JP4122725B2 - Real-time control system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a control system including a control device that controls the operation of equipment and a peripheral device that makes a processing request to the control device.
[0002]
[Prior art]
In control systems for controlling machine equipment in recent years, an operation panel that combines a transparent touch panel and a display with a man-machine interface for the operator to operate and monitor the control equipment for the purpose of improving operability and maintainability. Is often used. An example of this is shown in JP-A-1-245335. In addition, due to sophistication of microcomputer technology, a plurality of applications tend to operate at high speed in parallel on an operation panel used for a man-machine interface.
[0003]
Such an operation panel generally transmits a command to the control device via a communication line, and exchanges a response with the control device in response to the command. In addition, the command for the control device may be issued not only from the operation panel but also from a plurality of request sources such as a host computer and a bar code reader for monitoring the entire production line. May be provided. Therefore, the control device accepts commands asynchronously from a plurality of peripheral devices and a plurality of applications.
[0004]
Conventionally, the control device temporarily stores the received command in a stack memory in the control device, processes the command in the order received, and returns a response.
[0005]
[Problems to be solved by the invention]
However, in the above method, the commands are processed and returned in the order received by the control device regardless of the command request source and contents, so high-speed processing is required due to the presence of commands that do not require high-speed processing. There was a problem that processing of a complicated command was postponed.
[0006]
Japanese Patent Laid-Open No. 9-223025 is available to improve this problem. However, even if this method is used, the priority for each command type is stored and fixed in advance, so that the situation changes from moment to moment. With changing equipment control, commands could not be processed with the optimal priority at that time.
[0007]
[Means for Solving the Problems]
  In order to solve the above problems, the invention of claim 1 comprises a control device that controls the operation of equipment and a peripheral device that makes a processing request to the control device, and the peripheral device prioritizes the processing request. A priority determination unit that determines the degree of processing, and makes a processing request with the priority determined by the priority determination unit to the control device, and the control device prioritizes processing according to the processing request. In the real-time control system having a process control unit that executes based on the degree, when the process control unit receives a new process request during execution of the process according to the process request, the process request being executed and the new process request Compares the priority with the processing request, and if the priority of the new processing request is higher than a predetermined criterion than the priority of the processing request being executed, temporarily stops the processing according to the processing request being executed. On standby to perform processing by the new processing request, than the priority of the priority of the new processing request is the running processing requestEven if it ’s expensiveIf not higher than the reference, the new processing request is made to wait, and after the processing by the executing processing request is completed, the processing by the waiting processing request is executed in descending order of priority. It was decided that
[0008]
  In invention of Claim 2,In the processing request, a standard priority is set in advance for each processing request, and the priority determination unit corrects the standard priority with reference to an operation state of the peripheral device, and the peripheral device is corrected. A processing request is made to the control device with priority, and the processing control unit executes processing according to the processing request based on the corrected priorityIt was decided to.
[0009]
  In invention of Claim 3,The control device further includes an interrupt generation unit that generates an interrupt according to an event or at a constant cycle with respect to the process control unit, and the process control unit stores an interrupt process to be executed when the interrupt occurs. , And is configured to execute the interrupt process when an interrupt from the interrupt generation unit occurs,
The processing request is executed as the interrupt processing.It was decided.
[0010]
  According to a fourth aspect of the present invention, the peripheral device is,Equipped with display and touch panelTheAn equipment control operation panel operated by an operator.When correcting the standard priorityThe priority determination unitAt least one of the operation states to be referred to is a display state of the display;Until a certain period of time elapses from when the operator input is made using the touch panelIt relates to the display on the display that was input by the operatorThe priority associated with the processing requestFor the standard priorityhighcorrectionIs configured toIt was decided.
[0011]
  In invention of Claim 5,The peripheral device includes a display and a touch panel, and is an equipment control operation panel operated by an operator.
At least one of the operation states referred to by the priority determination unit when correcting the standard priority is a display state of the display or a power-on state, and the screen saver works because there is no input from the operator for a certain period of time. Alternatively, when the power of the display is turned off, the priority associated with the processing request related to the display on which the screen saver is operated or the display turned off is corrected to be lower than the standard priority. HaveIt was decided.
  In the invention according to claim 6,The peripheral device is an operation panel for equipment control that is provided with a display and a touch panel and is operated by an operator.At least one of the operation states referred to by the priority determination unit when correcting the standard priority is: The display state of the display is configured to correct the priority associated with the processing request related to a screen displayed behind another screen to be lower than the standard priority.It was decided.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to FIG. FIG. 1 shows a control system using a real-time control apparatus according to an embodiment of the present invention. Reference numeral 10 denotes an operation panel, 20 denotes a real-time control device connected to the operation panel 10, 40 denotes a driver for controlling a motor connected to the real-time control device 20, and 41 denotes a servo motor controlled by the driver 40.
[0013]
The operation panel 10 includes a display 11, a touch panel 12, an application execution unit 13, and an I / F 14, and the application execution unit 13 includes a priority determination unit 15.
[0014]
The application execution unit 13 performs processing for executing an application for monitoring, operating, and maintaining the real-time control device 20. Each application executed by the application execution unit 13 is prioritized for reading the state of the real-time control device 20, giving an operation command to the real-time control device 20, or reading or writing stored data. A command (processing request) with the priority determined by the degree determination unit 15 is transmitted via the I / F 14 and a response to the command is received. The operator can give an operation instruction to each application via the touch panel 12.
[0015]
Each application stores a standard priority for each command issued. This standard priority is a priority in a state in which the screen of the application is displayed on the display 11 alone or in the foreground, and is optimized in advance at the application setting / adjustment stage in order to ensure real-time performance of the system. Is set. For example, a command for informing the control device of the content instructed by the operator via the touch panel 12 needs to be processed more quickly than a command for monitoring. Therefore, a relatively high priority is set as the standard priority. Is set. Also, commands that monitor data whose values change frequently need to be processed more quickly than commands that monitor data whose values change infrequently. Set as degrees. Even if the commands have the same contents, different standard priorities may be set depending on the purpose of the application issuing the commands.
[0016]
The priority determination unit 15 stores a priority determination procedure for correcting the standard priority with reference to the display state and operation state of each application screen on the display 11 and determining the priority to be delivered to the real-time control device 20. Has been. In the priority determination procedure, as shown in FIG. 2, when a certain condition is satisfied, a priority correction value corresponding to the condition is added to the standard priority to determine a priority value. . In this embodiment, the smaller priority value is regarded as the higher priority, so adding a positive value to the priority value means lowering the priority and a negative value. Adding means that the priority is increased.
[0017]
The real-time control device 20 includes an interrupt generation unit 21, a process control unit 22, an I / F 23, an I / F 24, and an I / F 25. The process control unit 22 includes a process state management unit 26, a process execution unit 27, and a process storage unit 28. And a standby processing storage unit 35.
[0018]
The interrupt generator 21 generates an interrupt signal at a constant time interval by a timer or when an event such as an external processing request occurs, and in this embodiment, an interrupt INTa generated at a constant cycle by the timer. Three types of interrupts are generated for the processing execution instructing unit 33: an interrupt INTb that occurs at a constant period longer than INTa, and an interrupt INTc that occurs when a command is received from the operation panel 10.
[0019]
The processing storage unit 28 stores a control processing task 29, another control device communication processing task 30, a command reception processing task 31, and a command response processing task 32 in descending order of priority. Each task is executed by the process execution unit 27 using the execution instruction from the process execution instruction unit 33 as a trigger. If there is an instruction to execute another task while the task is being executed, the process of the task being executed is interrupted, and the process shifts to the task for which the execution instruction has been issued. The task whose processing is interrupted temporarily saves the processing state at that time in the standby processing storage unit 35, and when the execution is instructed again, reads the processing state saved in the standby processing storage unit 35 and resumes the processing. . Note that the standby processing storage unit 35 has a stack structure so as to store a state when a plurality of tasks are suspended. In addition, when the task ends or the task disappears, the processing state management unit 26 is notified that the task has ended or disappeared.
[0020]
The control processing task 29 controls equipment by operating a motor or the like on the basis of a preset equipment control program. The control processing task 29 is assigned the highest priority, and the interrupt generation unit 21 generates an interrupt ( Each time INTa), one process is executed. One process of the control processing task 29 is programmed to end within the interrupt (INTa) cycle. When one process of the control processing task 29 is completed, the processing state management unit 26 is notified of the end of the task.
[0021]
The other control device communication processing task 30 performs communication processing with other peripheral control devices 42. Specific examples of the other control devices include a programmable logic controller and a sizing device. The other control device communication processing task 30 is executed once for each interrupt (INTb) generated by the interrupt generation unit 21. One processing of the other control device communication processing task 30 is programmed to end within the period of the interrupt (INTb). When one process of the other control device communication process task 30 is completed, the process state management unit 26 is notified of the end of the task.
[0022]
The command reception processing task 31 is instructed to execute by an interrupt (INTc) generated by the interrupt generation unit 21. The processing content is the command received via the I / F 25 and the priority attached to the command. Based on the data, the command response processing task 32 to which the priority is given is generated, and the generated task identification number. In addition, the processing state management unit 26 is notified of the priority and the time when the processing request is received. The processing state management unit 26 stores the notified information in the processing priority storage unit 34 as shown in FIG.
[0023]
The generated command response processing task 32 triggers the execution instruction of the process execution instruction unit 33 to execute the received command when the process is executed. When the command processing is completed, the response is sent to the I / F 25. To the operation panel 10. The command response processing task 32 for which all the above processes are completed disappears, and the disappearance of the task is notified to the processing state management unit 26. The processing state management unit 26 deletes the information of the disappeared task from the processing priority storage unit 34. Since the command reception processing task 31 generates a command response processing task 32 as needed when receiving a command, a plurality of command response processing tasks 32 may exist at the same time.
[0024]
When the process execution instructing unit 33 receives an interrupt signal INTa, INTb, or INTc from the interrupt generation unit 21 or receives a task end, disappearance, or generation notification from the process execution unit 27, the process execution instruction unit 33 A task execution instruction is issued to the execution unit 27, and a process for switching the task to be executed is performed.
[0025]
FIG. 4 is a flowchart showing a process when the process execution instructing unit 33 receives an interrupt signal from the interrupt generating unit 21. If there is no task being executed at S100, the processing state of the task associated with the interrupt is set to “waiting” at S105, and the series of interrupt processing ends. In this case, an instruction to execute the task is issued by the processing after S205 in FIG. If there is a process being executed, the priority of the task associated with the interrupt in S101 is compared with the priority of the currently executing task stored in the process priority storage unit 34, and the former priority is compared. If it is higher, the process proceeds to S102, and an instruction to execute the task associated with the interrupt signal is given to the process execution unit 27. In S103, the process status of the task being executed is set to “waiting”. The processing state of the task instructed to be executed in S104 is set to “being executed”, and a series of interrupt processing ends.
[0026]
If the latter priority is higher in S101, the processing state of the task associated with the interrupt is set to “waiting” in S105, and the series of interrupt processing ends.
[0027]
FIG. 5 is a flowchart showing a process when the process execution instructing unit 33 receives a task end, disappearance, or generation notification from the process execution unit 27. If a task end notification from the process execution unit 27 is detected in S200, the process state of the task stored in the process priority storage unit 34 is changed to “End” in S201, and the process proceeds to S204. If a task disappearance notification is detected from the process execution unit 27 in S202, the information on the task stored in the process priority storage unit 34 is deleted in S203, and the process proceeds to S204.
[0028]
In S204, the contents of the processing priority storage unit 34 are referenced to check whether there is a waiting task. If so, what is the highest priority among the waiting tasks in S205? Check out. In S206, it is checked whether or not there are a plurality of tasks having the priority checked in S205. If it is unique, an instruction to execute the task is given to the process execution unit 27 (S207). An instruction to execute the task is issued to the process execution unit 27 (S208). Next, in S209, the processing state of the task that has issued the execution instruction is changed to “being executed”, and the process returns to S200.
[0029]
If a task generation notification from the process execution unit 27 is detected in S210, the priority of the generated task and the priority of the currently executing task stored in the process priority storage unit 34 are detected in S211. If the former priority is higher by two or more levels, the process proceeds to S212, the execution instruction of the generated task is given to the process execution unit 27, and the process is being executed in S213. The processing state of the task that has been set is set to “waiting”, the processing state of the task instructed to be executed in S214 is set to “executing”, and the process returns to S200. If the priority of the former is not higher by two or more levels in S211, the processing state of the generated task is set to “waiting” in S215, and the process returns to S200.
[0030]
In S211, when the priority difference is two or more steps, the process branches to the process of switching the task process even if the priority of the generated task is higher. This is because the real-time property of the entire system is often maintained by switching the processing after completing the currently executing task processing.
[0031]
The operation of the real-time control device 20 configured as described above will be described with reference to FIGS. On the display 11 of the operation panel 10, a “normal screen” shown in FIG. 8, a “servo monitor screen” shown in FIG. 9, and a “program edit screen” shown in FIG. 10 are singly or overlapped as shown in FIG. Is displayed.
[0032]
Each screen displays lamps that indicate the status of the real-time control device 20 such as “Starting up”, “Operation preparation”, “NC error”, and numerical information such as “Cycle time”, “Processing count”, “Current position”, etc. In order to obtain information to be displayed on the elements constituting the screen from the real-time control device 20, an application executed by the application execution unit 13 is configured with a priority determination unit via the I / F 14. A command is transmitted to the real-time control device 20 together with the priority determined in 15.
[0033]
The standard priority stored by the application that controls each screen of FIGS. 8 to 10 is optimally set at the application setting / adjustment stage as described above. For example, when the operator instructs “each operation” on the touch panel 12 on the normal screen shown in FIG. 7, the processing request for transmitting this instruction to the control device needs to be processed promptly, so that a relatively high priority is given. Degree is set as the standard priority. In addition, in the “operation time” and “machining count” shown in FIG. 8, the “operation time” needs to be updated in seconds, whereas the “machining count” is updated once every several tens of seconds. Therefore, a higher standard priority is set in advance for the “operation time” read processing request than for the “processing count” read processing request.
[0034]
Also, different standard priorities may be set even for processing requests having the same content. For example, as shown in FIGS. 8 and 9, the “current position” is displayed on both the “normal screen” and the “servo monitor screen”, but the display of “current position” on the “normal screen” is roughly divided. What is necessary is not required to update frequently. On the other hand, since it is necessary to monitor the current position more accurately on the “servo monitor screen”, it is required to update it as frequently as possible. Therefore, a higher standard priority than the “current position” read processing request issued from the “normal screen” is set in advance in the “current position” read processing request issued from the “servo monitor screen”.
[0035]
In addition, when reading a program to display it on the “program edit screen”, it is necessary to read it as soon as possible so as not to hinder the operation of the operator. Therefore, the reading speed is not as high as that in the above case. Even in such a case, different standard priorities are set in advance for both processing requests, and a high standard priority is given to the program read processing request for displaying the program on the screen in order to save it on the floppy disk. A relatively low standard priority is set for the program read processing request.
[0036]
The standard priority is corrected by the processing of the priority determination unit 15 according to the screen display state, the operation state, and the like, and the priority to be delivered to the real-time control device 20 is determined. As a specific example, when “normal screen” and “servo monitor screen” are displayed behind the “program edit screen” as shown in FIG. 7, the “normal screen” is displayed according to the conditions and priority correction values illustrated in FIG. ”Or“ servo monitor screen ”command processing priority is corrected by two steps lower. Further, when there is no input from the operator for a certain period of time, the screen saver is activated, or when the display 11 is turned off, the priority of all commands transmitted from the operation panel 10 is lowered by two or three steps. It is corrected. In addition, when a certain period of time has not elapsed since the operator input from the touch panel 12, it is highly likely that the operator continues to monitor the operation panel 10, so that all commands transmitted from the operation panel 10 are transmitted. Is prioritized by two levels.
[0037]
When the command with the priority is transmitted from the operation panel 10, the received data is temporarily stored in the I / F 25, and the information is transmitted to the interrupt generation unit 21, and the interrupt generation unit 21 receives the INTc. An interrupt is generated for the process execution instruction unit 33. At this time, if neither the control processing task 29 or the other control device communication processing task 30 having higher priority than the command reception processing task 31 is being executed, an instruction to execute the command reception processing task 31 is immediately issued from the processing execution instruction section 33. However, when one or both of the control processing task 29 and the other control device communication processing task 30 are being executed, the start command is issued after the processing of both these tasks is completed. (See Figure 6)
[0038]
When the command reception processing task 31 is activated, the received data stored in the I / F 25 is read and the content is checked. If there is no abnormality, a command response processing task 32 for processing the command is generated, and the generated task Identification No. The priority and the time when the processing request is received are notified to the processing state management unit 26, the command data is transferred to the generated task, and the command reception processing task processing is terminated.
[0039]
The generated command response processing task 32 is immediately executed if the priority is two or more levels higher than the task being executed by the process execution unit 27. In other cases, the process of the task being executed is executed. Processing is executed after the end or disappearance. When the command response processing task 32 is moved to execution, the processing execution unit 27 processes the command delivered to the task, and transmits the response to the operation panel 10 via the I / F 25 when the command processing is completed. When the response transmission process is completed, the command response processing task 32 is deleted. This disappearance is notified to the processing state management unit 26, and the processing state management unit 26 deletes information on the disappeared task from the processing priority storage unit 34.
[0040]
In the operation panel 10 that has received the response, the application execution unit 13 receives the response data via the I / F 14 and performs processing such as reflecting the content of the response data in the screen display content. Thus, a series of command processing is completed.
[0041]
In this embodiment, in S211 of FIG. 5, the priority of the generated task is compared with the priority of the task being executed, and task processing is performed when the difference in priority is two or more. Needless to say, the criteria for determining whether to switch tasks should be set optimally for each system. For example, processing tasks may be switched by comparing values obtained by multiplying or dividing a priority of a task being executed or a priority of a generated task by a coefficient. Further, if the priority of the task being executed or the priority of the generated task is greater than or equal to a certain value, the criterion for switching the processing task may be changed. In a simple system, it may be determined whether or not to switch processing tasks by simply comparing the priority levels.
[0042]
Further, in the present embodiment, a standard priority optimized for each application is set, and this is corrected by the processing of the priority determination unit 15 according to the display state, the operating state, etc. of the screen. However, each application does not have a standard priority, and the priority determination unit 15 determines the command type (data read / write, program read / write, or the command purpose such as scan stop / start) and the command. The priority to be handed over to the real-time control device 20 may be determined from the operation state of the peripheral device such as the frequency of issuance and the screen display state. In order to simplify the processing, the priority to be handed over to the real-time control device 20 may be determined only by the operation state of the peripheral device.
[0043]
【The invention's effect】
  As described above, according to the first aspect of the invention, the processing request from the peripheral deviceIs excellentWith the advancement, high-priority processing requests are preferentially executed in the control device, so that processing requests that require high-speed processing can wait for a long time due to the presence of processing requests that do not require high-speed processing. This can prevent the real-time performance of the system.
  Further, when the processing control unit receives a new processing request during execution of the processing request, the priority of the processing request being executed and the priority of the new processing request is compared, and the latter priority is set in advance. If it is higher than the above criteria, the former process is temporarily suspended and the latter process is executed first. If not, the latter process is executed after the former process is completed. .
[0044]
  According to the invention of claim 2, in addition to the effect of claim 1, the standard priority set for each processing request is corrected by referring to the operation state of the peripheral device, andProcessing is performed based on the corrected priorityThus, more suitable control can be performed.
[0045]
  According to the invention of claim 3,The control device further includes an interrupt generation unit that causes the processing control unit to generate an interrupt that occurs according to an event or at a fixed cycle, and the processing control unit further performs an interrupt process that is executed when the interrupt occurs. Stores and executes the interrupt processing when an interrupt is generated from the interrupt generation unit, and in parallel with the execution of processing requests that occur irregularly, the processing necessary for controlling the equipment is constant. Can be executed at any time or when needed.
[0046]
Moreover, according to invention of Claim 4-6,The peripheral device is a facility control operation panel operated by an operator having a display and a touch panel, and when the standard priority is corrected, the priority determination unit sets the display state or power-on as the operation state. Since the priority associated with the processing request is corrected to be higher than the normal time until a certain time elapses after the operator inputs from the touch panel with reference to the status, If the screen saver is activated or the power of the display is turned off because there is no input, the priority associated with the processing request relating to the display on which the screen saver is activated or the display with the power turned off is higher than the standard priority. Displayed on the back of other screens. Since the priority associated with the processing request relating to the displayed screen is corrected to be lower than the standard priority, the priority of the screen display on which the operator is operating becomes higher, and conversely, the operator performs the operation. The priority of the screen display that is not displayed is lowered, and the real-time display of the operation panel screen is improved.
[Brief description of the drawings]
FIG. 1 is a block diagram of a control device and peripheral devices of a real-time control system in an embodiment of the present invention.
FIG. 2 shows an example of a priority correction condition and a priority correction value table in the embodiment of the present invention.
FIG. 3 shows an example of the contents of a processing priority storage unit in the embodiment of the present invention.
FIG. 4 is a flowchart showing a procedure for a process switching instruction according to the embodiment of the present invention.
FIG. 5 is a flowchart showing a procedure for a process switching instruction according to the embodiment of the present invention.
FIG. 6 is a timing chart of task processing of the real-time control system in the embodiment of the present invention.
FIG. 7 is a screen display example of an operation panel display in the embodiment of the present invention.
FIG. 8 shows an example of one screen of the operation panel display according to the embodiment of the present invention.
FIG. 9 shows an example of one screen of the operation panel display according to the embodiment of the present invention.
FIG. 10 shows an example of one screen of the operation panel display according to the embodiment of the present invention.
[Explanation of symbols]
10 ... Control panel (peripheral device)
11 ... Display
12 ... Touch panel
13: Application execution unit
15 ... Priority determining unit
20 ... Real-time control device
21 ... Interrupt generation part
22 ... Processing control unit
26 ... Processing state management unit
27 ... Processing execution unit
28 ... Processing storage unit
29 ... Processing control task
30 ... Other control device communication processing task
31 ... Command reception processing task
32 ... Command response processing task
33 ... Process execution instruction section
34: Processing priority storage unit
35 ... Standby processing storage
40 ... Driver
41 ... Servo motor
42. Other control device

Claims (6)

A control device that controls the operation of the facility and a peripheral device that makes a processing request to the control device, and the peripheral device has a priority determination unit that determines the priority of the processing request. In addition to making a processing request with the priority determined by the priority determination unit, the control device has a processing control unit that executes processing according to the processing request based on the priority,
When the process control unit receives a new process request during execution of the process according to the process request, the process control unit compares priorities of the process request being executed and the new process request, and determines the new process request. If the priority is higher than a preset criterion than the priority of the processing request being executed, the processing by the processing request being executed is temporarily suspended and the processing by the new processing request is executed, Even if the priority of the new processing request is higher than the priority of the processing request being executed, if the priority is not higher than the reference, the new processing request is waited and the processing by the processing request being executed is After completion, the real-time control system is configured to execute processing according to the waiting processing request in descending order of priority. The real-time control system according to claim 1,
Is set with standard priority advance processing requests each in the processing request,
The priority determination unit corrects the standard priority with reference to an operation state of the peripheral device;
The peripheral device makes a processing request to the control device with the corrected priority,
The processing control unit is the corrected characteristics and be Brighter real-time control system that <br/> executing the processing by the processing request based on the priority. The real-time control system according to claim 1 or 2,
The control device, the process by Lima other event to the control unit further comprises an interrupt generator for Generating an interrupt at a predetermined period, the processing control section executes at the time of pre-Symbol interrupt occurs Is configured to store the interrupt process to be executed, and to execute the interrupt process when an interrupt from the interrupt generation unit occurs ,
The real-time control system according to claim 1, wherein the processing request is executed as the interrupt processing . The real-time control system according to claim 2 or 3,
The peripheral device, including a display and a touch panel, Ri operator equipment control operation panel der to perform an operation,
At least one of the operation states referred to by the priority determination unit when correcting the standard priority is a display state of the display, and a certain time elapses from the time when an operator inputs from the touch panel. configured features and to Brighter real-time control that is as between the higher corrects the priority associated with the processing request related to the display of the display there is an input by the operator with respect to the standard priority to system.   The real-time control system according to any one of claims 2 to 4,
  The peripheral device is an operation panel for equipment control that is operated by an operator, provided with a display and a touch panel,
  At least one of the operation states referred to by the priority determination unit when correcting the standard priority is a display state of the display or a power-on state, and a screen saver is activated because there is no input from an operator for a certain period of time. Alternatively, when the power of the display is turned off, the priority associated with the processing request related to the display on which the screen saver is operated or the display turned off is corrected to be lower than the standard priority. Real-time control system characterized by   In the real-time control system according to any one of claims 2 to 5,
  The peripheral device is an operation panel for equipment control that is operated by an operator, provided with a display and a touch panel,
  At least one of the operation states referred to by the priority determination unit when correcting the standard priority is a display state of the display, and the processing request relating to a screen displayed behind another screen is satisfied. A real-time control system configured to correct the accompanying priority lower than the standard priority.

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