| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a control system in which a temporal phase relationship between lower level subsystems can be grasped by an upper level system, whereby the entire system is cooperatively operated without lowering the control performance. <P>SOLUTION: The control system comprises the upper level system and the lower level system having a controller which is operated at a plurality of mutually different control cycles under the upper level system, and in the control system the lower level systems comprise a timer for creating a timer carry signal at an end of the control cycle and a subsystem long cycle generating means for counting the timer carry signal and creating a subsystem long cycle with the least common multiple of the control cycle of each controller being one cycle, respectively. The upper level system monitors the timer carry signal returned from the timer of the lower level system, while supplying an operation amount instruction value every control cycles to the controller of each lower level control system. <P>COPYRIGHT: (C)2008,JPO&INPIT</p> |
