| 摘要 |
PROBLEM TO BE SOLVED: To provide a load distributed system for efficiently driving each control unit in addition to ensuring real time and improving failure proof in addition to ensuring the real time, as a distributed control system in which a plurality of control units are connected. SOLUTION: Each task is given a deadline to be a request time until task completion or information on cycle at which the task is activated and, in accordance with the deadline or task cycle, a control unit for executing the task is selected. A first control circuit is connected to a sensor and actuator with a dedicated path in which a high-speed response time is easily ensured and another control circuit is connected to the sensor and actuator with a network. When the first control circuit is normally operated and has sufficient processing capability, the first control circuit is used for control, whereas it has a failure or insufficient processing capability, other control circuits are used. COPYRIGHT: (C)2006,JPO&NCIPI
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