| 摘要 |
In a distributed control system where a plurality of control units are connected via a network, the invention allows for efficient operation of each control unit, while ensuring real-time processing. To provide a distributed control system in which ensured real-time processing and enhanced fault tolerance are achieved, information of a deadline or task run cycle period as time required until task completion is given for each task and a control unit on which a task will be executed is selected according to the deadline or task cycle period. A first control circuit and related sensors and actuators are connected by a dedicated path on which fast response time is easy to ensure and another control circuit and related sensors and actuators are connected via a network. When the first control circuit operates normally with sufficient throughput, the first control circuit is used for control; in case the first control circuit fails or if its throughput is insufficient, another control circuit is used.
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