JP4239782B2 - Control system - Google Patents

Description

  The present invention relates to a control system including at least two processing devices, and more particularly to a control system suitable for controlling a combustion state of an internal combustion engine.

  For example, in a control system that controls a common rail type diesel engine as an example of an internal combustion engine, a short pulse output of about several tens of μs is required as an injector energization output by increasing the injection pressure or adopting a piezo injector There is. In addition, with the increase in the number of cylinders in the engine, the amount of calculation to be processed per engine rotation is also increasing. Therefore, in order to control the combustion state of the engine including the injector energization output with high accuracy, a processing device having a very high function and high performance is required as a processing device constituting the control system.

  However, such a high-function and high-performance processing device is expensive, and as a result, there arises a problem that the price of the control system becomes high.

  As a control system that can solve such a problem, it is conceivable that a control system is constituted by two processing devices and the two processing devices share the necessary arithmetic processing. However, in this case, it is necessary to share the input data input from the sensor or the like or the calculation data as a result of the predetermined calculation processing between both the processing devices. Therefore, it is necessary from one processing device to the other processing device. Is required to transmit correct data.

  In order to share data between two processing devices in this way, it is known to employ time-synchronized communication that transmits data at regular time intervals (communication cycle). Here, when the control system of the internal combustion engine is configured by two processing devices, there are a wide variety of types of data to be transmitted between the two processing devices, and the data amount is expected to increase. In the case of time-synchronized communication, the data acquired up to the communication time can be transmitted at a fixed time interval, so it can be said that it is suitable for such a large amount of data transmission.

  However, it is difficult for the above-described time-synchronized communication to deal with processing with high real-time characteristics (that is, high-speed processing is required) such as the injector energization output described above. That is, in the case of time-synchronized communication, a delay corresponding to the communication cycle occurs at the maximum, so that there is a possibility that necessary data cannot be acquired at a necessary time. In addition, when data fluctuates within the communication cycle, and when data is sampled and transmitted every communication cycle, accurate data may not be transmitted.

  The present invention has been made in view of the above points, and in order to realize a control system including a processing device at a low cost, the control system is configured between at least two processing devices when the control system is configured with at least two processing devices. The purpose is to perform data communication appropriately.

In order to achieve the above object, the control system according to claim 1 comprises:
A control system that distributes the arithmetic processing to at least the first processing device and the second processing device and distributes the arithmetic processing required when executing control on the internal combustion engine of the vehicle ,
The second processing device outputs a control signal related to an injector used in the internal combustion engine to the injector,
The first processing device and the second processing device are connected through at least two communication lines, and perform data communication through two communication lines when performing arithmetic processing.
Of the two communication lines, one communication line is used for periodic communication in which data is periodically communicated between the first processing apparatus and the second processing apparatus at a predetermined cycle, and the other communication line. When the predetermined event occurs and the injector control data for controlling the injector is generated as data to be communicated between the first processing device and the second processing device, the injector control data It is used for event communication that communicates immediately.

  As described above, since the control system is composed of the first processing device and the second processing device, even if each processing device is not so high-functional and high-performance, by performing distributed processing of arithmetic processing, It will be possible to demonstrate necessary functions and performance. In particular, the control system according to claim 1 employs a configuration in which the first processing device and the second processing device are connected via two communication lines. For this reason, it is possible to flexibly deal with problems related to data communication in the distributed processing system by using the two communication lines, and the functions and performance necessary for the entire control system can be reliably exhibited.

In other words, in the control system according to claim 1, one of the two communication lines is used for time-synchronized communication and the other is used for event communication. Thus, it is possible to immediately communicate data to be transmitted in real time by event communication while performing communication of desired data at a predetermined interval by time synchronous communication. Therefore, for example, a large amount of data can be used for communication such as time synchronous communication, and data that changes in a short cycle can be used for transmission by event communication, so that various types of data can be appropriately communicated.

In addition, as described in claim 2 , an interrupt process that assigns a process having a relatively high real-time property to the second processing device and interrupts the process having a high real-time property among the arithmetic processes. May be distributed to the first processing apparatus. As described above, by distributing the processing to the first processing device and the second processing device, it is possible to execute processing with high real-time performance while maintaining the real-time performance as much as possible.

Furthermore, when processing is distributed to the first and second processing devices as in claim 2 , data including analog signals necessary for executing arithmetic processing is input from the outside as described in claim 3. In this case, except for data necessary for ensuring high real-time performance of processing with high real-time performance, the data is input to the first processing device, and analog-digital conversion is performed in the first processing device. It is preferable to do so. The analog-to-digital conversion is a process from starting the analog-to-digital conversion device to acquiring the conversion result, and takes a relatively long time if there is a waiting time. For this reason, it is preferable to perform analog-digital conversion in the first processing device in order to avoid a delay in processing with high real-time characteristics executed in the second processing device.

Further, when the real-time property in the second processing device does not become a problem, as described in claim 4 , when inputting data including a plurality of analog signals necessary for executing the arithmetic processing from the outside, The data is distributed and input to the first processing device and the second processing device, and after analog-to-digital conversion, the data is transmitted to the other party via two communication lines so that the data is shared. You may comprise. As described above, analog-to-digital conversion is a process that takes a relatively long time. Therefore, by distributing to the first and second processing devices, the analog-to-digital conversion processing time can be shortened and the number of channels can be reduced. Securement becomes easy.

Further, as described in claim 5 , the first processing device and the second processing device may be configured to distribute the arithmetic processing so that the arithmetic load is leveled. As a result, the computing capabilities of the first and second processing devices can be efficiently utilized, and as a result, necessary computation processing can be performed as a whole at high speed. In this case, in particular, as described in claim 6 , it is preferable to distribute the interrupt processing included in the arithmetic processing so that the arithmetic loads of the first processing device and the second processing device are equalized. This is because interrupt processing has a large effect on the speed of main processing.

According to a seventh aspect of the present invention, there is provided detection means for detecting the calculation load of the first processing device and the second processing device, and both the first processing device and the second processing device are preliminarily provided. A common program for executing a predetermined process is stored, and when the calculation load detected by the detecting means is biased, a processing device with a low calculation load is configured to execute the predetermined process by the common program. Also good. In other words, when the calculation load of the first processing device and the second processing device changes dynamically, the execution destination of the predetermined process by the common program described above is switched according to the fluctuation of the calculation load. , Fluctuations in computation load can be reduced.

As described above, the control system of the present invention is suitable because it controls an internal combustion engine, has a very large calculation amount, and requires real-time performance.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the embodiment described below, an example in which the control system according to the present invention is applied as a control system for a common rail diesel engine will be described. However, the application target of the control system of the present invention is not limited to the common rail type diesel engine. The control system of the present invention can be employed as a control system for other types of internal combustion engines, and can also be employed as a control system for a controlled object other than the internal combustion engine.

(First embodiment)
FIG. 1 is a block diagram showing a schematic configuration of a control system according to the first embodiment. As shown in FIG. 1, the control system includes a first treatment device 10 and a second processing device 20. Each of these processing devices 10 and 20 includes a CPU, a ROM, a RAM, an I / O, an analog / digital (A / D) converter, and a communication I / F for performing data communication between the two processing devices. In accordance with a program stored in the ROM, predetermined arithmetic processing is executed.

  The first processing device 10 and the second processing device 20 include a common rail pressure signal from a common rail pressure sensor that detects fuel pressure accumulated in a common rail (not shown), and a crank angle sensor that detects a crank angle of the engine. A crank angle signal is input. The common rail pressure signal is A / D converted in each processing device 10, 20 and then taken into each processing device 10, 20. Alternatively, when the first processing device 10 includes an A / D conversion device, the first processing device 10 performs A / D conversion. Further, the rise of each crank signal is detected by a comparator or the like, and the detected signal is taken into the processing devices 10 and 20.

  Further, in the first processing device 10, in addition to the accelerator opening signal from the accelerator opening sensor that detects the opening of the accelerator pedal and the vehicle speed signal from the vehicle speed sensor that detects the traveling speed of the vehicle, the intake air of the engine Detection signals such as temperature, intake air pressure, and cooling water temperature are input. These detection signals, except for the vehicle speed signal, are A / D converted and then taken into the first processing device. As for the vehicle speed signal, a comparator or the like detects that the vehicle has risen above a predetermined level, counts the number of rises, and calculates the vehicle speed from the number of rises per unit time.

  Although not shown in the figure, an exhaust gas recirculation (EGR) device, a throttle valve driving device, and a supply pump are connected to the first processing device 10. The first processing device 10 outputs an EGR control signal, a throttle opening control signal, and a common rail pressure control signal to each. For example, the EGR control signal output to the EGR device controls the opening of the EGR valve, and the amount of exhaust gas to be circulated can be arbitrarily adjusted. Further, the throttle opening signal output to the drive motor as the throttle valve drive device controls the drive amount of the drive motor, whereby the opening of the throttle valve can be adjusted. Furthermore, the common rail pressure control signal output to the supply pump is given to the discharge amount control valve in the supply pump, thereby controlling the fuel discharge amount from the supply pump to the common rail, thereby adjusting the common rail pressure. be able to.

  On the other hand, the second processing device 20 is connected to an injector provided in each cylinder of the diesel engine, and the second processing device 20 outputs an energization signal to each injector. In accordance with this energization signal, each injector injects high-pressure fuel in the common rail into the corresponding cylinder. The fuel injection timing and the fuel injection amount in each cylinder are controlled by the output start and end timing of the energization signal to each injector.

  The first processing device 10 and the second processing device 20 are connected via a first communication line COMa and a second communication line COMb. The first and second processing devices 10 and 20 are each provided with two types of communication I / Fs corresponding to the first and second communication lines COMa and COMb. The first communication I / F is for performing time synchronous communication, and performs data communication via the first communication line COMa at predetermined intervals. The second communication I / F is for performing event communication for immediately communicating data when a predetermined event occurs and data to be transmitted is generated. The second communication I / F is connected to the second communication line COMb. Communicate data via.

  The reason why the configuration as described above is adopted is that the real-time property of the energization signal output to the injector is regarded as the most important. That is, in the case of a common rail type diesel engine, in recent years, the injection pressure has been increased (for example, several hundreds of atmospheres), and the adoption of a highly responsive piezo type injector is also being considered as an injector. As a result, a short pulse output of about several tens of μs may be required as an injector energization signal output. In order to output such a short pulse output with high accuracy to the injector provided in each cylinder of the diesel engine, that is, in order to maintain the real-time property of the processing having a high real-time property as much as possible, the second processing device. In FIG. 20, the injector energization signal output process is assigned as the main process. Then, the first processing device 10 distributes processing (analog signal input processing, output processing of each control signal, etc.) that requires interrupt processing at the time of input or output to the second processing device 20. The interrupt processing in the is reduced.

  The reason that the common rail pressure signal is input to the second processing device 20 is that the second processing device 20 calculates the end time of the energization signal output based on the latest common rail pressure, and The reason why each crank signal is input is to determine the start time of energization signal output.

  Hereinafter, the output process of the injector energization signal will be described in detail using a flowchart. First, the time synchronous communication process and event communication process in the first processing apparatus 10 will be described.

  FIGS. 2A, 2 </ b> B, and 2 </ b> C are flowcharts illustrating time synchronization communication processing in the first processing apparatus 10. Here, as an example, the processing from the input of the vehicle speed signal to the transmission of the vehicle speed data will be described. However, the communication by time synchronization communication is not limited to the vehicle speed data. Other detection signals, control data, diagnostic data, and the like can be communicated between the first and second processing apparatuses 10 and 20 as needed by time synchronous communication.

  The vehicle speed sensor includes, for example, an electromagnetic pickup coil, and the first processing device 10 detects the rising of the vehicle speed signal, generates an interrupt, and counts the number of signal inputs (see step 100 in FIG. 2A). When such interrupt processing occurs in the second processing device 20, there is a possibility that the output of the injector energization signal may be affected by a delay or the like. Further, since the vehicle speed changes relatively slowly, it is sufficient to update the vehicle speed every predetermined time. For this reason, the vehicle speed signal is input to the first processing device and transmitted to the second processing device 20 by time synchronous communication.

  FIG. 2B is a flowchart showing a vehicle speed calculation process, and this vehicle speed calculation process is performed in a communication cycle of time synchronous communication. In this vehicle speed calculation process, first, in step 110, the number of signal inputs within a predetermined time corresponding to the calculation cycle, which is counted in step 100, is acquired. Next, in step 111, the speed of the vehicle is calculated based on the number of signal inputs within a certain time. Further, in step 112, the number of signal inputs is cleared to prepare for the next vehicle speed calculation.

  FIG. 2C is a flowchart showing the time synchronous communication process. This time-synchronized communication process is performed at regular time intervals corresponding to the communication cycle of time-synchronized communication. In this time synchronous communication process, first, in step 120, in addition to the vehicle speed data calculated as described above, transmission data including detection signals from other sensors is set. In step 121, the communication I / F is instructed to transmit the set transmission data. The transmission data is taken into the second processing device 20 via the communication I / F on the second processing device 20 side.

  FIGS. 3A and 3B are flowcharts showing event communication processing in the first processing apparatus 10. In this event communication process, the first processor 10 calculates injector energization data (energization signal output start timing) and transmits it to the second processor 20 by event communication.

  FIG. 3A shows a flowchart regarding calculation processing of the output start timing of the injector energization signal. This process is performed in synchronization with the detection time of the crank angle signal. First, at step 200, the engine speed is calculated based on the crank angle signal. This engine speed calculation process is performed in the same manner as the vehicle speed calculation process described above. The number of crank angle signal inputs is counted by an interrupt process, and the engine speed is calculated from the number of inputs within a predetermined time. Thus, the calculation process of the output start timing of the injector energization signal is assigned to the first processing device 10 because it requires the input interrupt process of the crank angle signal.

  Next, in step 201, the accelerator opening and the like are calculated based on detection signals from the respective sensors. In step 202, a final fuel injection amount QFIN indicating the output start timing of the injector energization signal is calculated based on the calculated engine speed, accelerator opening, and the like. In step 203, the final injection timing ANGF is calculated based on the calculated engine speed, accelerator opening, and the like.

  In step 204, based on the final injection timing ANGF calculated in step 203, the energization reference crank angle CANG and the remaining time TAR from the energization reference crank angle CANG are calculated. In other words, the processing in step 204 is to convert the final injection timing ANGF into the remaining time TAR from the energization reference crank angle CANG with the energization reference crank angle CANG as a reference.

  In step 205, communication processing of injector energization data is performed. The details of the communication process for the injector energization data are shown in the flowchart of FIG. As shown in FIG. 3B, in the injector energization data communication process, in step 210, the final fuel injection amount QFIN calculated in step 202, the energization reference crank angle CANG calculated in step 204, and the remaining time TAR. Is set as transmission data. In step 211, the communication I / F is instructed to transmit the set transmission data.

  As described above, the calculation process of the injector energization data is performed in synchronization with the crank angle signal of the engine. Therefore, the execution timing of this calculation process depends on the engine speed. Therefore, the injector energization data is transmitted to the second processing device 20 by event communication instead of time synchronization communication.

  The processing for the second processing device 20 to receive the injector energization data transmitted by event communication and start the output of the injector energization signal will be described based on the flowcharts of FIGS. 4 (a) and 4 (b). To do.

  When the communication I / F on the second processing device 20 side completes the reception of the injector energization data transmitted by event communication, as shown in step 300 of FIG. The apparatus 20 acquires injector energization data. Then, an interruption process synchronized with the crank angle signal shown in FIG. In this interruption process, it is determined in step 310 whether or not the crank angle detected based on the crank angle signal matches the energization reference crank angle CANG of the acquired injector energization data. If “Yes” is determined at this time, the process proceeds to step 311, and the time corresponding to the remaining time TAR of the acquired injector energization data is set in the compare register of the comparison circuit as the injector energization start time. The time set in the comparison register of the comparison circuit is compared with the time measured by the hard timer, and when the two times coincide, the output of the injector energization signal is started from the comparison circuit.

  As shown in FIG. 5, an interrupt request for processing for calculating the output end timing of the injector energization signal is generated at time a when the output of the injector energization signal is started. When this interrupt request is generated, the injector energization signal end timing calculation process is started, but there is a delay time Tab until the start.

  This delay time Tab tends to become longer as interrupt processing with higher priority overlaps. The longer the delay time Tab, the greater the influence of the injector energization signal on the shortest energization period τmin. Therefore, in the present embodiment, the delay time Tab is shortened by allocating interrupt processing with high priority to the first processing device 10 as much as possible. The delay time Tab includes the time required for processing for prohibiting other interrupt processing.

  The energization start interrupt process for calculating the output end timing of the injector energization signal, which is interrupted at time Tbc from time b to time c in FIG. 5, will be described with reference to the flowchart in FIG.

  First, in step 401, a common rail pressure signal is captured. In order to improve the accuracy of the fuel injection amount because the common rail pressure fluctuates even while the injector energization signal is output when the fuel pumping to the common rail by the supply pump overlaps the injector energization signal output, This is because it is necessary to obtain the latest common rail pressure as much as possible. In step 402, the common rail pressure PCRI is calculated by digitally converting the acquired common rail pressure signal.

  In step 403, the injector energization period τ is calculated based on the final fuel injection amount QFIN and the common rail pressure PCRI of the injector energization output data. In step 404, the energization output end time is calculated based on the injector energization period τ and the energization output start time. In step 405, the calculated energization output end time is set in the compare register of the comparison circuit. For this reason, the output of the energization signal is ended when the time measured by the hard timer coincides with the end time set in the compare register.

  In the energization start interrupt process described above, the process that may delay the process is distributed to the first processing apparatus 10, and therefore, as shown in FIG. It can be finished with a margin. For this reason, even if a very short period is required as the injector energization period τ, it can be dealt with.

(Modification)
The preferred embodiments of the present invention have been described above, but the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.

  For example, in the first embodiment described above, the injector energization signal output process is assigned to the second processing device 20 as the main process, but the real-time property of the injector energization signal output process is not hindered. May distribute other processing to the second processing device 20. For example, in the EGR control, only the output process of the control signal to the EGR valve requires the interrupt process, and the process of calculating the control signal (EGR valve opening degree) based on the detection signal from each sensor is as follows: If it is sufficient to carry out every predetermined time, the calculation processing of the EGR valve opening degree can be performed by the second processing device 20. In this case, after calculating the EGR valve opening, the second processing device 20 communicates the EGR valve opening to the first processing device 10 by time-synchronized communication. If the control signal output processing is performed by the first processing device 10 in this way, the influence on the real-time property of the injector energization signal output processing in the second processing device 20 hardly occurs.

  Further, in the first embodiment described above, it is assumed that the fuel pressure feed from the supply pump and the injector energization signal output overlap, and the common rail pressure varies even while the injector energization signal is output. . However, when the fuel pumping timing is not overlapped with the injection timing or when the common rail pressure fluctuation correction process is performed, the injector energization period τ can be calculated in advance, and the injector energization period τ can be calculated by the energization start interrupt process. Need not be calculated. In such a case, it is possible to distribute the processing so that the calculation loads of the first processing device 10 and the second processing device 20 are equalized. Thus, if the processing is distributed so as to equalize the calculation loads of the first and second processing devices 10 and 20, the calculation capabilities of the first and second processing devices 10 and 20 can be efficiently utilized, As a result, necessary arithmetic processing can be performed at high speed as a whole.

  In this case, it is particularly preferable to distribute interrupt processing based on an input signal from the sensor to the first processing device 10 and the second processing device 20. That is, for example, an input signal from the vehicle speed sensor is input to the first processing device 10, and a crank angle signal from the crank angle sensor is input to the second processing device 20. Interrupt processing has a great influence on the processing speed of other processing, but if it is distributed to the first and second processing devices 10 and 20 in this way, the influence can be reduced as much as possible.

  Furthermore, input signals that require A / D conversion in input processing may be distributed to the first and second processing devices 10 and 20. Since A / D conversion is a process that takes a relatively long time, it is possible to reduce the waiting time of the A / D conversion processing time as a whole by distributing the processing to the first and second processing devices 10 and 20. It is easy to secure the number of channels. In addition, the data A / D converted by the first and second processing devices 10 and 20 is transmitted to the other party via two communication lines as necessary to share the data. be able to.

  Further, the execution destination of a predetermined process may be switched according to the processing load of the first and second processing apparatuses 10 and 20. FIG. 7 shows a specific example of the process switching.

  In the configuration in which the first and second processing devices are connected by the communication lines COMa and COMb, if the increase in the number of communication data can be suppressed, the bus load of each communication line COMa and COMb can be reduced and the communication cycle can be set short. Real-time performance is improved. As a method for realizing this, the same signal is input to the first processing device and the second processing device, input signal processing is performed in each processing device, and various information calculated by this processing is stored in each processing device. Used in processing equipment. As a result, only data for matching between the processing devices needs to be communicated, and the amount of data can be minimized. In FIG. 7, the crank angle signal and the accelerator opening signal are input to each processing device, but the input signal needs to be an optimum signal for each system.

  The first and second processing devices have a common processing comα, perform signal processing of input signals, and calculate data for controlling the actuators A and B connected to each processing device. Examples of the actuators A and B include an injector, an electronic throttle, and EGR.

  Then, the processing load in each processing device is determined from, for example, the idle rate per unit time and the lack of low-priority time synchronization processing per unit time. In other words, the injector energization process in engine control increases as the engine speed increases, but at this time the idle rate decreases and at the same time the processing load increases from the event that the low-priority task missing frequency increases. Can be judged. When it is determined that the processing load of the first processing device is relatively higher than the processing load of the second processing device by the determination of the processing load, the common processing COMα of the first processing device The processing is interrupted to reduce the processing load on the first processing device. At this time, the data required by the first processing device regarding the control of the actuator A is acquired from the second processing device at a necessary timing using time synchronous communication or time asynchronous event communication. If it is determined that the processing load of the second processing device is relatively higher than the processing load of the first processing device, the second processing device interrupts the processing of the common processing COMα, and the necessary data Is obtained from the first processing apparatus. It should be noted that the actuator is connected so that the processing load increases in different operating states so that the processing loads of the first processing device and the second processing device do not increase simultaneously. Then, the engine operating state is detected and estimated from various sensors, the idle rate in the unit time and the low-priority time synchronization processing missing, and the common processing COMα is applied to the processing device having a relatively reduced processing load. Let it run.

  Furthermore, in the first embodiment described above, the two systems of communication lines COMa and COMb are used for time-synchronized communication and event communication. However, the usage mode is limited to simultaneous use of time-synchronized communication and event communication. is not. For example, both of the two communication lines COMa and COMb may be used for time-synchronized communication, and the communication cycles may be different, or both may be used for event communication. Furthermore, the first processing device 10 and the second processing device 20 may be connected via three or more communication lines. That is, various utilization forms can be adopted depending on data to be communicated between the first processing device and the second processing device constituting the control system.

It is a block diagram which shows schematic structure of the control system by 1st Embodiment. It is for demonstrating the time synchronous communication process in the 1st processing apparatus 10, (a) is a flowchart which shows the input interruption process of a vehicle speed signal, (b) is a flowchart which shows a vehicle speed calculation process, ( c) is a flowchart showing a time synchronous communication process. It is for demonstrating the event communication process in the 1st processing apparatus 10, (a) is a flowchart regarding the calculation process of the data for injector energization including the output start timing of an injector energization signal, (b) is injector energization. It is a flowchart which shows the communication process of business data. (A) is a flowchart which shows the reception process in the 2nd processing apparatus of the data for injector energization transmitted by event communication, (b) is a flowchart which shows the process for starting the output of an injector energization signal. is there. It is a wave form diagram which shows an example of an injector energization signal output. It is a flowchart which shows the energization start interruption process for calculating the output end timing of the injector energization signal performed by the 2nd processing apparatus. It is a block diagram which shows schematic structure of the control system by a modification.

Explanation of symbols

10 1st processing apparatus 20 2nd processing apparatus

Claims (7)

A control system that distributes arithmetic processing necessary for executing control on an internal combustion engine of a vehicle to at least the first processing device and the second processing device, and distributes the arithmetic processing.
The first processing device and the second processing device are connected via at least two systems of communication lines, and perform data communication through the two systems of communication lines when executing the arithmetic processing,
The second processing device outputs a control signal related to an injector used in the internal combustion engine to the injector,
Of the two systems of communication lines, one communication line is used for periodic communication in which data is periodically communicated between the first processing apparatus and the second processing apparatus at a predetermined cycle, and the other When a predetermined event occurs and the injector control data for controlling the injector is generated as data to be communicated between the first processing device and the second processing device, The control system is used for event communication in which the injector control data is immediately communicated.   Among the arithmetic processes, a process having a relatively high real-time property is assigned to the second processing device, and an interrupt process that may interrupt the process having a high real-time property is assigned to the first processing device. The control system according to claim 1.   When data including an analog signal necessary for executing the arithmetic processing is input from the outside, the data is excluded from the data except for data necessary for ensuring high real-time performance of the highly real-time processing. 3. The control system according to claim 2, wherein the first processing apparatus inputs the data and performs analog-digital conversion in the first processing apparatus.   When data including a plurality of analog signals necessary for executing the arithmetic processing is input from outside, the data based on the plurality of analog signals is distributed and input to the first processing device and the second processing device. 2. The control system according to claim 1, wherein the data is shared by performing analog-to-digital conversion and then transmitting the data to the other party via the two communication lines.   The control system according to claim 1, wherein the arithmetic processing is distributed between the first processing device and the second processing device so that the arithmetic load is leveled.   6. The control system according to claim 5, wherein the interrupt processing included in the arithmetic processing is distributed so that the arithmetic loads of the first processing device and the second processing device are leveled. A detecting means for detecting a calculation load of the first processing device and the second processing device;
When a common program for executing a predetermined process is stored in advance in both the first processing device and the second processing device, and the calculation load detected by the detection unit is biased, The control system according to claim 1, wherein a processing device having a small calculation load executes a predetermined process by the common program .

Images