure 3 is a data flow diagram in a state during transfer of Embodiment 1.

[0025] Figure 4 is a data flow diagram in a state during transfer of Embodiment 1.

[0026] Figure 5 is a data flow diagram in a state after transfer completion of Embodiment 1.

[0027] Figure 6 is a hardware configuration diagram of the transfer source control device 10 and the transfer destination control device 20 of Embodiment 1.

[0028] Figure 7 is a hardware configuration diagram of the input / output device 30 of Embodiment 1.

[0029] Figure 8 is a flowchart showing the action of the operation execution section 111 of the transfer source control device 10 of Embodiment 1.

[0030] Figure 9 is a flowchart showing the action of the input / output control section 31 of the input / output device 30 of Embodiment 1.

[0031] Figure 10 is a flowchart showing the action of the transfer execution section 241 of Embodiment 1.

[0032] Figure 11 is a flowchart showing the action of the cycle operation section 21 of Embodiment 1.

[0033] Figure 12 is a flowchart showing the action of the operation reproduction section 212 of Embodiment 1.

[0034] Figure 13 is a flowchart showing the action of the initial synchronization section 242 of Embodiment 1.

[0035] Figure 14 is a flowchart showing the action of the transfer assistance section 14 of Embodiment 1.

[0036] Figure 15 is a flowchart showing the action of the transfer assistance section 34 of Embodiment 1.

[0037] Figure 16 is an explanatory diagram of an example of the state of the operation data section 22 in a state during transfer of Embodiment 1.

[0038] Figure 17 is a configuration diagram of the control transfer system 100 of Embodiment 2.

[0039] Figure 18 is a flowchart showing the action of the transfer execution section 241 of Embodiment 2.

[0040] Figure 19 is a flowchart showing the action of the transfer assistance section 14 of Embodiment 2.

[0041] Figure 20 is a flowchart showing the action of the collation information transfer section 15 of Embodiment 2.

[0042] Figure 21 is a flowchart showing the action of the operation reproduction section 212 of Embodiment 2.

[0043] Figure 22 is a flowchart showing the action of the collation acquisition section 26 of Embodiment 2.

[0044] Figure 23 is a flowchart showing the action of the collation execution section 27 of Embodiment 2.

[0045] Figure 24 is a configuration diagram of the control transfer system 100 of Embodiment 3.

[0046] Figure 25 is a flowchart showing the action of the sequence decision section 29 of Embodiment 3.

[0047] Figure 26 is an explanatory diagram of a specific example of the decision method of the transfer sequence of Embodiment 3.

[0048] Figure 27 is an explanatory diagram of a specific example of the decision method of the transfer sequence of Embodiment 3. DETAILED DESCRIPTION

[0049] Embodiment 1.

[0050] Explanation of Configuration

[0051] Reference Figures 1 to 5 The configuration of the control transfer system 100 of Embodiment 1 will be explained.

[0052] The control transfer system 100 is provided with a transfer source control device 10, a transfer destination control device 20, and an input / output device 30. The transfer source control device 10, the transfer destination control device 20, and the input / output device 30 are connected via a network 91. The input / output device 30 is connected to a control target 40 via a transmission path 92.

[0053] Next, the function of the control transfer system 100 will be described on the basis of the states that the control transfer system 100 has.

[0054] **States that the control transfer system 100 has**

[0055] The control transfer system 100 has three states, a pre-transfer start state, a transfer-in-progress state, and a post-transfer completion state.

[0056] The pre-transfer start state is a state in which the transfer source control device 10 controls the control target 40 in coordination with the input / output device 30 via the network 91. Figure 2 A data flow showing the pre-transfer start state.

[0057] The transfer-in-progress state is a state in which the information that needs to be synchronized in the transfer source control device 10 is synchronized to the transfer destination control device 20, and the control device that coordinates with the input / output device 30 is switched from the transfer source control device 10 to the transfer destination control device 20. In the transfer-in-progress state, the state in which the transfer source control device 10 in the pre-transfer start state controls the control target 40 in coordination with the input / output device 30 via the network 91 continues. At the end of the transfer-in-progress state, the state in which the transfer source control device 10 in the pre-transfer start state controls the control target 40 in coordination with the input / output device 30 via the network 91 continues, and is switched to a state in which the transfer destination control device 20 controls the control target 40 in coordination with the input / output device 30 via the network 91.

[0058] Figure 3 and Figure 4 A data flow showing the transfer-in-progress state.

[0059] The post-transfer completion state is a state in which the transfer destination control device 20 controls the control target 40 in coordination with the input / output device 30 via the network 91. Figure 5 A data flow showing the post-transfer completion state.

[0060] The transfer-in-progress state is classified into an initial synchronization-in-progress state, a reproduction operation-in-progress state, and a switching control-in-progress state.

[0061] The initial synchronization-in-progress state is a state from the start of the process of the transfer execution section 241 described later to the end of the process of the initial synchronization section 242 described later. The reproduction operation-in-progress state is a state from the completion of the initial synchronization-in-progress state to the end of the process of the operation reproduction section 212 described later. The switching control-in-progress state is a state from the completion of the reproduction operation-in-progress state to the end of the process of the transfer execution section 241 described later.

[0062] Functions of the control transfer system 100

[0063] Functions of each of the transfer source control device 10, the transfer destination control device 20, and the input / output device 30 possessed by the control transfer system 100 will be described.

[0064] In each of the devices, in addition to the functional elements described below, an operating system or a management program for managing execution of functions mounted in the device can be included.

[0065] The means of notification or status confirmation between functions within the same device is arbitrary. For example, shared memory or an inter-task communication function provided by an operating system is used to achieve notification or status confirmation between functions within the same device.

[0066] The functions within each of the devices control the execution timing or the core allocation within the processor so that the following conditions 1 and 2 are satisfied. Condition 1 is a condition in which the arithmetic execution unit 111 (or the arithmetic execution unit 211) described below can receive the measurement value information 621 (or the measurement value information 624) once within the arithmetic cycle T_cyc [ms]. Condition 2 is a condition in which the input / output control unit 31 can receive the arithmetic result information 622 (or the arithmetic result information 627) once within the arithmetic cycle T_cyc [ms].

[0067] Functions of the transfer source control device 10

[0068] The transfer source control device 10 has a cycle arithmetic unit 11, an arithmetic data unit 12, a communication control unit 13, and a transfer assistance unit 14 as functional elements.

[0069] The cycle arithmetic unit 11 performs an arithmetic process of one execution unit within the arithmetic cycle T_cyc [ms]. As a specific example, the arithmetic process is a task or a collection of tasks controlled by a cycle processing program or an operating system. In addition, in the case where the arithmetic process is a process that acts in a virtual machine, the cycle arithmetic unit 11 uses the virtual machine.

[0070] Specifically, the cycle arithmetic unit 11 has an arithmetic execution unit 111 that executes an operation using the measurement value information 621 received from the input / output device 30 and the information of the arithmetic data unit 12 as inputs within the cycle of the arithmetic cycle T_cyc [ms], and generates the arithmetic result information 622. The arithmetic execution unit 111 transmits the arithmetic result information 622 to the input / output device 30. In addition, the arithmetic execution unit 111 updates a part of the contents of the arithmetic data unit 12 in the execution of the arithmetic process.

[0071] Further, the measurement value information 621 includes a measurement number of the measurement value and the control data section 32. The operation result information 622 includes an operation result. The operation result information 622 can also include an operation number of the operation data section 12.

[0072] The operation data section 12 manages data required for the operation processing of the periodic operation section 11 and data required for the execution management of the operation processing. In Embodiment 1, the operation data section 12 manages a measurement number, an operation number, a start time stamp, an end time stamp, and internal data using them.

[0073] The measurement number using is a measurement number included in the measurement value information 621 used in the latest operation. The operation number is a number increased by each operation. The start time stamp is a value of the synchronization time counter at the time when the periodic operation processing of the periodic operation section 11 is started or when the wait state is released. The end time stamp is a value of the synchronization time counter at the time when the periodic operation processing of the periodic operation section 11 becomes the wait state. The internal data is data required to be held internally at the time of the operation processing. The internal data also includes the generated operation result.

[0074] The communication control section 13 performs transmission and reception of information with functions in other devices. The communication control section 13 buffers information received from the network 91 so that the other functions in the device acquire the information. Further, the communication control section 13 buffers information requested to be transmitted from the other functions in the device and transmits the information to the network 91 at a certain timing.

[0075] Real-time performance is required for communication of the measurement value information 621 and the operation result information 622 and the like. Therefore, the communication control section 13 adjusts the transmission timing with respect to these data so that the real-time performance is secured. For example, a communication method according to the IEEE802.1 TSN standard is adopted, and the communication control section 13 controls so that the transmission and reception of these data are completed within a certain time. TSN is an abbreviation for Time Sensitive Networking.

[0076] The communication control section 13 has a time synchronization function for synchronizing times between devices. This function is realized, for example, based on a high-precision time synchronization method such as IEEE802.1 AS or IEEE1588 which is a part of the IEEE802.1 TSN standard. The result of the time synchronization function is reflected to a synchronization time counter built in the communication control section 13.

[0077] The transfer assistance section 14 assists the transfer execution section 241 and the initial synchronization section 242 in the transfer control section 24 possessed by the transfer destination control device 20.

[0078] The transfer assisting section 14 generates initial synchronization information 626 and transmits it to the initial synchronization section 242 in a case where it receives an initial synchronization request 625 from the initial synchronization section 242. The initial synchronization information 626 is information that needs to be synchronized in the contents of the operation data section 12 at the time of the operation execution of the operation number (also referred to as the start operation number) within a certain period, which is related to the operation execution section 111 of the cycle operation section 11. The initial synchronization information 626 must include the use measurement number, the operation number, the start time stamp, and the end time stamp. Although the initial synchronization information 626 includes internal data, as for the internal data, it can not include unnecessary data in a case where it includes the unnecessary data.

[0079] The transfer assisting section 14 stops the cycle operation section 11 if the condition of the switch timing information 629 is satisfied after it receives the switch timing information 629 from the transfer execution section 241. Thereafter, the transfer assisting section 14 transmits a switch completion 6211 to the transfer execution section 241. The switch timing information 629 is information indicating a condition for switching from the transfer source control device 10 to the transfer destination control device 20. The switch timing information 629 specifies an arbitrary condition based on information in the transfer source control device 10. As a specific example, the condition is "if the value of the synchronization time counter becomes a certain value or more" or "if the operation number within the operation data section 12 becomes a certain value or more", or the like.

[0080] *Functions of the transfer destination control device 20*

[0081] The transfer destination control device 20 has a cycle operation section 21, an operation data section 22, a communication control section 23, a transfer control section 24, and a reproduction data section 25 as functional structural elements.

[0082] The operation data section 22 and the communication control section 23 are the same as the operation data section 12 and the communication control section 13 of the transfer source control device 10.

[0083] The cycle operation section 21 has an operation execution section 211 and an operation reproduction section 212. The operation execution section 211 is the same as the operation execution section 111 of the cycle operation section 11 of the transfer source control device 10.

[0084] The operation reproduction section 212 executes a reproduction operation that causes the operation executed by the operation execution section 111 of the cycle operation section 11 to be reproduced, based on the contents of the operation data section 22 and the reproduction data section 25 after the process of the initial synchronization section 242 ends. Thereby, the operation reproduction section 212 causes the information that needs to be synchronized in the operation data section 22 to be synchronized with the information of the operation data section 12.

[0085] The operation reproduction section 212 transmits a measurement value information request 623 to the transfer assistance section 34, and saves the measurement value information buffer in the reproduction data section 25 each time the measurement value information 624 is received.

[0086] The transfer control section 24 is responsible for the control of the transfer. The transfer control section 24 is provided with a transfer execution section 241 and an initial synchronization section 242.

[0087] The transfer execution section 241 is responsible for the overall execution of the transfer. The transfer execution section 241 starts the execution of the initial synchronization section 242 and the periodic operation section 21. The transfer execution section 241 waits until the switch preparation completion 628 is received from the transfer assistance section 34 after the processing of the operation reproduction section 212 ends. The transfer execution section 241 then generates the switch timing information 629 and transmits it to the transfer assistance section 14, and generates the switch timing information 6210 and transmits it to the transfer assistance section 34. The transfer execution section 241 ends the transfer in the case where the switch completion 6211 is received from the transfer assistance section 14 and the switch completion 6212 is received from the transfer assistance section 34.

[0088] The initial synchronization section 242 transmits an initial synchronization request 625 to the transfer assistance section 14 in the case where the operation reproduction section 212 starts the reception of the measurement value information 624 for the first time. The initial synchronization section 242 receives the initial synchronization information 626 as a response to the initial synchronization request 625. The initial synchronization section 242 stores the initial synchronization information 626 in the operation data section 22. Furthermore, the initial synchronization section 242 reflects a part of the initial synchronization information 626 to the start point operation number, the start point start time stamp, and the start point end time stamp managed by the reproduction data section 25.

[0089] The reproduction data section 25 manages information necessary for the reproduction of the operation executed by the operation execution section 111. In Embodiment 1, the reproduction data section 25 manages the measurement value information buffer, the start point operation number, the start point start time stamp, the start point end time stamp, and the estimated transfer source operation number.

[0090] The measurement value information buffer is set to the measurement value information received by the operation reproduction section 212. The start point operation number is set to the operation number in the initial synchronization information 626 received by the initial synchronization section 242. The start point start time stamp is set to the start time stamp in the initial synchronization information 626 received by the initial synchronization section 242. The start point end time stamp is set to the end time stamp in the initial synchronization information 626 received by the initial synchronization section 242. The estimated transfer source operation number is set to the operation number of the operation data section 12 set in the current operation cycle estimated by the operation reproduction section 212.

[0091] Functions of the input / output device 30

[0092] The input / output device 30 has an input / output control section 31, a control data section 32, a communication control section 33, and a transfer assistance section 34 as functional structural elements.

[0093] The communication control section 33 is the same as the communication control section 13 of the transfer source control device 10.

[0094] The input / output control section 31 updates the contents of the control data section 32 based on the measurement value 601. The input / output control section 31 generates the measurement value information 621 or the measurement value information 624 according to the measurement value 601, and transmits it to the control device of the one of the transfer source control device 10 and the transfer destination control device 20 that is designated as the communication destination.

[0095] The input / output control section 31 extracts the operation result 602 from the operation result information 622 or the operation result information 627 received from the control device designated as the communication destination, and outputs it to the control object 40. In addition, in a state where both the operation result information 622 and the operation result information 627 can be received, either one can be used. Further, the control device that becomes the communication destination is set from the outside. In Embodiment 1, the control device that becomes the communication destination is set by the transfer assistance section 34.

[0096] The control data section 32 manages data required for the input / output control processing of the input / output control section 31 and data required for the execution management of the input / output control processing. In Embodiment 1, the control data section 32 manages at least the measurement number. The control data section 32 can also manage other required internal data.

[0097] The measurement number is a number that is incremented each time the measurement value 601 is input.

[0098] The transfer assistance section 34 assists the operation of the transfer execution section 241.

[0099] The transfer assistance section 34 sets the transfer destination control device 20 as the communication destination of the input / output control section 31 in a case where the measurement value information request 623 is received from the operation reproduction section 212.

[0100] The transfer assistance section 34 transmits the switch preparation completion 628 to the transfer execution section 241 in a case where the input / output control section 31 has started the reception of the operation result information 627.

[0101] The transfer assistance section 34 deletes the transfer source control device 10 from the communication destination of the input / output control section 31 after receiving the switch timing information 6210 from the transfer execution section 241 if the condition of the switch timing information 6210 is satisfied. Then, the transfer assistance section 34 transmits the switch completion 6212 to the transfer execution section 241.

[0102] Here, the switching timing information 6210 is information indicating a condition for switching from the transfer source control device 10 to the transfer destination control device 20. The switching timing information 6210 specifies an arbitrary condition based on information within the input device 3. As a specific example, the condition is "if the value of the synchronization time counter becomes a certain value or more" or "if the measurement number within the control data section 32 becomes a certain value or more", and the like.

[0103] Referring to Figure 6 The hardware structure of the transfer source control device 10 and the transfer destination control device 20 of Embodiment 1 will be described.

[0104] The transfer source control device 10 and the transfer destination control device 20 are computers.

[0105] The transfer source control device 10 has hardware such as a processor 101, a memory 102, a storage 103, and a communication interface 104. The processor 101 is connected to the other hardware via signal lines, and controls the other hardware.

[0106] The transfer destination control device 20 has hardware such as a processor 201, a memory 202, a storage 203, and a communication interface 204. The processor 201 is connected to the other hardware via signal lines, and controls the other hardware.

[0107] Referring to Figure 7 The hardware structure of the input / output device 30 of Embodiment 1 will be described.

[0108] The input / output device 30 is a computer.

[0109] The input / output device 30 has hardware such as a processor 301, a memory 302, a storage 303, a communication interface 304, and an input / output interface 305. The processor 301 is connected to the other hardware via signal lines, and controls the other hardware.

[0110] The processors 101, 201, 301 are ICs that perform processing. IC is an abbreviation of Integrated Circuit. As specific examples, the processors 101, 201, 301 are CPUs, DSPs, GPUs. CPU is an abbreviation of Central Processing Unit. DSP is an abbreviation of Digital Signal Processor. GPU is an abbreviation of Graphics Processing Unit.

[0111] The memory 102, 202, 302 is a storage device that temporarily stores data. As a specific example, the memory 102, 202, 302 is SRAM, DRAM. SRAM is an abbreviation for Static Random Access Memory. DRAM is an abbreviation for Dynamic Random Access Memory.

[0112] The storage 103, 203, 303 is a storage device that stores data. As a specific example, the storage 103, 203, 303 is an HDD. HDD is an abbreviation for Hard Disk Drive. In addition, the storage 103, 203, 303 can also be an SD (registered trademark) memory card, a CompactFlash (registered trademark), a NAND flash memory, a floppy disk, an optical disk, a Blu-ray (registered trademark) disk, a DVD, such a removable recording medium. SD is an abbreviation for Secure Digital. DVD is an abbreviation for Digital Versatile Disk.

[0113] The communication interface 104, 204, 304 is an interface for communicating with an external device via the network 91. As a specific example, the communication interface 104, 204, 304 is a port of Ethernet (registered trademark).

[0114] The input-output interface 305 is an interface for inputting and outputting to the outside via the transmission path 92. As a specific example, the input-output interface 305 is a port of USB, HDMI (registered trademark). USB is an abbreviation for Universal Serial Bus. HDMI is an abbreviation for High-Definition Multimedia Interface.

[0115] The functions of the respective functional elements of the transfer source control device 10 are realized by software. In the storage 103, a program that realizes the functions of the respective functional elements of the transfer source control device 10 is stored. The program is read into the memory 102 by the processor 101, and is executed by the processor 101. By this, the functions of the respective functional elements of the transfer source control device 10 are realized.

[0116] Also, the functions of the respective functional elements of the transfer destination control device 20 are realized by software. In the storage 203, a program for realizing the functions of the respective functional elements of the transfer destination control device 20 is stored. The program is read into the memory 202 by the processor 201, and executed by the processor 201. Thus, the functions of the respective functional elements of the transfer destination control device 20 are realized.

[0117] Also, the functions of the respective functional elements of the input / output device 30 are realized by software. In the storage 303, a program for realizing the functions of the respective functional elements of the input / output device 30 is stored. The program is read into the memory 302 by the processor 301, and executed by the processor 301. Thus, the functions of the respective functional elements of the input / output device 30 are realized.

[0118] Further, the functions of the communication control section 13 are realized by the communication interface 104. Also, the functions of the communication control section 23 are realized by the communication interface 204. Also, the functions of the communication control section 33 are realized by the communication interface 304.

[0119] Further, the operation data section 12 manages data using the memory 102. Also, the operation data section 22 and the reproduction data section 25 manage data using the memory 202. Also, the control data section 32 manages data using the memory 302.

[0120] Further, the input / output control section 31 receives input of the measurement value 601 via the input / output interface 305, and outputs the operation result 602.

[0121] **Explanation of the Operation**

[0122] The operation of the control transfer system 100 of Embodiment 1 will be explained.

[0123] The operation procedure of the control transfer system 100 of Embodiment 1 corresponds to the control transfer method of Embodiment 1. Further, the program realizing the operation of the control transfer system 100 of Embodiment 1 corresponds to the control transfer program of Embodiment 1.

[0124] As described above, the control transfer system 100 has three states, the state before the start of transfer, the state during transfer, and the state after the completion of transfer. Here, the operation will be explained by dividing into the state before the start of transfer, the state during transfer, and the state after the completion of transfer.

[0125] **State Before the Start of Transfer**

[0126] Referring to Figure 2 , Figure 8 , and Figure 9 , the operation of the control transfer system 100 in the state before the start of transfer of Embodiment 1 will be explained.

[0127] The state before the start of the transfer is a state in which the transfer source control device 10 controls the control target 40 in cooperation with the input / output device 30 via the network 91. At this time, in the transfer source control device 10, the operation execution section 111 performs operation processing, and controls the control target 40 based on the operation result of the operation processing. At this time, the transfer source control device 10 is set as the communication destination of the input / output control section 31.

[0128] Referring to Figure 2 and Figure 8 , the operation of the operation execution section 111 of the transfer source control device 10 of Embodiment 1 will be described.

[0129] In step Sll, the operation execution section 111 acquires the value of the synchronization time counter of the communication control section 13, and saves the start time stamp in the operation data section 12.

[0130] In step S12, the operation execution section 111 acquires the measurement value information 621 received by the communication control section 13.

[0131] In step S13, the operation execution section 111 performs operation processing based on the measurement value information 621 acquired in step S12 and the contents of the internal data of the operation data section 12, updates the use measurement number, the operation number, and the internal data managed by the operation data section 12, and generates operation result information 622.

[0132] In step S14, the operation execution section 111 notifies the communication control section 13 of the request for transmission of the operation result information 622 generated in step S13 to the input / output control section 31.

[0133] In step S15, the operation execution section 111 acquires the value of the synchronization time counter of the communication control section 13, and saves the end time stamp in the operation data section 12. Then, the operation execution section 111 waits until the next execution timing. Here, the next execution timing refers to the timing at which the operation period T_cyc [ms] has elapsed from the start of this time. The method of waiting is arbitrary, and for example, the start time stamp or the end time stamp is considered, the waiting time until the next start is calculated, and the time is waited for.

[0134] Referring to Figure 2 and Figure 9 , the operation of the input / output control section 31 of the input / output device 30 of Embodiment 1 will be described.

[0135] In step S21, the input / output control section 31 receives the input of the measurement value 601 from the control target 40 via the input / output interface 304.

[0136] In step S22, the input / output control section 31 updates the measurement number managed by the control data section 32, and generates the measurement value information 621. Then, the input / output control section 31 notifies the communication control section 33 of a transmission request for transmitting the measurement value information 621 to the control device, i.e., the transfer source control device 10, designated as the communication destination.

[0137] In step S23, the input / output control section 31 acquires the operation result information 622 received from the control device, i.e., the transfer source control device 10, designated as the communication destination, from the communication control section 33.

[0138] In step S24, the input / output control section 31 extracts the operation result 602 from the operation result information 622 acquired in step S23. Then, the input / output control section 31 outputs the operation result 602 to the control target 40 via the input / output interface 304.

[0139] In step S25, the input / output control section 31 waits until the next execution timing.

[0140] **Transfer-in-progress state**

[0141] Reference Figure 3 and Figure 4 , and Figures 10 to 15 , the operation of the control transfer system 100 in the transfer-in-progress state of Embodiment 1 will be described.

[0142] The transfer-in-progress state is a state in which the information requiring synchronization in the transfer source control device 10 is synchronized to the transfer destination control device 20, and the control device that performs the coordinated action with the input / output device 30 is switched from the transfer source control device 10 to the transfer destination control device 20. In the transfer-in-progress state, the state in which the transfer source control device 10 in the pre-transfer state controls the control target 40 in cooperation with the input / output device 30 via the network 91 continues. At the end of the transfer-in-progress state, the state in which the transfer source control device 10 in the pre-transfer state controls the control target 40 in cooperation with the input / output device 30 via the network 91 continues, and is switched to a state in which the transfer destination control device 20 controls the control target 40 in cooperation with the input / output device 30 via the network 91.

[0143] The transfer-in-progress state is classified into an initial synchronization-in-progress state, a reproduction operation-in-progress state, and a switching control-in-progress state. Here, the operation will be described in the initial synchronization-in-progress state, the reproduction operation-in-progress state, and the switching control-in-progress state.

[0144] *Initial synchronization-in-progress state*

[0145] The initial synchronization state is a state from the start of the process of the transfer execution section 241 to the end of the process of the initial synchronization section 242.

[0146] When the start of the control transfer is started, the operation flow of the transfer execution section 241 of the transfer destination control device 20 is started (refer to Figure 10 ). Also, the operation flow of the transfer assistance section 14 of the transfer source control device 10 is started (refer to Figure 14 ). Also, the operation flow of the transfer assistance section 34 of the input / output device 30 is started (refer to Figure 15 ).

[0147] The operation of the transfer execution section 241 of Embodiment 1 is described with reference to Figure 10

[0148] In step S31, the transfer execution section 241 instructs execution of the operation flow of the cycle calculation section 21 (refer to Figure 11 ) and the operation flow of the initial synchronization section 242 (refer to Figure 13 ). Note that the operation flow of the cycle calculation section 21 and the operation flow of the initial synchronization section 242 are executed in parallel. For example, the operation flow of the cycle calculation section 21 and the operation flow of the initial synchronization section 242 are executed in different tasks.

[0149] In step S32, the transfer execution section 241 waits until the process of the operation reproduction section 212 of the cycle calculation section 21 is completed. This waiting state is released in the switching control state. Therefore, the process after step S33 is described later.

[0150] The operation of the cycle calculation section 21 of Embodiment 1 is described with reference to Figure 11

[0151] In step S41, the cycle calculation section 21 instructs execution of the operation flow of the operation reproduction section 212 (refer to Figure 12 ). Step S42 is executed after the operation flow of the operation reproduction section 212 ends, and therefore, the process after step S42 is described later.

[0152] The operation of the operation reproduction section 212 of Embodiment 1 is described with reference to Figure 3 and Figure 12

[0153] ​​​In step S51, the operation reproduction section 212 performs initialization processing necessary for initialization of the cycle operation section 21. Specifically, the operation reproduction section 212 initializes, with respect to the internal data managed by the operation data section 22, a portion that is not a synchronization target of the initial synchronization section 242. Further, the operation reproduction section 212 causes the phase of the start operation cycle T_cyc [ms] to coincide with the phase of the cycle operation section 11 of the shift source control device 10. Further, the operation reproduction section 212 notifies the communication control section 23 of a transmission request of the measurement value information request 623 with respect to the shift assist section 34 of the input / output device 30.

[0154] In step S52, the operation reproduction section 212 acquires the value of the synchronization time counter from the communication control section 23, and saves it in the start time stamp managed by the operation data section 22.

[0155] In step S53, if the communication control section 23 has received the measurement value information 624, the operation reproduction section 212 acquires the measurement value information 624. Then, the operation reproduction section 212 saves the measurement value information 624 in the measurement value information buffer managed by the reproduction data section 25.

[0156] In step S54, if the action flow of the initial synchronization section 242 (refer to Figure 13 ) is completed, the operation reproduction section 212 causes the processing to proceed to step S56. On the other hand, if the action flow of the initial synchronization section 242 (refer to Figure 13 ) is not completed, the operation reproduction section 212 causes the processing to proceed to step S55.

[0157] In step S55, the operation reproduction section 212 acquires the value of the synchronization time counter from the communication control section 23, and saves it in the end time stamp of the operation data section 22. Then, the operation reproduction section 212 waits until the next execution timing of the cycle operation section 21, and thereafter causes the processing to return to step S52.

[0158] When the action flow of the initial synchronization section 242 is completed, the initial synchronization state ends. Therefore, the processing after step S56 is described hereinafter.

[0159] The action of the initial synchronization section 242 of Embodiment 1 is described with reference to Figure 3 and Figure 13 .

[0160] In step S71, the initial synchronization section 242 waits until the operation reproduction section 212 starts the initial reception of the measurement value information 624 in step S53 of Figure 12 .

[0161] In step S72, the initial synchronization section 242 notifies the communication control section 23 of a transmission request of the initial synchronization request 625 to the transfer assistance section 14 of the transfer source control device 10.

[0162] In step S73, the initial synchronization section 242 waits until the communication control section 23 receives the initial synchronization information 626 from the transfer assistance section 14 of the transfer source control device 10.

[0163] In step S74, the initial synchronization section 242 acquires the initial synchronization information 626 from the communication control section 23. Then, the initial synchronization section 242 reflects the information of the initial synchronization information 626 to the operation data section 22 and the reproduction data section 25, and ends the process.

[0164] Here, the initial synchronization information 626 is information that needs synchronization in the contents of the operation data section 12 at the time of operation execution of the operation number (referred to as a start operation number) within a specific period related to the operation execution section 111. Here, the initial synchronization information 626 contains a use measurement number, an operation number, a start time stamp, and an end time stamp. The initial synchronization information 626 can also contain internal data.

[0165] Reference Figure 3 and Figure 14 The operation of the transfer assistance section 14 of Embodiment 1 will be described.

[0166] In step S81, the transfer assistance section 14 waits until the communication control section 13 receives the initial synchronization request 625 from the initial synchronization section 242. The transfer assistance section 14 acquires the initial synchronization request 625 when the communication control section 13 receives the initial synchronization request 625.

[0167] In step S82, the transfer assistance section 14 waits until the operation execution section 111 of the period operation section 11 next becomes a wait state.

[0168] In step S83, the transfer assistance section 14 generates the initial synchronization information 626 with the operation period at the time point when the process is being executed as a specific period. Then, the transfer assistance section 14 notifies the communication control section 13 of a transmission request of the initial synchronization information 626 to the initial synchronization section 242.

[0169] In step S84, the transfer assistance section 14 waits until the communication control section 13 receives the switching timing information 629 from the transfer execution section 241. The transfer assistance section 14 acquires the switching timing information 629 when the communication control section 13 receives the switching timing information 629. In addition, since the reception of the switching timing information 629 is performed in the state of the switching control, the process after step S85 will be described later.

[0170] Reference Figure 3 and Figure 15 The operation of the transfer auxiliary unit 34 in Embodiment 1 will be explained.

[0171] In step S91, the transfer assist unit 34 waits until the communication control unit 33 receives the measurement value information request 623 from the calculation and reproduction unit 212. When the communication control unit 33 receives the measurement value information request 623, the transfer assist unit 34 acquires the measurement value information request 623.

[0172] In step S92, the transfer assist unit 34 adds the transfer destination control device 20 to the communication destination of the input / output control unit 31. As a result, the input / output control unit 31 notifies the unit of the request to send the measurement value information 624 and obtains the calculation result information 627.

[0173] In step S93, the transfer assistance unit 34 waits until the communication control unit 33 begins receiving the calculation result information 627 from the calculation execution unit 211 of the transfer destination control device 20. Furthermore, since the reception of the calculation result information 627 is performed in the switching control state, the processing after step S94 will be described later.

[0174] *Reproduce the state during the operation*

[0175] The state in the reproduction operation is the state from the completion of the initial synchronization state until the end of the processing of the reproduction unit 212.

[0176] when Figure 13 When the operation flow of the initial synchronization unit 242 shown is completed, the initial synchronization state ends. Thus, the processing from... Figure 12 Proceed from step S54 to step S56.

[0177] Reference Figure 3 and Figure 12 The operation of the computation and reproduction unit 212 will be explained.

[0178] In step S56, the computation reproduction unit 212 obtains the value of the synchronization time counter from the communication control unit 23 and stores it in the end timestamp managed by the computation data unit 22. Then, the computation reproduction unit 212 waits until the next execution timer. Here, the next execution timer refers to the time elapsed since this start-up, which is the time elapsed from the start-up time, which is the computation cycle T_cyc[ms].

[0179] In step S57, the computation reproduction unit 212 obtains the value of the synchronization time counter from the communication control unit 23 and saves it in the start timestamp managed by the computation data unit 22.

[0180] In step S58, if the communication control section 23 has received the measurement value information 624, the operation reproduction section 212 acquires the measurement value information 624. Then, the operation reproduction section 212 saves it in the measurement value information buffer managed by the reproduction data section 25.

[0181] In step S59, the operation reproduction section 212 estimates the operation number of the operation execution section 111 of the transfer source control device 10 in the operation cycle at the time point at which the processing is being executed. Then, the operation reproduction section 212 saves the estimated operation number in the estimated transfer source operation number managed by the reproduction data section 25.

[0182] The operation reproduction section 212 estimates the operation number of the operation execution section 111 in accordance with the following procedure.

[0183] First, the operation reproduction section 212 acquires the synchronization time counter from the communication control section 23. The operation reproduction section 212 calculates the elapsed time from the execution of the operation indicated by the start operation number managed by the reproduction data section 25 by the operation execution section 111 in accordance with the difference between the synchronization time counter and the value of the start start time stamp or the start end time stamp managed by the reproduction data section 25. That is, the operation reproduction section 212 calculates the elapsed time from the start or end time of the operation processing in the specific cycle to the time at which the current processing is being executed. The operation cycle in which the current processing is being executed is set to the transfer cycle at that time.

[0184] The operation reproduction section 212 estimates the number of times of execution of the operation processing by the operation execution section 111 from the next operation cycle of the specific cycle to the operation cycle in which the current processing is being executed in accordance with the calculated elapsed time and the operation cycle T_cyc [ms]. The operation reproduction section 212 estimates the operation number of the operation execution section 111 in the operation cycle in which the processing is being executed as the value obtained by adding the number of times of execution to the start operation number managed by the reproduction data section 25.

[0185] In addition, if a value has been set to the estimated transfer source operation number, the estimation of the operation number is executed every 1 operation cycle T_cyc [ms] thereafter. Thus, the operation reproduction section 212 can also estimate the operation number of the operation execution section 111 in the operation cycle in which the processing is being executed as the value obtained by adding 1 to the value of the current estimated transfer source operation number instead of the above-described processing.

[0186] In step S60, the operation reproduction part 212 determines whether the value of the operation number managed by the operation data part 22 is smaller than the value of the estimated transfer source operation number managed by the reproduction data part 25. The operation reproduction part 212 causes the process to proceed to step S61 in the case where the value of the operation number is smaller than the value of the estimated transfer source operation number. On the other hand, the operation reproduction part 212 causes the process to proceed to step S64 in the case where the value of the operation number is not smaller than the value of the estimated transfer source operation number. In step S64, the operation reproduction part 212 acquires the value of the synchronization time counter and saves it in the end time stamp managed by the operation data part 22, and ends the process.

[0187] In step S61, the operation reproduction part 212 causes the process to proceed to step S62 in the case where the process of step S62 and step S63 is not executed C_max times within the operation period T_cyc [ms]. On the other hand, the operation reproduction part 212 causes the process to return to step S56 in the case where the process is executed C_max times.

[0188] Here, in the case where the maximum value of the total of the process times of step S60 to step S63 and the margin time is set to d [ms], the limit number C_max is a natural number decided within the range satisfying d [ms] * C_max <= D_max. D_max [ms] is the maximum time until the next execution timing of the operation process, within which the process of the cycle operation part 21 can be executed preferentially to other processes, and is ensured to be at least C_max >= 2.

[0189] In step S62, the operation reproduction part 212 acquires the measurement value information managed by the reproduction data part 25, which includes the same number as the value obtained by adding 1 to the use measurement number managed by the operation data part 22.

[0190] In step S63, the operation reproduction part 212 executes the reproduction operation based on the measurement value information acquired in step S62 and the contents of the internal data managed by the operation data part 22. The reproduction operation is an operation that reproduces the operation process of the operation execution part 111. The operation reproduction part 212 generates the operation result of the reproduction operation and updates the use measurement number, the operation number, and the contents of the internal data managed by the operation data part 22.

[0191] *Switching control in progress state*

[0192] The switching control in progress state is a state from the completion of the reproduction operation in progress state to the end of the process of the transfer execution part 241.

[0193] When Figure 12 The operation of the operation reproduction part 212 shown in the flowchart ends, and the process of the operation execution part 111 shown in the flowchart of Fig. 6 starts. Figure 11the process of step S42. Further, Figure 10 the waiting state of step S32 is released, and the process of step S33 is started.

[0194] The operation of the transfer execution section 241 will be described with reference to Figure 4 and Figure 11 The operation of the cycle operation section 21 will be described.

[0195] In step S42, the cycle operation section 21 waits until the next execution timing, and thereafter, the process proceeds to step S43.

[0196] In step S43, the cycle operation section 21 causes the operation execution section 211 to start the operation process. Thereby, the operation result information 627 is started to be transmitted from the operation execution section 211 to the input / output device 30. Then, the control target 40 can be controlled using the result of the operation process performed by the operation execution section 211. That is, after the transfer period finally set in step S59 of the transfer source control device 10, the control target 40 can be controlled using the result of the operation process performed by the operation execution section 211. Figure 12

[0197] In addition, the operation flow and the description of the operation execution section 211 are basically the same as those of the operation execution section 111 shown in Figure 8 However, the sentences in the description need to be replaced from the sentences directed to the transfer source control device 10 to the sentences directed to the transfer destination control device 20.

[0198] The operation of the transfer execution section 241 will be described with reference to Figure 4 and Figure 10 The operation of the transfer execution section 241 will be described with reference to

[0199] In step S33, the transfer execution section 241 waits until the communication control section 23 receives the switch preparation completion 628 from the transfer assistance section 34. The transfer execution section 241 acquires the switch preparation completion 628 in the case where the communication control section 23 receives the switch preparation completion 628.

[0200] In step S34, the transfer execution section 241 generates the switch timing information 629 and the switch timing information 6210. Then, the transfer execution section 241 notifies the communication control section 23 of the transmission request of the switch timing information 629 directed to the transfer assistance section 14 and the transmission request of the switch timing information 6210 directed to the transfer assistance section 34.

[0201] ​In step S35, the transfer execution part 241 waits until the communication control part 23 receives the switch completion 6211 from the transfer assist part 14 and the communication control part 23 receives the switch completion 6212 from the transfer assist part 34. The transfer execution part 241 acquires the switch completion 6211 and the switch completion 6212 and ends in a case where the communication control part 23 receives the switch completion 6211 and the switch completion 6212.

[0202] The operation of the transfer assist part 14 will be described with reference to Figure 4 and Figure 14 The operation of the transfer assist part 14 will be described with reference to

[0203] In step S84, the transfer assist part 14 completes the waiting by the sending of the switch timing information 629 in step S34. Then, the transfer assist part 14 causes the process to proceed to step S85.

[0204] In step S85, the transfer assist part 14 waits until the condition of the switch timing information 629 is satisfied.

[0205] In step S86, the transfer assist part 14 stops the operation of the cycle operation part 11.

[0206] In step S87, the transfer assist part 14 notifies the communication control part 13 of a request for sending of the switch completion 6211 to the transfer execution part 241.

[0207] The operation of the transfer assist part 34 will be described with reference to Figure 4 and Figure 15 The operation of the transfer assist part 34 will be described with reference to

[0208] In step S93, the transfer assist part 34 completes the waiting by the start of the reception of the operation result information 627 by the operation execution part 211 starting the operation processing in step S43 of Figure 11 Then, the transfer assist part 34 causes the process to proceed to step S94.

[0209] In step S94, the transfer assist part 34 notifies the communication control part 33 of a request for sending of the switch preparation completion 628 to the transfer execution part 241.

[0210] In step S95, the transfer assist part 34 waits until the communication control part 33 receives the switch timing information 6210 from the transfer execution part 241. The transfer assist part 34 acquires the switch timing information 6210 in a case where the communication control part 33 receives the switch timing information 6210.

[0211] In step S96, the transfer assist part 34 waits until the condition of the switch timing information 6210 is satisfied.

[0212] In step S97, the transfer assisting section 34 deletes the transfer source control device 10 from the communication destination of the input / output control section 31. Thereby, the input / output control section 31 no longer performs the notification of the transmission request of the measurement value information 621 and the acquisition of the operation result information 622.

[0213] In step S98, the transfer assisting section 34 notifies the communication control section 33 of the transmission request of the switching completion 6212 to the transfer execution section 241.

[0214] **Post-transfer completion state**

[0215] The post-transfer completion state is a state in which the transfer destination control device 20 performs control of the control target 40 in coordination with the input / output device 30 via the network 91. At this time, in the transfer destination control device 20, the operation execution section 211 performs operation processing, and controls the control target 40 based on the operation result of the operation processing. At this time, by the processing of the transfer-in state described above, the transfer destination control device 20 is set as the communication destination of the input / output control section 31.

[0216] The operation of the control transfer system 100 in the post-transfer completion state is the same as that in the pre-transfer start state except that the control target 40 is controlled by the transfer destination control device 20 instead of the transfer source control device 10. That is, as shown in Figure 5 , in the post-transfer completion state, operation processing is performed by the operation execution section 211 instead of the operation execution section 111, and the measurement value information 624 and the operation result information 627 are transmitted and received between the operation execution section 211 and the input / output control section 31.

[0217] *Example of state of operation data section 22 in post-transfer completion state*

[0218] Referring to Figure 16 , an example of the state of the operation data section 22 in the post-transfer completion state of Embodiment 1 will be described.

[0219] In the example of Figure 16 , the reproduction operation is performed with the start operation number = N and C_max = 3. That is, in step S83 of Figure 14 , the transfer assisting section 14 generates the operation number N within the specific period of the initial synchronization information 626.

[0220] Before the completion of the initial synchronization-in state, the initial synchronization section 242 acquires the initial synchronization information 626 from the transfer source control device 10, the initial synchronization information 626 including information to be synchronized until the operation execution section 111 completes the operation processing of the start operation number N managed by the operation data section 12. Then, the initial synchronization section 242 synchronizes and reflects the operation data section 22 into the reproduction data section 25. InFigure 16 In the initial synchronization, the time point of the operation number N+10 at which the state is completed, the synchronization of the information that needs synchronization is completed until the operation processing of the operation number N at the start point is completed. That is, a situation in which the transfer time of the information that needs synchronization is greater than the operation cycle T_cyc [ms] is indicated.

[0221] Further, before the completion of the state in the initial synchronization, the operation reproduction part 212 sets the measurement value information 624 obtained from the input / output device 30 in the measurement value information buffer managed by the reproduction data part 25.

[0222] In the reproduction operation state, the operation reproduction part 212 performs the reproduction operation of the operation execution part 111 of the transfer source control device 10 based on the information managed by the operation data part 22 and the reproduction data part 25, and the value of the synchronization time counter. At this time, the operation reproduction part 212 does not need to transfer the information that needs synchronization from the transfer source control device 10.

[0223] In Figure 16 In the initial synchronization, the time point of the operation number N+10 at which the state is completed, the synchronization of the information that needs synchronization is completed until the operation processing of the operation number N at the start point is completed. That is, a situation in which the transfer time of the information that needs synchronization is greater than the operation cycle T_cyc [ms] is indicated.

[0224] First, the operation reproduction part 212 sets the estimated transfer source operation number to N+11 in step S59 of the initial synchronization. Then, since C_max = 3, the operation reproduction part 212 performs the operation processing three times of N+1, N+2, and N+3. Even if the operation processing is performed three times, the operation number "N+3" of the operation processing performed by the operation reproduction part 212 is smaller than the estimated transfer source operation number "N+11". Therefore, in step S61 of the initial synchronization, the processing returns to step S56. Figure 12 Figure 12

[0225] Then, in the next operation cycle, the operation reproduction part 212 sets the estimated transfer source operation number to N+12 in step S59 of the initial synchronization. Then, since C_max = 3, the operation reproduction part 212 performs the operation processing three times of N+4, N+5, and N+6. Even if the operation processing is performed three times, the operation number "N+6" of the operation processing performed by the operation reproduction part 212 is smaller than the estimated transfer source operation number "N+12". Therefore, in step S61 of the initial synchronization, the processing returns to step S56. Figure 12 Figure 12

[0226] In the operation cycle after the same processing is repeated several times, the operation reproduction part 212 sets the estimated transfer source operation number to N+13 in step S59 of the initial synchronization. Then, since C_max = 3, the operation reproduction part 212 performs the operation processing three times of N+7, N+8, and N+9. Even if the operation processing is performed three times, the operation number "N+9" of the operation processing performed by the operation reproduction part 212 is smaller than the estimated transfer source operation number "N+13". Therefore, in step S61 of the initial synchronization, the processing returns to step S56. Figure 12 ​​​​the estimated transfer source operation number "N+15". Therefore, synchronization of data is completed between the operation data section 12 of the transfer source control device 10 and the operation data section 22 of the transfer destination control device 20.

[0227] Thus, even in a case where the transfer time of the information requiring synchronization is longer than the operation cycle T_cyc [ms], the operation data section 22 can be synchronized with the operation data section 12.

[0228] In the state in the switching control, the execution of the operation execution section 211 is started, and the same operation result as that of the operation execution section 111 is generated. Therefore, in the operation cycle after the operation number N+16, the operation data section 22 also becomes in the state of synchronization with the operation data section 12. In this state, by the cooperative action of the transfer control section 24, the transfer assisting section 14, and the transfer assisting section 34, switching from the transfer source control device 10 to the transfer destination control device 20 is performed, and the transfer is completed.

[0229] By the above processing, the state of the operation processing of the transfer source control device 10 can be synchronized with the state of the transfer destination control device 20 while not causing an influence on the production equipment as the control target 40, and the transfer can be completed.

[0230] ***Effects of Embodiment 1***

[0231] As described above, in the control transfer system 100 of Embodiment 1, by the initial synchronization section 242, the information requiring synchronization of the transfer source control device 10 in a certain period is synchronized to the transfer destination control device 20. Thereafter, the operation reproduction section 212 does not need to transfer the contents requiring synchronization of the transfer source control device 10, and performs the reproduction operation based on the operation processing of the operation execution section 111, and becomes in the state of synchronization of the transfer destination control device 20 with the transfer source control device 10.

[0232] Thus, even in a case where the transfer time of the information requiring synchronization is longer than the operation cycle T_cyc [ms], the operation data section 22 can be synchronized with the operation data section 12. As a result, the state of the operation processing of the transfer source control device 10 can be synchronized with the state of the transfer destination control device 20 while not causing an influence on the production equipment as the control target 40, and the transfer can be completed.

[0233] ***Other Structures***

[0234] <Variant 1>

[0235] In Embodiment 1, each functional structural element is realized by software. However, as a modification example 1, each functional structural element can be realized by hardware. For this modification example 1, the difference from Embodiment 1 is explained.

[0236] In a case where each functional structural element is realized by hardware, the transfer source control device 10 is provided with an electronic circuit in place of the processor 101, the memory 102, and the storage 103. The electronic circuit is a dedicated circuit that realizes the functions of each functional structural element, the memory 102, and the storage 103.

[0237] In a case where each functional structural element is realized by hardware, the transfer destination control device 20 is provided with an electronic circuit in place of the processor 201, the memory 202, and the storage 203. The electronic circuit is a dedicated circuit that realizes the functions of each functional structural element, the memory 202, and the storage 203.

[0238] In a case where each functional structural element is realized by hardware, the input and output device 30 is provided with an electronic circuit in place of the processor 301, the memory 302, and the storage 303. The electronic circuit is a dedicated circuit that realizes the functions of each functional structural element, the memory 302, and the storage 303.

[0239] As the electronic circuit, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA, an ASIC, and a FPGA are assumed. The GA is an abbreviation for Gate Array. The ASIC is an abbreviation for Application Specific Integrated Circuit. The FPGA is an abbreviation for Field-Programmable Gate Array.

[0240] Each functional structural element can be realized by one electronic circuit, or each functional structural element can be realized by being distributed to a plurality of electronic circuits.

[0241] <Modification Example 2>

[0242] As the modification example 2, each functional structural element can be realized by hardware, and the other each functional structural element can be realized by software.

[0243] The processor 51, the memory 52, the storage 53, and the electronic circuit are referred to as a processing circuit. That is, the functions of each functional structural element are realized by the processing circuit.

[0244] Embodiment 2.

[0245] The difference between Embodiment 2 and Embodiment 1 is that the content of the computational data unit 22 updated by the reproduction operation of the computation reproduction unit 212 is compared with the content of the computational data unit 12 updated by the computational processing of the computation execution unit 111. In Embodiment 2, this difference will be explained, and the similarities will be omitted.

[0246] ***Structure Description***

[0247] Reference Figure 17 The structure of the control transfer system 100 in Embodiment 2 will be described.

[0248] The functions of each device in the control transfer system 100, including the transfer source control device 10, the transfer destination control device 20, and the input / output device 30, will be explained.

[0249] *Functions of the transfer source control device 10*

[0250] The transfer source control device 10 has a comparison information transmission unit 15 as a functional structural element, which is similar to... Figure 1 The transfer source control device 10 shown is different.

[0251] In addition to the functions described in Embodiment 1, the transfer assistance unit 14 also has the function of starting the execution of the comparison information transfer unit 15.

[0252] The information transfer unit 15 transfers the source comparison information 6213 to the destination control device 20. The source comparison information 6213 is information managed by the calculation data unit 12 that should be compared with the processing result during each calculation. For example, the source comparison information 6213 is part of internal data such as the measurement number, calculation number, and calculation result.

[0253] *Functions of the Destination Transfer Control Device 20*

[0254] The destination transfer control device 20 includes a comparison acquisition unit 26, a comparison execution unit 27, and a comparison data unit 28 as functional structural elements, which is consistent with... Figure 1 The destination transfer control device 20 shown is different.

[0255] In addition to the functions described in Embodiment 1, the computational reproduction unit 212 also has the function of generating reproduction comparison information and storing it in the reproduction comparison information buffer of the comparison data unit 28. The reproduction comparison information is configured in the same way as the transfer source comparison information 6213.

[0256] The comparison acquisition unit 26 acquires the transfer source comparison information 6213 transferred from the comparison information transfer unit 15 and stores it in the transfer source comparison information buffer of the comparison data unit 28.

[0257] The collation execution section 27 collates the information of the transfer source collation information buffer in the collation data section 28 with the information of the reproduction collation information buffer, and determines whether they are identical. The collation execution section 27 performs arbitrary error processing in the case where they are not identical, thereby improving reliability. For example, the collation execution section 27 performs retry processing or transfer interruption processing. The collation execution section 27 transmits a collation completion 6214 to the collation information transfer section 15 in the case where they are identical. Note that the collation completion 6214 is not transmitted every time it is confirmed that they are identical, but is transmitted after the collation of all data is completed.

[0258] The collation data section 28 manages information for collation. Specifically, the collation data section 28 manages the transfer source collation information 6213 acquired by the collation acquisition section 26 using the transfer source collation information buffer. Further, the collation data section 28 manages the reproduction collation information generated by the operation reproduction section 212 using the reproduction collation information buffer.

[0259] The transfer execution section 241 has a function of starting the execution of the collation execution section 27 and the collation acquisition section 26, and a function of waiting for the completion of the execution of the collation execution section 27.

[0260] *Explanation of the Action*

[0261] The action of the control transfer system 100 according to Embodiment 2 will be described.

[0262] The action process of the control transfer system 100 according to Embodiment 2 corresponds to the control transfer method according to Embodiment 2. Further, a program that realizes the action of the control transfer system 100 according to Embodiment 2 corresponds to the control transfer program according to Embodiment 2.

[0263] The action in the transfer-in-progress state among the three states of the transfer-starting state, the transfer-in-progress state, and the transfer-completion state is different from Embodiment 1.

[0264] **Transfer-in-progress State**

[0265] Reference Figures 17 to 23 The action of the control transfer system 100 according to Embodiment 2 in the transfer-in-progress state will be described.

[0266] When the control transfer is started, the action flow of the transfer execution section 241 of the transfer destination control device 20 is started (refer to Figure 18 ). Also, the action flow of the transfer assistance section 14 of the transfer source control device 10 is started (refer to Figure 19 ). Also, the action flow of the transfer assistance section 34 of the input / output device 30 is started (refer to Figure 15 ).

[0267] Referring to Figure 18 The operation of the transfer execution section 241 of Embodiment 2 will be described.

[0268] The processes of steps S103 to S105 are the same as those of steps S33 to S35 of Embodiment 1. Figure 10

[0269] In step S101, the transfer execution section 241 starts the execution of the operation flow of the period operation section 21 and the operation flow of the initial synchronization section 242, in addition to the operation flow of the collation acquisition section 26 (refer to Figure 22 ) and the operation flow of the collation execution section 27 (refer to Figure 23 ). The operation flow of the period operation section 21, the operation flow of the initial synchronization section 242, the operation flow of the collation acquisition section 26, and the operation flow of the collation execution section 27 are executed in parallel.

[0270] In step S102, the transfer execution section 241 waits until the processes of the operation reproduction section 212 and the collation execution section 27 are completed.

[0271] Referring to Figure 19 The operation of the transfer assistance section 14 of Embodiment 2 will be described.

[0272] The processes of steps S111 to S112 are the same as those of steps S81 to S82 of Embodiment 1. The processes of steps S114 to S118 are the same as those of steps S83 to S87 of Embodiment 1. Figure 14 Figure 14

[0273] In step S113, the transfer assistance section 14 starts the execution of the operation flow of the collation information transfer section 15 (refer to Figure 20 ). The operation flow of the collation information transfer section 15 is executed in parallel with the other operation flows.

[0274] Referring to Figure 20 The operation of the collation information transfer section 15 of Embodiment 2 will be described.

[0275] In step S121, the collation information transfer section 15, in a case where the period operation section 11 of the period operation section 11 is in a standby state and the transfer source collation information 6213 of the current operation number managed by the operation data section 12 is not generated, causes the process to proceed to step S122. On the other hand, the collation information transfer section 15, in a case other than this, causes the process to return to step S121. In addition, in a case where the current operation number coincides with the operation number included in the initial synchronization information 626, the collation information transfer section 15 can also not cause the process to proceed to step S122 but return to step S121.​​​

[0276] In step S122, the collation information transfer section 15 causes the process to proceed to step S123 in a case where the communication control section 13 has not received the collation completion 6214 from the collation acquisition section 26. On the other hand, the collation information transfer section 15 causes the process to proceed to step S124 in a case where the collation completion 6214 has been received. In step S124, the collation information transfer section 15 acquires the collation completion 6214 from the communication control section 13, and ends the process.

[0277] In step S123, the collation information transfer section 15 generates the transfer source collation information 6213. Then, the collation information transfer section 15 notifies the communication control section 13 of a transmission request of the transfer source collation information 6213 to the collation acquisition section 26.

[0278] In addition, the collation information transfer section 15 needs to perform the process of step S123 for each operation number. Therefore, the execution timing and the core allocation of the processor 101 are controlled so that the operation execution section 111 of the periodic operation section 11 becomes a wait state until the next start, and the process of step S123 can be performed at least once.

[0279] Reference Figure 21 The operation of the operation reproduction section 212 of Embodiment 2 will be described.

[0280] The processes of steps S131 to S144 are the same as those of steps S51 to S64 of Embodiment 1. Figure 12

[0281] In step S145, the operation reproduction section 212 generates reproduction collation information in accordance with the information managed by the operation data section 22, and saves it in the reproduction collation information buffer. Here, the generated reproduction collation information is information corresponding to the operation number of the most recently executed step S143.

[0282] Reference Figure 22 The operation of the collation acquisition section 26 of Embodiment 2 will be described.

[0283] In step S151, the collation acquisition section 26 causes the process to proceed to step S2 in a case where the operation flow of the collation execution section 27 is not completed. On the other hand, the collation acquisition section 26 ends the process in a case where the operation flow of the collation execution section 27 is completed.

[0284] ​In step S152, the collation acquisition section 26 waits until the communication control section 23 receives the transfer source collation information 6213. In a case where the communication control section 23 receives the transfer source collation information 6213, the collation acquisition section 26 acquires the transfer source collation information 6213 and stores it in the transfer source collation information buffer managed by the collation data section 28. In addition, the collation acquisition section 26 can set a limit time for the waiting in advance, and in a case where the transfer source collation information 6213 cannot be acquired within the limit time, the processing is returned to step S151.

[0285] Reference Figure 23 The operation of the collation execution section 27 of Embodiment 2 will be described.

[0286] In step S161, in a case where there is uncollated reproduction collation information in the reproduction collation information buffer managed by the collation data section 28, the collation execution section 27 causes the processing to proceed to step S162. On the other hand, in a case where there is no uncollated reproduction collation information in the reproduction collation information buffer, the collation execution section 27 causes the processing to proceed to step S166. In step S166, the collation execution section 27, in a case where the operation flow of the reproduction section 212 is not completed, causes the processing to return to step S161. On the other hand, the collation execution section 27, in a case where the operation flow of the reproduction section 212 is completed, causes the processing to proceed to step S167. In step S167, the collation execution section 27 notifies the communication control section 23 of a transmission request for the collation completion 6214 to the collation information transfer section 15, and ends the processing.

[0287] In step S162, the collation execution section 27 acquires the uncollated reproduction collation information from the reproduction collation information buffer managed by the collation data section 28.

[0288] In step S163, in a case where there is collation information of the same operation number as the reproduction collation information acquired in step S162 in the transfer source collation information buffer managed by the collation data section 28, the collation execution section 27 causes the processing to proceed to step S164. On the other hand, in a case where there is no transfer source collation information 6213 of the same operation number as the reproduction collation information, the collation execution section 27 causes the processing to return to step S163. In addition, the collation execution section 27 can set a limit time for the continuation of the state in which there is no transfer source collation information 6213 of the same operation number as the reproduction collation information, taking into account a case where the reproduction operation processing generates reproduction collation information including an erroneous operation number, and the like. Then, the collation execution section 27 can perform the same error processing as that of S168 described later, in a case where the state in which there is no transfer source collation information 6213 of the same operation number as the reproduction collation information exceeds the limit time.

[0289] In step S164, the control execution section 27 acquires the transfer source control information 6213 of the same operation number as the reproduction control information from the transfer source control information buffer managed by the control data section 28. Then, the control execution section 27 compares the acquired transfer source control information 6213 with the reproduction control information acquired in step S162.

[0290] In step S165, the control execution section 27 returns the process to step S161 in a case where the acquired transfer source control information 6213 coincides with the reproduction control information acquired in step S162. On the other hand, the control execution section 27 advances the process to step S168 in a case where the acquired transfer source control information 6213 does not coincide with the reproduction control information acquired in step S162.

[0291] In step S168, the control execution section 27 performs arbitrary error processing, and ends the process.

[0292] ***Effects of Embodiment 2***

[0293] As described above, the control transfer system 100 of Embodiment 2 collates the contents of the operation data section 22 updated by the reproduction operation of the reproduction operation section 212 with the contents of the operation data section 12 updated by the operation processing of the operation execution section 111. Thereby, it is possible to improve the reliability of the reproduction operation while obtaining the effects of Embodiment 1.

[0294] Embodiment 3.

[0295] Embodiment 3 differs from Embodiments 1 and 2 in that the transfer order of the operation processing is decided in a case where a plurality of operation processes are executed by the transfer source control device 10. In Embodiment 3, the difference is described, and the description of the same points is omitted.

[0296] In Embodiment 3, a case where a function is added to Embodiment 1 is described. However, it is also possible to add a function to Embodiment 2.

[0297] In the transfer source control device 10, a case is considered where a plurality of operation processes are executed by the same core within the processor 101, and all of the plurality of operation processes are transferred to the transfer destination control device 20 to be executed by the same core within the processor 201. In this case, depending on the transfer order of the control processing transfer, the value of the limit number C_max that can be set by each reproduction operation section 212 is sometimes different. Therefore, depending on the transfer order of the control processing transfer, the processing time of the reproduction operation section 212 is sometimes different. Then, the total time required for the transfer can vary depending on the transfer order.

[0298] In Embodiment 2, if the processing time of the computation reproduction unit 212 can be predicted in advance, the order in which the total time required for the transfer is minimized is predicted, and the transfer is performed in that order.

[0299] ***Structure Description***

[0300] Reference Figure 24 The structure of the control transfer system 100 in Embodiment 3 will be described.

[0301] The control transfer system 100 includes a transfer source control device 10, a transfer destination control device 20, and multiple input / output devices 30. The transfer source control device 10, the transfer destination control device 20, and each input / output device 30 are connected via a network 91. Each input / output device 30 is connected to a corresponding controlled object 40 via a transmission path 92. Each input / output device 30 is controlled independently of the other input / output devices 30.

[0302] exist Figure 24 In this control transfer system 100, there are two input / output devices 30: input / output device 30A and input / output device 30B. Input / output device 30A is connected to the controlled object 40A. Input / output device 30B is connected to the controlled object 40B. Alternatively, the control transfer system 100 may have three or more input / output devices 30.

[0303] The functions of each device in the control transfer system 100, including the transfer source control device 10, the transfer destination control device 20, and the input / output device 30, will be explained.

[0304] *Functions of the transfer source control device 10*

[0305] The transfer source control device 10 is configured to include a periodic calculation unit 11, a calculation data unit 12, and a transfer auxiliary unit 14 for each of the multiple computational processes. Figure 1 The transfer source control device 10 shown is different. The arithmetic processing is set according to each input / output device 30.

[0306] exist Figure 24 In this embodiment, the transfer source control device 10 includes a group A consisting of a periodic calculation unit 11A, a calculation data unit 12A, and a transfer assistance unit 14A for the arithmetic processing A corresponding to the input / output device 30A. Furthermore, the transfer source control device 10 includes a group B consisting of a periodic calculation unit 11B, a calculation data unit 12B, and a transfer assistance unit 14B for the arithmetic processing B corresponding to the input / output device 30B.

[0307] *Functions of the Destination Transfer Control Device 20*

[0308] The transfer destination control device 20 differs from the transfer destination control device 20 shown in Figure 1 .

[0309] Further, the transfer destination control device 20 differs from the transfer destination control device 20 shown in Figure 1 in that the set of the cycle operation section 21, the operation data section 22, the transfer control section 24, and the reproduction data section 25 is provided for each of the plurality of operation processes.

[0310] In Figure 24 , the transfer destination control device 20 has a set A of the cycle operation section 21A, the operation data section 22A, the transfer control section 24A, and the reproduction data section 25A for the operation process A corresponding to the input / output device 30A. Further, the transfer destination control device 20 has a set B of the cycle operation section 21B, the operation data section 22B, the transfer control section 24B, and the reproduction data section 25B for the operation process B corresponding to the input / output device 30B.

[0311] The sequence decision section 29 decides the transfer order of the plurality of operation processes to be the order in which the sum of the times required for the transfers of the respective operation processes becomes the shortest.

[0312] *Functions of the input / output devices 30*

[0313] The functional structure of each of the input / output devices 30 is the same as that of Embodiment 1.

[0314] ***Explanation of the operation***

[0315] The operation of the control transfer system 100 of Embodiment 3 will be described.

[0316] The operation procedure of the control transfer system 100 of Embodiment 3 corresponds to the control transfer method of Embodiment 3. Further, the program that realizes the operation of the control transfer system 100 of Embodiment 3 corresponds to the control transfer program of Embodiment 3.

[0317] The operation in the state before the transfer start among the three states of the state before the transfer start, the state during the transfer, and the state after the transfer completion differs from that of Embodiment 1.

[0318] **State before the transfer start**

[0319] In the state before the transfer start, the operation flow of the sequence decision section 29 is started (refer to Figure 25 ).

[0320] The operation of the sequence decision section 29 of Embodiment 3 will be described with reference to Figure 25 .

[0321] In step S171, the sequence decision section 29 estimates the processing time of each operation reproduction section 212 in each sequence in which a plurality of operation processes are transferred. The sequence decision section 29 calculates the total of the processing times of each operation reproduction section 212 for each sequence. Then, the sequence decision section 29 decides as the transfer sequence the sequence in which the total of the processing times is the shortest. The method of determining the sequence in which the total of the processing times is the shortest is arbitrary, and is realized by, for example, exhaustive search.

[0322] In step S172, the sequence decision section 29 instructs each transfer control section 24 so that the transfer of the operation processes is performed in the transfer sequence decided in step S171.

[0323] In the case of Figure 24 , in step S171, the sequence decision section 29 estimates the processing time of the operation reproduction section 212A and the processing time of the operation reproduction section 212B for each of the sequence of the operation process A, the operation process B and the sequence of the operation process B, the operation process A. Then, the sequence decision section 29 calculates the total of the processing time of the operation reproduction section 212A and the processing time of the operation reproduction section 212B for each of the sequence of the operation process A, the operation process B and the sequence of the operation process B, the operation process A. Then, the sequence decision section 29 decides as the transfer sequence the sequence in which the total of the processing times is shorter.

[0324] Referring to Figure 26 and Figure 27 , the method of deciding the transfer sequence of Embodiment 3 will be described.

[0325] In Figure 26 and Figure 27 , the sequence in which the cycle operation section 11A and the cycle operation section 11B are transferred to the cycle operation section 21A and the cycle operation section 21B, respectively, is decided.

[0326] Here, the operation cycle T_cyc [ms] of the cycle operation section 11A and the cycle operation section 11B are the same. Further, in the operation reproduction section 212A and the operation reproduction section 212B, the start timing is adjusted so that at least the operation cycle C_max >= 2 can be realized. Further, it is assumed that the operation reproduction section 212A and the operation reproduction section 212B are in the operation flow (refer to FIG. 6) until the operation reproduction section 212A and the operation reproduction section 212B are activated. Figure 12The processing time until the "Yes" condition of step S54 is satisfied is fixed regardless of the transfer order. Assuming that the "Yes" condition of step S54 is satisfied, the estimated value of the processing time in units of the operation cycle T_cyc [ms] after the start of the first execution of step S57 is t_a [ms] for the operation reproduction section 212A and t_b [ms] for the operation reproduction section 212B. Further, it is assumed that the processing times of other elements are also fixed regardless of the transfer order.

[0327] Here, the values of t_a + t_b in the following two transfer orders are estimated.

[0328] <Transfer Order 1> In the case where the transfer is performed in the order of the cycle operation section 11A first and the cycle operation section 11B second (refer to Fig. 6) Figure 26

[0329] Assuming that the limit number C_max = 11 can be set in the operation reproduction section 212A of the cycle operation section 21A, the difference between the estimated transfer source operation number at the start of the first reproduction operation and the operation number managed by the operation data section 22A after the first reproduction operation is 480. Further, it is estimated that t_a = 48 ms * T_cyc [ms].

[0330] Assuming that the limit number C_max = 4 can be set in the operation reproduction section 212B of the cycle operation section 21B, the difference between the estimated transfer source operation number at the start of the first reproduction operation and the operation number managed by the operation data section 22B after the first reproduction operation is 30. Further, it is estimated that t_b = 10 ms * T_cyc [ms].

[0331] At this time, t_a + t_b = 58 * T_cyc [ms] is obtained.

[0332] <Transfer Order 2> In the case where the transfer is performed in the order of the cycle operation section 11B first and the cycle operation section 11A second (refer to Fig. 7) Figure 27

[0333] Assuming that the limit number C_max = 6 can be set in the operation reproduction section 212B of the cycle operation section 21B, the difference between the estimated transfer source operation number at the start of the first reproduction operation and the operation number managed by the operation data section 22B after the first reproduction operation is 30. Further, it is estimated that t_a = 6 ms * T_cyc [ms].

[0334] ​​Assuming that C_max = 9 is set in the reproduction operation section 212A of the cycle operation section 21A, the difference between the estimated transfer source operation number at the start of the initial reproduction operation and the operation number managed by the operation data section 22A after the initial reproduction operation is 480, and it is estimated that t_b = 60 ms * T_cyc [ms].

[0335] At this time, t_a + t_b = 66 * T_cyc [ms] is obtained.

[0336] In this case, the value of t_a + t_b of the transfer order 1 is small. Therefore, the order of the cycle operation sections 21A and 22B is determined to be the transfer order.

[0337] ***Effects of Embodiment 3***

[0338] As described above, the control transfer system 100 of Embodiment 3 determines the transfer order of the operation processing in the order in which the processing time becomes shorter in the case where a plurality of operation processes are executed by the transfer source control device 10. Thereby, the effects of Embodiment 1 can be obtained, and the time required for the transfer is shortened.

[0339] In addition, "section" in the above description can be rewritten as "circuit", "step", "process", "processing", or "processing circuit".

[0340] The above describes the embodiments and modified examples of the present disclosure. Several of these embodiments and modified examples can be implemented in combination. Furthermore, any one or several of them can be implemented partially. In addition, the present disclosure is not limited to the above embodiments and modified examples, and various changes can be made as needed.

[0341] Explanation of Reference Signs

[0342] 100 control transfer system, 10 transfer source control device, 11 cycle operation section, 111 operation execution section, 12 operation data section, 13 communication control section, 14 transfer assistance section, 15 collation information transfer section, 20 transfer destination control device, 21 cycle operation section, 211 operation execution section, 212 operation reproduction section, 22 operation data section, 23 communication control section, 24 transfer control section, 241 transfer execution section, 242 initial synchronization section, 25 reproduction data section, 26 collation acquisition section, 27 collation execution section, 28 collation data section, 29 sequence decision section, 30 input / output device, 31 input / output control section, 32 control data section, 33 communication control section, 34 transfer assistance section, 40 control object, 601 measured value, 602 operation result, 621 measured value information, 622 operation result information, 623 measured value information request, 624 measured value information, 625 initial synchronization request, 626 initial synchronization information, 627 operation result information, 628 switching preparation completion, 629 switching timing information, 6210 switching timing information, 6211 switching completion, 6212 switching completion, 6213 transfer source collation information, 6214 collation completion, 91 network, 92 transmission path.

Claims

1. A transfer destination control device to which control of a control target is transferred from a transfer source control device that periodically executes an arithmetic process to control the control target, wherein the transfer destination control device comprises: an initial synchronization section that acquires information related to the arithmetic process of the transfer source control device in a certain period as initial synchronization information; an arithmetic reproduction section that executes the arithmetic process executed by the transfer source control device from a next arithmetic period of the certain period to a transfer period to which the control is transferred, based on the initial synchronization information acquired by the initial synchronization section; and an arithmetic execution section that executes the arithmetic process after the transfer period using a result of the arithmetic process executed by the arithmetic reproduction section to control the control target.

2. The transfer destination control device according to claim 1, wherein the arithmetic reproduction section estimates an execution number of the arithmetic process executed or to be executed in the transfer source control device from the next arithmetic period of the certain period to the transfer period based on an elapsed time from the certain period to the transfer period and a time required for one period of the arithmetic process in the transfer source control device, and executes the arithmetic process the execution number of times.

3. The transfer destination control device according to claim 2, wherein the arithmetic reproduction section sets an arithmetic period in which processing is being executed to the transfer period, and in a case where the arithmetic process of the execution number of times is not completed before the arithmetic process of the next arithmetic period in the transfer source control device is started, the arithmetic period in which processing is being executed is set to the transfer period again, and the execution number of times is incremented by one.

4. The transfer destination control device according to any one of claims 1 to 3, wherein the transfer destination control device further comprises: a collation acquisition section that acquires collation information from the transfer source control device, the collation information being information for collating a processing result among the information related to the arithmetic process executed by the transfer source control device from the next arithmetic period of the certain period to the transfer period; and a collation execution section that collates the collation information acquired by the collation acquisition section with a result of the arithmetic process executed by the arithmetic reproduction section.

5. The transfer destination control device according to any one of claims 1 to 4, wherein the transfer source control device periodically executes a plurality of arithmetic processes to control the control target, the transfer destination control device further comprises: a sequence decision section that decides a transfer sequence in which the plurality of arithmetic processes are transferred to be a sequence in which a total of times required for the transfer of each arithmetic process becomes the shortest; and a transfer control section that controls the initial synchronization section, the arithmetic reproduction section, and the arithmetic execution section so that the plurality of arithmetic processes are transferred one by one in the transfer sequence decided by the sequence decision section. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 6. A control transfer method of transferring control of a control target from a transfer source control device to a transfer destination control device, the transfer source control device periodically executing an operation process to control the control target, wherein the transfer destination control device acquires information related to the operation process of the transfer source control device in a certain period as initial synchronization information, the transfer destination control device executes the operation process executed by the transfer source control device from a next period of the certain period to a transfer period in which control is transferred based on the initial synchronization information, and the transfer destination control device controls the control target using a result of the operation process executed based on the initial synchronization information for the operation process after the transfer period.

7. A control transfer program of transferring control of a control target from a transfer source control device to a transfer destination control device, the transfer source control device periodically executing an operation process to control the control target, wherein the control transfer program causes a computer to execute: initial synchronization processing of acquiring information related to the operation process of the transfer source control device in a certain period as initial synchronization information; operation reproduction processing of executing the operation process executed by the transfer source control device from a next period of the certain period to a transfer period in which control is transferred based on the initial synchronization information acquired by the initial synchronization processing; and operation processing of controlling the control target using a result of the operation process executed by the operation reproduction processing for the operation process after the transfer period. ​ ​ ​ ​ ​ ​ ​ ​

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