JP7751400B2 - Multi-point physical quantity control system - Google Patents

Description

The present invention relates to a system that controls physical quantities at multiple points and is composed of a master module and one or more slave modules, and to technology for transmitting set values (control target information) from the master module to the slave modules.

For example, in temperature control of a hot press molding carbon fiber reinforced plastics used in the exterior walls of aircraft fuselages, a master module is connected to one or more slave modules to control the heat source of multiple heating points on the target workpiece. The master module receives control conditions and other information for controlling the temperature of the multiple heating points to be controlled from a higher-level control device such as a PC or PLC (programmable logic controller), and transmits control signals (target temperature, manipulated variable, etc.) to the multiple slave modules connected to it based on the received control conditions. Each slave module then controls the control target based on the received signal (Patent Document 1).

Japanese Unexamined Patent Publication No. 176295/1983

In conventional multi-point physical quantity (temperature) control, such as the system example shown in Figure 9, a control reference point was defined for control. Figure 15 illustrates an example of the sequence of events between a conventional master module and slave modules connected via a serial communication path (hereinafter sometimes referred to as a serial bus). After powering on, the master module outputs reply prompting information with a slave ID to search for slave modules connected to it. The slave modules respond if the signal is addressed to them. If there is no response after a predetermined time, the master module increments the slave ID by one and outputs reply information to search for slave modules ("Slave Search" in Figure 15). After completing the slave search, the master module sets control target information based on the measurement results of the physical quantity measurement unit connected to it and outputs the control target information to each slave module found. A slave module that receives control target information addressed to itself replies with its measurement results. A predetermined time after receiving the control target information, the slave module begins control according to the control target information.

Using Figure 13, we will explain control when a specific point is used as the reference point for the initial physical quantity. Figure 13 shows an example of a heating process in which it is important to control the temperature of the workpiece according to a temperature profile. The figure shows the temperature profile and the initial temperatures of three points on the workpiece. If a specific point, such as one of the points managed by the master module, is used as the reference point, the temperature (physical quantity) at the reference point is PV1. However, among all points, including slave modules, there may be points with a temperature lower than PV1. These are the points managed by the slave modules shown as temperatures PV2 and PV3 in Figure 13. The master module sets control target information using PV1 as the reference. In the example of Figure 13, the control target information is the temperature target for all points on the temperature profile. Control target information set using PV1 as the reference is, for example, a temperature (on the temperature profile) higher than PV1. Control (PID control, etc.) begins from the point PV1 in the temperature profile. Points showing temperatures PV2 and PV3 start at a temperature lower than PV1 and perform PID control, etc. Points where the initial temperature indicated PV2 or PV3 deviated from the control target information for a long time, and it took time for them to match the control target information. In particular, as processing equipment has become larger to process large workpieces such as the outer walls of aircraft fuselages, as in the example above, and physical quantity control has become more advanced due to advances in material technology, there has been a demand to be able to set any point as the reference point for physical quantity control, rather than limiting it to the point handled by the master module.

In this invention, when a system consisting of a master module and one or more slave modules determines control target information to be sent to the slave modules at the start of control in order to initiate control of physical quantities at multiple points, the master module obtains measurement results of the physical quantities at multiple points under the management of the slave modules and determines the control target information based on the measurement results. The slave modules that receive the control target information output from the master module begin controlling the physical quantities of their own controlled objects after a predetermined time has elapsed since a predetermined event. The object of this invention is to provide a multi-point physical quantity control system that performs program operation control with efficient time management to control the physical quantities of the objects and bring the measurement results at each point closer to the control target information.

In order to solve the above problems, the present invention provides:
As the first invention,
A multi-point physical quantity control system comprising a master module and one or more slave modules which cooperate with the master module and are physical quantity controllers of a controlled object,
The master module is
an activation command receiving unit (AA);
a reply prompting information output unit (AB) that, when receiving a start command, outputs reply prompting information, which is information for prompting a reply from the slave module, to a communication line with the slave module in order to determine the slave module that will cooperate with the unit;
a reply receiving unit (AC) that receives replies from slave modules in response to reply prompting information, the replies including measurement results of physical quantities at physical quantity measurement points of the controlled object that each slave module is responsible for, and a slave ID that uniquely identifies the slave;
a control target information output unit (AD) that outputs control target information, which is information for determining a physical quantity control target for each slave module, based on the measurement result included in the received reply;
and
The slave module is
a start-up command receiving unit (BA);
a slave ID holding unit (BB) that holds a slave ID that uniquely identifies itself;
a time length measurement unit (BC) for measuring a time length;
a physical quantity measurement unit (BD) for measuring a physical quantity at a measurement point of an object to be controlled;
a physical quantity control information output unit (BE) that outputs physical quantity control information (e.g., information for determining the amount of current for heating) that is information for controlling the physical quantity of the controlled object based on the control target information;
a reply prompt information receiving unit (BF) for receiving reply prompt information from the master module;
a reply output unit (BG) that outputs a reply including a measurement result of a physical quantity at a measurement point of a control object that it is responsible for and a slave ID when it receives reply prompting information;
a control target information receiving unit (BH) for receiving control target information;
a control target information storage unit (BJ) for storing the control target information;
an elapsed time length determination unit (BK) that determines whether an elapsed time length measured by a time length measurement unit (BC) from a predetermined event after startup has reached a predetermined time length;
an output command unit (BM) for causing a physical quantity control information output unit (BE) to output the first physical quantity control information after startup when the determination result of the elapsed time length determination unit (BK) is that a predetermined time length has elapsed;
A multi-point physical quantity control system is provided.

Furthermore, as a second invention, based on the first invention,
A multi-point physical quantity control system is provided in which the control target information output from the master module to the slave modules is the same for all slave modules.

Furthermore, as a third invention, based on either the first or second invention,
The predetermined event is a multi-point physical quantity control system in which each slave module receives control target information addressed to itself from the master module.

Furthermore, as a fourth invention, based on any one of the first to third inventions,
The master module also has a physical quantity measurement unit (AE) that measures the physical quantity of the measurement point of the controlled object,
and a physical quantity control information output unit (AF) that outputs physical quantity control information (e.g., information that determines the amount of current for heating, etc.) that is information for controlling the physical quantity of a controlled object based on control target information.

Furthermore, the present invention provides methods for operating the master module and slave module of a multi-point physical quantity control system, which are computers compatible with the multi-point physical quantity control system of the present invention.

Furthermore, an operating program that can be read into each of the master module and slave module of the multi-point physical quantity control system, which is a computer, corresponding to the multi-point physical quantity control system of the present invention is also provided. Each operating program may also be recorded on a recording medium.

In the present invention, when a system consisting of a master module and one or more slave modules outputs control target information to a slave module to begin controlling physical quantities at multiple points, the master module outputs the control target information based on the measurement results of the physical quantities of the object being controlled by the slave module. The slave module that receives the control target information output from the master module begins control a predetermined time after a predetermined event (e.g., startup or reception of the control target information). Because each slave module controls the physical quantities of the object after receiving the control target information, time management until control of the physical quantities begins can be performed efficiently.

FIG. 1 is a block diagram showing an example of the functional configuration of a multi-point physical quantity control system according to a first embodiment of the present invention. FIG. 1 is a flowchart showing the process flow of a multi-point physical quantity control system according to the first embodiment of the present invention. 1 is a hardware configuration diagram of a master module of a multi-point physical quantity control system according to a first embodiment of the present invention; 1 is a hardware configuration diagram of a slave module of a multi-point physical quantity control system according to a first embodiment of the present invention; FIG. 10 is a block diagram showing an example of the functional configuration of a multi-point physical quantity control system according to a fourth embodiment of the present invention. FIG. 10 is a flowchart showing the process flow of a multi-point physical quantity control system according to a fourth embodiment of the present invention. 10 is a hardware configuration diagram of a master module of a multi-point physical quantity control system according to a fourth embodiment of the present invention. 10 is a hardware configuration diagram of a slave module of a multi-point physical quantity control system according to a fourth embodiment of the present invention. Schematic diagram 1 showing an example of the configuration of a multi-point physical quantity control system Schematic diagram 2 showing an example of the configuration of a multi-point physical quantity control system Temperature distribution at the beginning of use of the multi-point physical quantity control system of the present invention Example 1 of temperature control using the multi-point physical quantity control system of the present invention Example 2 of temperature control using the multi-point physical quantity control system of the present invention Illustrative diagram of PV (measured value) start in a prior art multi-point physical quantity control system FIG. 1 is an explanatory diagram of a PV (measured value) start in a multi-point physical quantity control system of the present invention. Illustrative diagram of operation of a prior art multi-point physical quantity control system. 1 is an explanatory diagram of the operation of the multi-point physical quantity control system of the present invention;

Embodiments of the present invention will be described below with reference to the accompanying drawings. Note that the present invention should not be limited to these embodiments, and may be implemented in various forms without departing from the spirit of the present invention.

<Embodiment 1> Mainly claim 1
<Embodiment 1: Overview of a control system including a multi-point physical quantity control system>

Figure 9 is a schematic diagram showing an example of a control system including a multi-point physical quantity control system, illustrating an example of processing in which a workpiece is heated using a heater in a heating furnace. Using Figure 9, we will explain the control of temperature as an example of a physical quantity controlled by a control system including a multi-point physical quantity control system of the present invention. Other examples of physical quantities besides temperature include pressure, flow rate (liquid, gas, powder, etc.), voltage, current, magnetic flux, magnetic field, charge, electric field, capacitance, electron beam acceleration voltage, light exposure, ultraviolet exposure, radiation exposure, aqueous solution concentration, wavelength, and frequency (or vibration frequency).

In Figure 9, the workpiece (0908) is placed in a heating furnace (0909), and the workpiece (0908), which is the object to be controlled, is heated by multiple heaters (0906) connected to the slave module. The temperature of each part of the workpiece (0908) is measured as an example of a physical quantity by multiple thermometers (0907) connected to the slave module. In the example of Figure 9, four thermometers are connected to the slave module, and they control the output of four heaters. The thermometers measure and convert the voltage due to the electromotive force of a thermocouple or the voltage at a constant current using a resistance thermometer or thermistor to obtain the temperature. The heater is controlled by outputting a control signal (e.g., a current of approximately 4-20 mA, a voltage pulse of approximately 12 V DC, etc.) from the slave module to a thyristor regulator or solid-state relay (not shown in Figure 9) installed between the slave module and the heater. The amount of heat is controlled by phase control using a thyristor regulator that receives the output current from the slave module and changes the voltage output amount every half cycle of the AC voltage supplied to the heater, or by turning the heater on and off via a solid-state relay. Figure 9 shows an example of a control system that determines whether the measured physical quantity, temperature, is within a predetermined temperature range and controls the output of the heater (0906). The multi-point physical quantity control system of the present invention is not limited to the heating process example shown in Figure 9, and can be used in various types of control systems that control various other physical quantities.

In the example of Figure 9, the master module (0902) can be responsible for one or more slave modules connected to itself via a serial communication path (RS-485). The RS-485 serial communication standard limits the number of devices that can be connected to one path to 32. Therefore, the maximum number of slave modules that can be connected to a serial communication path connecting a higher-level control device and the master module is 30 (assuming no other devices such as recorders are connected). The slave modules control multiple physical quantity control means such as heaters, and receive measurement values from multiple physical quantity measurement units such as thermometers. The master module can also be configured to control some heaters and thermometers, and set control target information based on the combined measurement results of the slave modules and the points managed by the master module when setting control target information. (Figure 10)

The master module (0902) receives various settings, startup commands, and operational status inquiries from a higher-level control device (0901), such as a PC or PLC, via a LAN line (Ethernet) or a serial communication path (serial bus). Conversely, the master module (0902) transmits to the higher-level control device (0901) measurement results of physical quantities (temperatures) at each point on the controlled object (workpiece (0908)) and information indicating the status of the master module and slave modules (such as physical quantity control information output by each slave module). When the master module is connected to a LAN line (Ethernet), the LAN line is connected to a public Internet line via a connection device equipped with a firewall, and the higher-level control device is connected to the public Internet line, the above communications can be performed from a PC remotely working from a location away from the manufacturing equipment where the master module is installed, such as an office or management office on the factory premises, or from a home outside the manufacturing site.

<Example of physical quantity control: Physical quantity temperature: Example of heating process>
The example of heating processing in Fig. 9 will be explained below. A series of operations from power-on will be outlined with reference to Fig. 16.

<Power on>"Start" in the top row of Figure 16
When the master module and multiple slave modules are installed as part of a control panel for processing equipment at a manufacturing site, turning on the main power switch on the control panel simultaneously turns on the power to the master module and multiple slave modules.

<Searching for slave modules: Output of reply prompt information from master module>
<Figure 16 Slave search>
As shown in FIG. 9, slave module 1 (0903) through slave module n (0905) begin timing measurement after powering on. If they do not receive communication from the master module after the start-up wait time (e.g., 5 seconds, which can be set as appropriate) has elapsed, during which they wait for communication from the master module, they begin operating in standalone mode. The master module (0902) begins timing measurement after startup. Immediately after startup, it outputs reply prompting information, which is a communication to prompt a reply, specifying the slave ID via the serial communication path in order to search for the slave module connected to it. The master module also has a start-up wait time (e.g., 5 seconds, which can be set as appropriate) before starting to output the control target information (described below) to the slave module. The master module performs the slave search during this start-up wait time. The start-up wait time can be determined as appropriate based on the communication interval for outputting reply prompting information, the time (timeout) to wait for a response, and the number of connected devices.

In the master module's slave search shown in Figure 16, reply prompting information is first sent, which includes the slave ID, 2, which is the number following the master module's device management number 1. If a slave module with a slave ID of 2 is connected, it receives and responds to the reply prompting information as it is addressed to itself, and transitions to slave mode, a mode in which it operates in response to commands from the master module. A slave module will receive reply prompting information that is not addressed to itself (does not include its own slave ID), but will not respond. Even if the reply prompting information is addressed to another device, it is clear that it is a communication from the master module, so a slave module that receives reply prompting information addressed to another device while waiting will transition to slave mode.

If the master module waits a set period of time (e.g., 100 ms, can be set as appropriate) without receiving a response from the slave module corresponding to the transmitted slave ID, it determines that the slave module corresponding to that slave ID is not connected. It then increments the slave ID by 1 and outputs reply prompting information. The reply prompting information is output sequentially, increasing the slave ID by one until the maximum number of connections possible for the type of serial communication path (serial bus) (e.g., a maximum of 32 units can be connected with RS-485, including other devices such as higher-level control devices and recorders). It is preferable to configure the system to retain the slave ID numbers of slave modules that have responded. If reply prompting information is sent but the slave IDs of the slave modules that have responded are not retained, it is also possible to configure the system to transmit all slave IDs, increasing the slave ID from 2 up to the maximum number of connections, when transmitting to the slave module. Alternatively, the master module can register the slave IDs of the slave modules to be connected, and then send reply prompting information to the initially registered slave IDs in order. It is also possible to configure the system to retain slave IDs that have responded and delete the registration of slave IDs that have not responded.

<Slave module search: Slave module compatibility>
A slave module that receives reply prompting information addressed to itself or another device from the master module (0902) within the waiting time after startup transitions to slave mode. If the reply prompting information addressed to itself or another device cannot be received because the master module is not connected, for example, each slave module begins operating in standalone mode after the waiting time after startup has elapsed. If the master module is connected after starting standalone operation, the slave module may continue to operate in standalone mode, or may be configured to transition to slave mode upon receiving reply prompting information from the master module.

When a slave module receives a reply prompting message from the master module (0902) addressed to itself, it replies to the master module (0902) via the serial communications path (serial bus) with its slave ID, which uniquely identifies itself, and the physical quantity of the controlled object for which it is responsible (in Figure 13, the temperature measured by the thermometer). If the acquisition of the physical quantity measurement result has not yet begun, it replies with null data or an appropriate value as the measurement result. The master module does not use false information as the measurement result attached to the reply prompting message during the post-startup waiting time after startup. As mentioned above, communication between the master module (0902) and the slave module uses a serial communications path (serial bus) such as RS-485 of the Modbus RTU protocol. RS-485, the electrical specification to which the Modbus RTU protocol conforms, has a communication speed of approximately 100 kbps over the maximum transmission distance. Modbus is a serial communications protocol developed by Modicon in 1979 for the company's programmable logic controllers (PLCs). It has become the de facto standard communications protocol in the industrial world and is now the most common means of connecting industrial electronic devices.

Configuring the master module to output reply prompting information periodically and continuously is preferable, as this allows for additional slave modules to be added under the control of the master module if they are connected after control has started (including when a previously connected device is subsequently started). The reply prompting information output period is preferably set to a period (e.g., 1 second, but not limited to) that allows the reply prompting information to be received at least once within the standby time after startup of the slave module, and preferably multiple times, such as 4 or 5 times. If multiple serial communication paths are provided between the master module and slave module, or between slave modules, reply prompting information can be output using a serial communication path separate from communications requiring real-time performance, such as physical quantity measurement results. If a slave module is added to a serial communication path to which a master module is not connected, it will begin standalone operation after the startup standby time has elapsed.

<Collection of physical quantity measurement results> Figure 16, middle section: "PV measurement start"
The PV (Process Variable) in the description of "PV measurement start" in FIG. 16 refers to a value (measurement result) obtained from an input signal from a sensor, such as obtaining temperature (physical quantity) from the electromotive force of a thermocouple (sensor) connected to the slave module.
Each slave module (and the master module if it itself has a physical quantity measurement unit) starts measuring physical quantities after a post-startup wait time has elapsed since startup (power-on). The master module provisionally outputs the control target information initially held to each slave module based on the slave ID found in the slave module search. The purpose is to collect the physical quantity measurement results returned by each slave module as a response. If another slave module is additionally connected and started after each slave module has started measuring physical quantities, it will start measuring physical quantities after a startup wait time has elapsed (e.g., 5 seconds) in the same way as above, regardless of whether it starts operation in slave mode or standalone mode.

<Master module for setting and outputting control target information>
<Figure 16 Master module SV confirmation, control start>
After each slave module starts measuring a physical quantity after the waiting time has elapsed since startup, the master module (0902) outputs control target information initially held to each slave module, and after waiting a sufficient time (e.g., 100 ms) to obtain physical quantity (temperature) data of multiple control points in response, sets control target information (set target temperature in the example of Figure 9) for physical quantity control (temperature control) based on the physical quantity (temperature) data of each point returned from the slave module, and outputs this to the slave module via a serial communication path (serial bus). In the system example of Figure 9, each slave module manages four thermometers (the measurement result acquisition channels of each thermometer are denoted as CH1 to CH4) and outputs for four heater control.

There are several possible methods for setting initial control target information based on the physical quantities at each point. These include determining important points from multiple pre-established physical quantity measurement points for each control object (processed part) and using them as reference points, or using the maximum, minimum, or average physical quantity from multiple points (or all points) of all physical quantity measurement points as the reference point. The following describes an example in which the point showing the lowest temperature is used as the reference point for a heating process that involves a temperature profile of increasing the temperature, maintaining a constant temperature, and decreasing the temperature to maintain a high temperature for a certain period of time. Since control along the temperature profile is important, an example is given below in which the point showing the lowest temperature is used as the reference point. For cooling processes, for example, the point showing the initial highest temperature is appropriate as the reference point. Therefore, the reference point varies depending on the control object and the physical quantity being controlled. Therefore, there are no limitations on how the reference point is selected in the example below in which the minimum temperature is used as the reference point.

Figure 11 shows the initial temperature distribution of CH1-4 of n slave modules 1-3. Although not shown in Figure 11, the initial temperatures of slave modules 4 through n will be described as being higher than temperature T22 in Figure 11. In Figure 11, the lowest temperature is temperature T22 of CH2 of slave module 2. A heating process is being performed that goes through a temperature profile of temperature increase, temperature maintenance, and temperature decrease, as shown in Figure 12a. Among the measurement results (temperatures) from multiple measurement points, temperature T22 of CH2 of slave module 2 is the lowest temperature among the controlled objects (workpieces). If control for processing is initiated using another fixed reference point (a point with an initial temperature higher than T22) as in the past, it takes time for point CH2 of slave module 2 to be controlled in accordance with the temperature profile, as described above using Figure 13 as an example. If the lowest temperature T22 in the measurement results is used as the reference, control begins at 0:12, which is the temperature T22 in the temperature profile shown in Figure 12b (0:12, when temperature T22 becomes the new 0:00 point for starting control; the horizontal axis time is shown in parentheses in the figure). The processing time can be shortened by the time of 0:12. Furthermore, as shown in Figure 14, if the initial lowest temperature (PV3) is used as the reference point, the temperature convergence of each point on the temperature profile (points indicating initial temperatures PV1, PV2, and PV3) will also be faster. Therefore, even in the examples of Figures 11 and 12, it is thought that control in line with the temperature profile will be faster if the initial lowest temperature T22 is used as the reference.

Additional explanation will be provided for Figures 13 and 14. Figure 13 shows another temperature profile during conventional heating processing, where the reference physical quantity (temperature) measurement point is a fixed point. In the example of Figure 13, the temperature PV1 value is the temperature at the reference point, and there are separate points of temperature PV2 and PV3 that are lower than PV1. When the control target information (SV) is determined using temperature PV1 as the reference, control begins with temperature PV1 in the temperature profile as the starting point, as shown in the graph at the bottom of Figure 13. PV1 changes temperature almost in line with the temperature profile, but PV2 and PV3, which are temperatures lower than PV1, require time to reach a temperature close to the temperature profile after a large overshoot due to strong heating in an attempt to approach the temperature profile.

The example in Figure 14 explains a case where control target information can be determined from all measurement results of measurable physical quantities across the entire system, including slave modules, as in the present invention. The temperature profile shown in the upper graph in Figure 14 is the same as the temperature profile in the upper graph in Figure 13. When determining the control target information (SV), the lowest temperature value, PV3, is used as the reference. Control begins at the point on the temperature profile where temperature PV3 is reached. At points where PV1 or PV2, which are higher than PV3, are reached, the heater output is reduced (cooling if a cooler is available) or heating is not performed, resulting in a deviation until the temperature approaches the temperature profile, but once the temperature profile is reached, control is more closely aligned. Control in this invention allows for control that is more aligned with the temperature profile than conventional control.

The control target information output from the master module to the slave modules may be different for each slave module, or it may be the same as in the embodiment described below. When the same control target information is output to all slave modules, the control target information storage unit of each slave module may be equipped with a control target information correction information storage means for storing control target information correction information, which is information for correcting the control target information based on the correction information of the physical quantity measuring means and physical quantity control means managed by each slave module, and a control target information correction means for correcting the control target information output from the master module based on the control target correction information. This allows the control target information to be corrected to compensate for variations in the physical quantity measuring means and physical quantity control means managed by each slave module.

Control target information can be output to the slave modules in the form of a temperature profile, or the master module can be configured to hold a temperature profile and periodically output control target information (the immediate target temperature) for each point it is responsible for to each slave module. In the latter case, the slave module that receives the control target information (target temperature) adjusts and outputs physical quantity control information (information for controlling heaters, etc.) at its own discretion so that the target temperature is reached. Alternatively, a temperature profile can be stored in the master module and each slave module before a series of physical quantity controls begins, allowing each slave module to set whether to control the physical quantities for its own points by referencing the control target information output from the master module, or to control the physical quantities independently using control target information based on the temperature profile stored in itself. By storing temperature profiles in the master module and slave modules in advance, if the master module fails to start and the slave modules operate standalone, the standalone slave modules can independently control the physical quantities using control target information based on the temperature profile stored in them.

<Slave module receiving control target information>
In response to receiving control target information addressed to itself and assigned with its own slave ID, the slave module replies to the master module (0902) via the RS-485 serial communication path (serial bus) of the Modbus RTU protocol with data including its own slave ID and the physical quantity of the controlled object it is responsible for (temperature in the example of FIG. 9 ). The slave module receives communications addressed to other devices but does not respond. To prevent communication congestion on the serial communication path (serial bus), the master module outputs the control target information to the next slave module in order after receiving a response from the slave module. If the master module does not receive a response to the control target information from a slave module that responded to the first reply prompt message after startup after a certain period of time (e.g., 5 ms) has elapsed, the master module may retransmit the control target information to the slave module. If there is still no response, the master module may take measures to deal with the abnormal condition, such as outputting an error message to a higher-level control device.

<Start of Physical Quantity Control> Figure 16 Slave Module SV Determination Control Start SV determination in the figure refers to receiving and holding control target information output from the master module. After a predetermined time has elapsed since a predetermined event, the slave module outputs physical quantity control information for controlling the physical quantity (temperature) of the controlled object for which it is responsible, based on the received control target information (control start). For example, the master module outputs control target information (SV) after a certain time (e.g., 100 ms) has elapsed since each slave module started measuring a physical quantity (e.g., temperature) (PV measurement start). The setting of the master module's control target information (SV) is considered a predetermined event, and each slave module starts physical quantity control after a predetermined time has elapsed. In this case, physical quantity control essentially begins after a certain time has elapsed since startup (power-on) (in the above explanation, 5 s + 100 ms + 100 ms = 5.2 s), so startup (power-on) can also be considered a predetermined event. In another example, the predetermined event may be reception of control target information addressed to the device itself, and physical quantity control may be started after a predetermined time has elapsed since reception of the control target information (for example, 100 ms, which is considered to be the time when transmission of control target information from the master module to all slave modules is completed). Note that the predetermined event is not limited to the above-mentioned examples of startup (power on) and reception of control target information.

<Physical Quantity Control> Figure 16, Lower Section After a slave module starts physical quantity control in accordance with control target information (SV), the master module periodically outputs a signal to inquire about the physical quantity measurement results. The signal from the master module can output control target information. An example of a period is 100 ms. For example, every 100 ms, control target information (SV: target temperature in the example of Figure 9) is output to each slave module. Each slave module then outputs current, voltage, pulse signals, etc. for PID control, etc., as physical quantity control information to a thyristor regulator or solid-state relay connected to the slave module that controls the physical quantity, in accordance with the received control target information (SV). The thyristor regulator or the like that receives the physical quantity control information from the slave module adjusts the output of a means (such as a heater) that changes a physical quantity, such as temperature, that it manages, based on the physical quantity control information. A slave module that receives a periodic inquiry signal (which may include control target information) from the master module replies with the measurement results of the physical quantity (e.g., temperature) as a response. The reply from the slave module can be configured to include physical quantity control information. Such control is performed until the end of a series of physical quantity controls, for example, the end of a temperature profile in a heating process.

The above is an explanation of an example of using the multi-point physical quantity control system of the present invention, from startup to the completion of a series of processes.

In the example of Figure 9 described above, each slave module outputs a current (e.g., DC 4-20 mA) to its connected thyristor regulator (not shown in Figure 9) to phase-control the heater output in order to achieve the received control target information (target temperature). The thyristor regulator, which receives instructions such as a DC current value from the slave module, phase-controls the AC voltage supplied to the connected heater and controls the output while starting heating. Note that control of the thyristor regulator by DC current and the use of a thyristor regulator are not limited to this, and the output may also be for controlling other heater output control means. Hereinafter, in the explanations provided herein, heater output control may be expressed as "the slave module adjusts the heater output" or "controls the heater output," meaning "the heater output is controlled by a thyristor regulator or solid-state relay in accordance with the output from the slave module."

Note that each of the components described below can be implemented as a combination of hardware and software. Specifically, if a computer is used, these components include the CPU, main memory, bus, or secondary storage device (non-volatile memory such as flash memory or SSD, storage media such as CDs or DVDs, and read drives for these media), input devices used to input information, hardware components such as PLCs, recorders, printers, display devices, and other external peripheral devices, as well as interfaces for these external peripheral devices, communication interfaces, driver programs and other application programs for controlling this hardware, and user interface applications. The CPU then processes and stores data entered from input devices and other interfaces and stored in memory or on a hard disk, and generates commands to control the above hardware and software, through calculations performed by the CPU in accordance with the program deployed in main memory. Alternatively, the functional blocks of this device may be implemented using dedicated hardware.

In the following description of this specification, following the configuration examples shown in Figures 9 and 10, the master module of the system of the present invention controls physical quantities at multiple points while communicating with a higher-level control device connected via a LAN line (Ethernet) or a serial communication path. Note that the system may also be configured with only a master module, slave modules, and controlled objects (e.g., thermometers, heaters, etc.). Only when changing the settings of the master module can the settings be changed by connecting to the higher-level control device via a LAN line (Ethernet) or a serial communication path. The effects of the present invention can be achieved even if the master module is not constantly connected to the higher-level control device.

Furthermore, each embodiment described in this specification can be realized not only as an operating method, but also as a device, in part or in whole. Furthermore, part of such a device can be configured as software. Furthermore, software products used to run such software on a computer, and recording media on which such products are fixed, are naturally included within the technical scope of each embodiment described in this specification (the same applies throughout this specification).

<Embodiment 1 Overview>

This is a multi-point physical quantity control system consisting of a master module and one or more slave modules that work in conjunction with it and are physical quantity controllers for the object to be controlled. The master module transmits control target information, which is the control target for the physical quantity, to the slave module, and the slave module is configured to wait a predetermined period of time after receiving the information before starting control.

<Functional Configuration of First Embodiment>
1 is a block diagram showing an example of the functional configuration of a multi-point physical quantity control system according to this embodiment. As shown in FIG. 1, the multi-point physical quantity control system of the present invention comprises a master module (0101) comprising an activation command receiving unit (AA) (0102), a reply prompting information output unit (AB) (0103), a reply receiving unit (AC) (0104), and a control target information output unit (AD) (0105).
The slave module (0110) is composed of a start command receiving unit (BA) (0111), a slave ID holding unit (BB) (0112), a time length measuring unit (BC) (0113), a physical quantity measuring unit (BD) (0114), a physical quantity control information output unit (BE) (0115), a reply prompting information receiving unit (BF) (0116), a reply output unit (BG) (0117), a control target information receiving unit (BH) (0118), a control target information holding unit (BJ) (0119), an elapsed time length determining unit (BK) (0120), and an output command unit (BM) (0121).

<Embodiment 1: Master Module Activation Command Receiving Unit (AA) (0102)>
The start-up command receiving unit (AA) (0102) of the master module is configured to receive a start-up command to start up the master module.

Examples of a startup command include turning on a physical power switch, or a master module in sleep mode receiving a startup command from a higher-level control device. If the master module and slave module are installed in the same control panel rack, it can also be configured so that powering on the rack's main power supply starts powering on the master module and slave module simultaneously.

<Embodiment 1: Master Module Reply Prompt Information Output Unit (AB) (0103)>
The reply prompting information output unit (AB) (0103) of the master module is configured to output reply prompting information, which is information for prompting a reply from the slave module to the communication line with the slave module in order to determine the slave module that will cooperate with the master module when a startup command is received.

As described above, after startup, the master module begins by outputting reply prompting information to the slave module, with the slave ID set to 2, the number following its own device management number of 1. After receiving a response from the slave module, the master module increments the slave ID by 1 and outputs reply prompting information. If a response is not received from the slave module after waiting a certain amount of time (e.g., 5 ms), the master module assumes the slave ID is not connected, increments the slave ID by 1, and continues outputting reply prompting information. If a response is received, the master module increments the slave ID by 1 and outputs reply prompting information without waiting after receiving the response. The master module outputs reply prompting information in order, using the maximum number of devices that can be connected to the serial communication path (serial bus) in use as the maximum value of the slave ID, and searches for connected slave modules. Alternatively, the master module may retain the slave IDs of slave modules (or devices connected to other serial communication paths, such as recorders) to be connected before startup, and output reply prompting information for the retained slave IDs in a predetermined order, such as ascending slave ID values.

The first reply prompting information output after startup can be configured to include initial identification information that identifies it as the first. By informing the slave modules that they are the first, the slave modules can independently shift the timing of their use of the serial communication path (serial bus) to prevent signal collisions. For example, the timing of a slave module's reply to the first reply prompting information can be determined based on a random number generated by a random number generator provided in the slave module. This is because, at the time of this reply, control of the physical quantity has not yet begun, so the master module can wait a sufficient amount of time for replies from all slave modules. Note that the signal called reply prompting information may be the first one, or subsequent signals from the master module may also be called reply prompting information.

To clarify the relationship between questions and answers (responses) and commands and obedience results between the master module and slave module, communications between the master module and slave module can be configured to include a serial number. The serial number and slave ID allow the master module to more reliably execute communication and control processes. Slave modules can also be configured to manage IDs for each physical quantity control point and transmit physical quantity measurement results associated with the physical quantity control point ID when communicating with the master module. In some cases, communications between slave modules and the master module can be configured to communicate information related to only some physical quantity control points, rather than all physical quantity control points for which the slave module is responsible. In other words, there are physical quantity control points that require careful attention and points that can be relatively ignored. By distinguishing between these and communicating separately, communication volume (traffic) can be reduced. In this way, slave modules can be configured to rate each physical quantity control point for which they are responsible and perform processing and reporting according to the rating.

<Embodiment 1: Master Module Reply Receiving Unit (AC) (0104)>
The reply receiving unit (AC) (0104) of the master module is configured to receive a reply from a slave module in response to reply prompting information, which reply includes the measurement results of the physical quantities at the physical quantity measurement points of the controlled object that each slave module is responsible for, and a slave ID that uniquely identifies the slave module.

The master module identifies the slave module that will cooperate with itself based on the received slave ID. As described above, it is preferable to configure it to retain the slave ID in the received response. It is also possible to assign and retain different flags (e.g., 1 and 0) for slave IDs that have received a response and slave IDs that have not. If the master module already retained the slave IDs of the slave modules (or other connected devices) that it plans to connect to before startup, it can be configured to continue retaining the slave IDs of slave modules that have responded, and erase slave IDs that have not received a response and could not be received. Alternatively, it is also possible to assign and retain different flags (e.g., 1 and 0).

<Embodiment 1: Master Module Control Target Information Output Unit (AD) (0105)>
The control target information output unit (AD) (0105) of the master module is configured to output control target information, which is information for determining physical quantity control targets for each slave module, based on the measurement results included in the received reply.

Based on the physical quantities of the measurement points of the controlled objects of each slave module received from the slave modules, the master module determines control target information as described above and outputs it to the slave modules.

<Embodiment 1: Master Module (0101)>
The master module (0101) is configured to receive the measurement results of the physical quantities from the slave modules, formulate control target information, and output it to the slave modules.

In response to a request from a higher-level control device, the master module returns the measurement results for each physical quantity measurement point and the output physical quantity control information returned by the slave modules in response to the master module, associating them with information identifying each physical quantity measurement point (information that associates the slave ID with information identifying one or more physical quantity measurement points handled by each slave module). The above information can also be obtained in response by querying the slave module via the master module. As mentioned above, the master module and slave module are connected via an RS-485 serial communication path (serial bus) using the Modbus RTU protocol.

<Embodiment 1: Slave Module Start-Up Command Receiving Unit (BA) (0111)>
The start-up command receiving unit (BA) (0111) of the slave module is configured to receive a start-up command to start up the slave module.

Examples of wake-up commands include turning on a physical power switch, sending a signal to a slave module waiting in sleep mode to wake it up, or receiving reply prompt information from a master module.

<Embodiment 1: Slave Module Slave ID Holder (BB) (0112)>
The slave ID holding unit (BB) (0112) of the slave module is configured to hold a slave ID that uniquely identifies itself.

A separate slave ID is assigned and maintained for each slave module connected to one master module. A slave module that is connected to and capable of communicating with one master module has a slave ID that is the master module's device management number 1 on the connected serial communication path (serial bus) and a number that does not overlap with the slave IDs of other slave modules. When the master module outputs a communication with a slave ID, only the slave module corresponding to the slave ID responds to the received communication. By transmitting measurement results to the master module in association with the slave ID, the master module can receive and manage the measurement results separately for each slave module.

The slave module ID may be set from an external device via communication, but it can also be configured to be manually set by directly touching the slave module. This is because the slave module ID is very important information. Furthermore, to prevent inconsistencies with other slave modules during setting, it is preferable to configure the system so that setting is disabled or a warning is output if there is a conflict with an already set ID. Once set, it is also preferable to configure the system so that it cannot be changed during operation. For example, the ID setting button can be configured so that it cannot be touched while the slave module housing is in operation (during physical quantity control processing). When the system of the present invention is used to control processing equipment at a factory manufacturing site, the influence of noise is significant. Therefore, it is preferable to set the slave ID using a mechanical dial switch or the like rather than a configuration in which it is written to electronic memory (such as by writing it to non-volatile memory in advance or to RAM after startup).

<Embodiment 1: Slave Module Time Length Measurement Unit (BC) (0113)>
The time length measurement unit (BC) (0113) of the slave module is configured to measure the time length. The measurement of the time length may be configured to start after receiving a start-up command, or may be configured to continue measuring the time length even during sleep mode if starting up in response to the start-up command means returning from sleep mode.

<Embodiment 1: Slave Module Physical Quantity Measurement Unit (BD) (0114)>
The physical quantity measurement unit (BD) (0114) of the slave module is configured to measure the physical quantity of a measurement point of the controlled object.

Examples of physical quantities of the object to be controlled include temperature, pressure, and UV radiation, as mentioned above. It is preferable that the physical quantity measurement unit be configured to manage the lifespan of the sensor it uses. Lifespan management can be based on the length of time the sensor has been in use since it was first installed, or it can be based on the sensor's voltage and current history over time (rate of change, acceleration of change). This information can be reported to the master module periodically, or can be reported a predetermined period before the recommended replacement date. The slave module can also be configured to have an automatic sensor calibration function. It can also be configured to provide a reference physical quantity to the sensor and update the calibration information it holds based on that reference physical quantity. The lifespan management also includes failure detection. It is preferable that the physical quantity measurement unit be configured to detect a failure such as a broken wire in a thermocouple used to measure temperature, which is an example of a physical quantity.

<Embodiment 1: Slave Module Physical Quantity Control Information Output Unit (BE) (0115)>
The physical quantity control information output unit (BE) (0115) of the slave module is configured to output physical quantity control information (e.g., information for determining the amount of current for heating, etc.) which is information for controlling the physical quantity of the controlled object based on the control target information.

Examples of physical quantity control information include the amount of current to a heater to control temperature, the opening degree of a pressurizing valve to control pressure, and the amount of current to increase the brightness of an ultraviolet lamp. In addition to temperature, physical quantities include pressure, flow rate (liquid, gas, powder, etc.), voltage, current, magnetic flux, magnetic field, charge, electric field, capacitance, electron beam acceleration voltage, light exposure, ultraviolet exposure, radiation exposure, aqueous solution concentration, wavelength, and frequency (or vibration frequency).

If the slave module does not directly have a current source for controlling physical quantities such as a heater or ultraviolet lamp, it can be configured to output a current, voltage, or pulse signal to operate a thyristor regulator, solid-state relay, electromagnetic relay, photocoupler, etc. connected to the slave module as described above, thereby controlling physical quantities such as current, voltage, opening and closing of a solenoid valve or shutter via the thyristor regulator, solid-state relay, electromagnetic relay, photocoupler, etc.

<Embodiment 1: Slave Module Reply Prompt Information Receiving Unit (BF) (0116)>
The reply prompting information receiving unit (BF) (0116) of the slave module is configured to receive reply prompting information from the master module.

Receives the signal output by the master module when searching for a slave module that can link with the master module. Only the slave module that matches the slave ID currently communicating with the master module will respond to the received communication; other devices will receive the communication but will not respond.

<Embodiment 1: Slave module reply output unit (BG) (0117)>
The reply output unit (BG) (0117) of the slave module is configured to output a reply including the measurement results of the physical quantity at the measurement point of the controlled object that it is responsible for and the slave ID when it receives reply prompting information.

When a slave module receives communication from the master module, it can be configured to send back a response that includes its own slave ID and the measurement results of the physical quantity of the object it controls. It can also be configured to include physical quantity control information used to control the physical quantity in the response. This is because, after control begins, most communication between the master module and slave modules will be to obtain the physical quantity measurement results of the slave modules. Even without including a measurement result request command, if a command is sent to each slave module, measurement results can be received as a response from each slave module.

The reply output unit (BG) can be configured to be used not only for replies in response to reply prompting information received from the master module, but also for all other communications with the master module. The measurement results of the physical quantities included in the response to the first reply prompting information after startup may be NULL if measurement of the physical quantity has not yet begun, or a predetermined initial value may be returned as the measurement result. If measurement has begun, the measurement results may also be returned. However, since it is unclear whether measurement of the physical quantity at the point responsible for the slave module has begun at the time of the response return, it is better for the master module to discard the measurement results of the physical quantities included in the response received from the slave module (the response to the first reply prompting information after startup).

<Embodiment 1: Slave Module Control Target Information Receiving Unit (BH) (0118)>
The control target information receiving unit (BH) (0118) of the slave module is configured to receive the control target information.

The control target information is sent from the master module to each slave module, along with a slave ID. If the control target information differs for each slave module, the slave ID is attached when the information is sent, and the appropriate slave module will respond. If the slave ID matches its own ID, the signal is acquired as meaningful information and processed accordingly, but if they do not match, the signal is not processed as meaningful information even when it is received, and no response is made.

<Embodiment 1: Slave Module Control Target Information Storage Unit (BJ) (0119)>
The control target information storage unit (BJ) (0119) of the slave module is configured to store the control target information.

The received control target information is stored and referenced as appropriate when controlling the physical quantities of the controlled object to determine physical quantity control information. If there is variation in the measurement means for the physical quantities of each point of the controlled object managed by each slave module, or if there is variation in the physical quantity control means, the control target information may be corrected as described above, as long as the same control target information is output to each slave module as in the embodiment described below.

<Embodiment 1: Slave Module Elapsed Time Determination Unit (BK) (0120)>
The elapsed time length determination unit (BK) (0120) of the slave module is configured to determine, after activation, whether the elapsed time length measured by the time length measurement unit (BC) from a predetermined event has reached a predetermined time length.

The term "predetermined" in "predetermined length of time" can be interpreted in two ways. One is when the length of time is an absolute standard, and the other is when the predetermined time is reached after a predetermined length of time has passed. Either of these may be used. Examples of predetermined events include receiving control target information output by the master module (described below), receiving a startup command, outputting the first reply, and starting measurement of a physical quantity.

<Embodiment 1: Slave Module Output Command Unit (BM) (0121)>
The output command unit (BM) (0121) of the slave module is configured to cause the physical quantity control information output unit (BE) to output the first physical quantity control information after startup when the determination result in the elapsed time length determination step is that a predetermined time length has elapsed.

When it is determined that a predetermined time has elapsed, physical quantity control of the controlled object is initiated. For example, in a heating process, after a predetermined time (e.g., 100 ms) has elapsed since control target information (target set value) was received from the master module, the physical quantity control information output unit (BE) outputs a signal (such as direct current) to a thyristor regulator or the like connected to itself to adjust the heater output. The predetermined event used to determine the elapse of the predetermined time is not limited to the reception of control target information addressed to the device itself, as described above, but may also be the receipt of a start command (power-on), the first reply output, the start of physical quantity measurement, etc., and is not limited to these examples.

<Embodiment 1: Slave Module (0110)>
The slave module (0110) is configured to output measurement results of physical quantities from a controlled object under its own management as a response to communication from the master module, receive control target information from the master module, and output physical quantity control information to the controlled object based on the control target information.

As shown in Figure 9, the slave modules are equipped with multiple thermometers (for measuring physical quantities) and multiple heaters (for controlling physical quantities), and the slave modules and the slave modules and master modules are connected via serial communication paths (serial buses) conforming to the RS-485 standard of the Modbus RTU protocol.

<Processing flow of embodiment 1>
2 shows the processing flow of the multi-point physical quantity control system of embodiment 1. The left side shows the processing flow in the master module which is a computer (calculator), and the right side shows the processing flow in the slave module which is also a computer (calculator). In FIG. 2, it is assumed that communication between the master module and the slave module uses a serial communication path (serial bus) of the RS-485 standard of the Modbus RTU protocol.

The operation of the master module, which is a computer, is as follows:
The start-up command receiving step (aa) (SA0201) receives a start-up command to start the master module.
In the reply prompting information output step (ab) (SA0202), when a start command is received, a process is performed in which reply prompting information is output to a communication line with the slave module to prompt a reply from the slave module in order to determine the slave module that will cooperate with the slave module;
The reply receiving step (ac) (SA0203) performs processing to receive a reply from a slave module in response to reply prompting information, the reply including measurement results of physical quantities at physical quantity measurement points of the controlled object that each slave module is responsible for, and a slave ID that uniquely identifies the slave module.The control target information output step (ad) (SA0204) performs processing to output control target information, which is information for setting physical quantity control targets for each slave module, based on the measurement results included in the received reply.

The operation method of each slave module, which is a computer (calculator), is as follows:
A start-up command receiving step (ba) (SB0201) receives a start-up command to start a slave module. A slave ID holding step (bb) (SB0202) holds a slave ID that uniquely identifies the slave module.
The time length measurement step (bc) (SB0203) performs a process of measuring the time length.
The physical quantity measurement step (bd) (SB0204) measures the physical quantity of the measurement point of the object to be controlled,
A reply prompting information receiving step (bf) (SB0205) performs processing to receive the reply prompting information output from the reply prompting information output step (ab) (SA0202) of the master module,
A reply output step (bg) (SB0206) performs processing for outputting a reply including the measurement result of the physical quantity at the measurement point of the controlled object that the reply output step (bg) (SB0206) is responsible for and the slave ID to a reply receiving step (ac) (SA0203) of the master module when the reply prompting information addressed to the master module is received;
A control target information receiving step (bh) (SB0207) receives the control target information output from the control target information output step (ad) (SA0204) of the master module.
A control target information holding step (bj) (SB0208) performs processing to hold the control target information addressed to the device itself,
The elapsed time length determination step (bk) (SB0209) performs a process of determining whether the elapsed time length measured by the time length measurement step (bc) (SB0203) from a predetermined event after startup has reached a predetermined time length.
An output command step (bm) (SB0210) performs processing to output the first physical quantity control information after startup to a physical quantity control information output step (be) (SB0211) when the determination result in the elapsed time length determination step is that a predetermined time length has elapsed;
The physical quantity control information output step (be) (SB0211) performs processing to output physical quantity control information (e.g., information for determining the amount of current for heating, etc.), which is information for controlling the physical quantity of the object to be controlled based on the control target information.
This is an operating method for causing a multi-point physical quantity control system, which is a computer, to execute such a series of processes.

<Embodiment 1: Hardware>

Figure 3 is a conceptual diagram illustrating an example of the hardware configuration of a master module in a multi-point physical quantity control system according to this embodiment. As shown in Figure 3, the master module includes a CPU (0301), nonvolatile memory (0302) (e.g., ROM, SSD, etc.), main memory (0303), an Ethernet communication I/F (0304) (interface is abbreviated as I/F in Figure 3) for connecting to a control PC or recorder, a general-purpose serial communication interface I/F1 (0305) for connecting to a control module, etc., a user I/F (0306), a bus controller (0309) for controlling the communication I/F (0311) with the internal bus (0310), and a DMAC (0308) for implementing DMA (a method of transferring data to and from memory without going through the CPU) during internal bus transmission. A system bus (0307) is also provided for signal exchange between these components. A customized, dedicated CPU can be used, and dedicated firmware can be used instead of an operating system (OS). Additionally, a system with a multi-core CPU and/or sufficient cache memory is preferable, as it helps prevent operational delays due to memory shortages.

In addition to the OS (operating system) and device drivers, non-volatile memory also contains
a start-up command receiving program that receives a start-up command to start the master module;
a reply prompting information output program that outputs reply prompting information, which is information for prompting a reply from a slave module to a communication line with the slave module in order to determine a slave module that will cooperate with the program when a start command is received;
a reply receiving program for receiving replies from slave modules in response to reply prompting information, the replies including measurement results of physical quantities at physical quantity measurement points of the controlled object that each slave module is responsible for, and a slave ID that uniquely identifies the slave module;
Various programs, such as a control target information output program that outputs control target information, which is information for setting physical quantity control targets for each slave module based on the measurement results included in the received reply, and specific port numbers are recorded. Each program is deployed and executed, and information and data acquired via the interface are stored in nonvolatile memory, and the stored information and data are processed by executing the program in a work area of the main memory, and then retained in nonvolatile memory, or output to a higher-level control device by executing the program via an Ethernet communication interface or a serial communication interface.

Figure 4 is a conceptual diagram showing an example of the hardware configuration of each slave module in the multi-point physical quantity control system of this embodiment. As shown in Figure 4, the system includes a CPU (0401), non-volatile memory (0402) (e.g., ROM, SSD, etc.), main memory (0403), a general-purpose serial communication interface I/F1 (0404) for connecting to control modules, etc., a user I/F (0405), a bus controller (0408) for controlling the communication I/F (0410) with the internal bus (0409), a controller DMAC (0407) for performing DMA (a method of transferring data to and from memory without going through the CPU) during internal bus transmission, and a control system I/F (0411) that serves as an interface for inputting physical quantity measurement results (0412) and outputting physical quantity control information (0413), as well as a system bus (0406) for transmitting and receiving signals between them. The CPU can be a customized, dedicated CPU, and dedicated firmware can be used instead of an OS (operating system). Systems with multiple CPU cores and/or sufficient cache memory are also preferred, as this helps prevent operational delays due to memory shortages.

In addition to the OS (operating system) and device drivers, non-volatile memory also contains
a start command receiving program that receives a start command to start the slave module, a slave ID holding program that holds a slave ID that uniquely identifies itself, a time length measuring program that measures a time length, a physical quantity measuring program that measures a physical quantity at a measurement point of the controlled object, a physical quantity control information output program that outputs physical quantity control information (e.g., information that determines the amount of current for heating, etc.) that is information for controlling the physical quantity of the controlled object based on control target information, a reply prompt information receiving program that receives reply prompt information from the master module, and a program that outputs the reply prompt information of the controlled object that it is responsible for when it receives reply prompt information addressed to itself. The master module stores various programs and specific port numbers, such as a reply output program that outputs a reply including measurement results of physical quantities at measurement points and a slave ID, a control target information receiving program that receives control target information, a control target information holding program that holds the control target information addressed to the master module, an elapsed time length determination program that determines whether an elapsed time length measured in a time length measurement step from a predetermined event after startup has reached a predetermined time length, and an output command program that causes the physical quantity control information output program to output the first physical quantity control information after startup if the determination result in the elapsed time length determination step is that the predetermined time length has elapsed.The master module then deploys and executes each program, stores information and data acquired via an interface in a nonvolatile memory, processes the stored information and data in a work area of the main memory by executing the program, and stores the information and data in the nonvolatile memory or outputs a response to the master module via a serial communication interface by executing the program.
<Effects of Embodiment 1>

According to the multi-point physical quantity control system of this embodiment, the master module can set control target information based on the physical quantities of the controlled object under the management of the slave module, and therefore, the time until the control of the physical quantities starts can be managed efficiently.
After the master module outputs the control target information to the slave modules, the slave modules wait a predetermined time before starting control. The predetermined time is, for example, a time sufficient for the control target information to be output to all slave modules to be completed, and each slave module can start control after receiving the control target information.

<Embodiment 2> Mainly Claim 2: Control target information output to slave modules is the same <Outline of Embodiment 2>

Embodiment 2 is based on embodiment 1, but is configured so that the control target information output by the master module to the slave modules is the same for all slave modules.

<Functional Configuration of Second Embodiment>
The functional configuration of the second embodiment, which is based on the first embodiment, is similar to the configuration of the first embodiment shown in FIG.

<Embodiment 2: Master Module Control Target Information Output Unit (AD)>
The control target information output unit (AD) of the master module is configured to output the same control target information to each slave module. If the physical quantities of all control points are within a controllable range for one control target based on the physical quantity control information, the same control target information can be output to each slave module.

When the master module outputs the same control target to all slave modules, the control target information storage unit of each slave module is equipped with a control target information correction information storage means for storing control target information correction information, which is information for correcting the control target information based on the correction information of the physical quantity measuring means and physical quantity control means managed by each slave module, and a control target information correction means for correcting the control target information output from the master module based on the control target correction information. This makes it possible to correct the control target information to compensate for variations in the physical quantity measuring means and physical quantity control means managed by each slave module.

<Processing flow of embodiment 2>
The processing flow of the second embodiment, which is based on the first embodiment, is almost the same as the processing flow of the first embodiment shown in FIG.
In the method for operating a master module which is a computer (calculator), the difference is that the control target information output step (ad) (SA0204) performs processing to output the same control target information as control target information which is information for setting physical quantity control targets for each slave module based on the measurement results contained in the received reply.

Second Embodiment Hardware Configuration
The hardware configuration of the second embodiment, which is based on the first embodiment, is the same as the hardware of the first embodiment shown in FIGS. 3 and 4, for both the master module and the slave module.

<Effects of Second Embodiment>
When the master module transmits the same control target information to all slave modules, the master module corrects the physical quantities and physical quantity control information for the points assigned to each slave module, eliminating the need to output different control target information to each slave module (or for each point assigned to a slave module). If each slave module has correction information for its assigned points and is configured to correct the control target information, the master module can entrust the slave modules with correcting variations in each slave module or the points assigned to each slave module.

<Embodiment 3> Mainly Claim 3: Predetermined event is reception of control target information <Outline of Embodiment 3>

Embodiment 3 is based on either embodiment 1 or embodiment 2, and is configured so that when a slave module determines the length of elapsed time, the predetermined event that serves as the starting point for timing is the receipt by each slave module of control target information addressed to that module from the master module.

<Functional Configuration of Third Embodiment>
The functional configuration of the third embodiment will be described based on the first embodiment. The functional configuration is the same as that of the first embodiment. Note that the functional configuration, processing flow, and hardware configuration of the third embodiment can be based on the second embodiment, and similar effects can be obtained.

Third Embodiment: Slave Module Elapsed Time Determination Unit (BK)
After the elapsed time length determination unit (BK) is started, the predetermined event that is the starting point for timing to determine whether the elapsed time length measured by the time length measurement unit (BC) has reached a predetermined length is configured to be the reception by each slave module of control target information addressed to it from the master module.

The minimum length of time that the specified time should be the time that is normally required for the master module to output control target information one by one to each slave module that is connected to the master module and is the target of receiving the control target information. It is more preferable that the specified time be approximately twice the normally required time. The normally required time is the time it takes to output to all slave modules when output from the master module fails due to communication interference caused by noise or the like and no retry occurs. Since the possibility of a communication abnormality occurring with all slave modules is considered to be extremely low, it is considered sufficient to set the specified time to twice the normally required time (equivalent to the time it takes to output to all slave modules twice).

<Processing flow of embodiment 3>
The processing flow of embodiment 3 will be described based on embodiment 1. Each step in the processing flow is almost the same as in embodiment 1, but in the processing flow of embodiment 1 shown in Figure 2, in the method for operating a slave module, which is a computer, only the processing of the elapsed time length determination step (bk) (SB0209) is performed as follows.
The elapsed time length determination step (bk) (SB0209) performs processing to determine whether the elapsed time length measured by the time length measurement step (bc) (SB0203) after startup has reached a predetermined length since the master module received control target information addressed to each slave module (= predetermined timing).

Third Embodiment Hardware Configuration
The hardware configuration of the third embodiment is the same as the master module and slave module of the first embodiment shown in FIGS.

<Effects of Embodiment 3>
After all slave modules have received the control target information for themselves, each slave module can start controlling the physical quantity of the controlled object with a time lag within a predetermined range.

<Embodiment 4> Mainly claim 4: Master module also takes charge of physical quantity measurement points <Outline of embodiment 4>

Embodiment 4 is based on any one of embodiments 1 to 3 and is a multi-point physical quantity control system comprising a master module and one or more slave modules that cooperate with the master module and are physical quantity controllers of the controlled object, and not only the slave modules but also the master module are configured to be responsible for physical quantity measurement points of the controlled object.
<Functional Configuration of Fourth Embodiment>

Fig. 5 is a block diagram showing an example of the functional configuration of a multi-point physical quantity control system according to the fourth embodiment, which is based on the first embodiment. As shown in Fig. 5, the multi-point physical quantity control system of the present invention includes a master module (0501) which is composed of an activation command receiving unit (AA) (0502), a reply prompting information output unit (AB) (0503), a reply receiving unit (AC) (0504), and a control target information output unit (AD) (0505), and further includes a physical quantity measuring unit (AE) (0506) and a physical quantity control information output unit (AF) (0507),
The slave module (0510) is composed of a start command receiving unit (BA) (0511), a slave ID holding unit (BB) (0512), a time length measuring unit (BC) (0513), a physical quantity measuring unit (BD) (0514), a physical quantity control information output unit (BE) (0515), a reply prompting information receiving unit (BF) (0516), a reply output unit (BG) (0517), a control target information receiving unit (BH) (0518), a control target information holding unit (BJ) (0519), an elapsed time length determining unit (BK) (0520), and an output command unit (BM) (0521). Since the components other than the physical quantity measurement unit (AE) (0506) and the physical quantity control information output unit (AF) (0507) of the master module are the same as those of the other embodiments described above, only the physical quantity measurement unit (AE) (0506) and the physical quantity control information output unit (AF) (0507) of the master module will be described below. Note that the same effects can be obtained even if either embodiment 2 or embodiment 3 is used as a base.

<Embodiment 4: Master Module Physical Quantity Measurement Unit (AE) (0506)>
The physical quantity measurement unit (AE) (0506) of the master module is configured to measure the physical quantity of a measurement point of the controlled object.

An example of this embodiment will be described using the heating processing example shown in Figure 10. Four thermometers (1007) for measuring the physical quantities of the processed workpiece (1008), which is the object to be controlled, are connected to the master module (1002), and four heaters (1006) for controlling the physical quantities are connected. The measurement results at the physical quantity measurement points managed by the master module are combined with the measurement results from the slave modules to determine the control target information. Note that the number of connections for measuring physical quantities (temperatures) and the number of connections for controlling physical quantities are not limited to the example shown in Figure 10.

<Fourth embodiment: Master module physical quantity control information output unit (AF) (0507)>
The physical quantity control information output unit (AF) (0507) of the master module is configured to output physical quantity control information (e.g., information for determining the amount of current for heating, etc.) which is information for controlling the physical quantity of the controlled object based on the control target information.

<Processing flow of embodiment 4>
6 shows the processing flow of the multi-point physical quantity control system of the fourth embodiment, which is based on the first embodiment. The same effect can be obtained even if the second or third embodiment is used as the basis. The left side shows the processing flow in the master module, which is a computer (calculator), and the right side shows the processing flow in the slave module, which is also a computer (calculator). In FIG. 6, it is assumed that the communication between the master module and the slave module uses a serial communication path (serial bus) of the RS-485 standard of the Modbus RTU protocol.

The operation of the master module, which is a computer, is as follows:
The start-up command receiving step (aa) (SA0601) receives a start-up command to start the master module.
The physical quantity measurement step (ae) (SA0602) measures the physical quantity of the measurement point of the object to be controlled,
In the reply prompting information output step (ab) (SA0603), when a start command is received, a process is performed to output reply prompting information, which is information for prompting a reply from the slave module to a communication line with the slave module in order to determine the slave module that will cooperate with the slave module,
A reply receiving step (ac) (SA0604) performs a process of receiving a reply from a slave module in response to the reply prompting information, the reply including measurement results of physical quantities at physical quantity measurement points of the controlled object handled by each slave module and a slave ID for uniquely identifying the slave; a control target information output step (ad) (SA0605) performs a process of outputting control target information, which is information for determining physical quantity control targets for each slave module, based on the measurement results included in the received reply;
The physical quantity control information output step (af) (SA0606) performs processing to output physical quantity control information (e.g., information for determining the amount of current for heating, etc.), which is information for controlling the physical quantity of the object to be controlled based on the control target information.

The operation method of each slave module, which is a computer (calculator), is as follows:
A start-up command receiving step (ba) (SB0601) receives a start-up command to start a slave module. A slave ID holding step (bb) (SB0602) holds a slave ID that uniquely identifies the slave module.
The time length measurement step (bc) (SB0603) performs a process of measuring the time length,
The physical quantity measurement step (bd) (SB0604) measures the physical quantity of the measurement point of the object to be controlled,
A reply prompting information receiving step (bf) (SB0605) performs processing to receive the reply prompting information output from the reply prompting information output step (ab) (SA0603) of the master module,
A reply output step (bg) (SB0606) performs processing for outputting a reply including the measurement result of the physical quantity at the measurement point of the controlled object that the reply output step (bg) (SB0606) is responsible for and the slave ID to a reply receiving step (ac) (SA0604) of the master module when the reply prompting information addressed to the master module is received;
A control target information receiving step (bh) (SB0607) receives the control target information output from the control target information output step (ad) (SA0605) of the master module.
A control target information holding step (bj) (SB0608) performs processing to hold the control target information addressed to the device itself,
The elapsed time length determination step (bk) (SB0609) performs processing to determine whether the elapsed time length measured by the time length measurement step (bc) (SB0603) from a predetermined event after startup has reached a predetermined time length.
An output command step (bm) (SB0610) performs processing to output the first physical quantity control information after startup to a physical quantity control information output step (be) (SB0611) when the determination result in the elapsed time length determination step is that a predetermined time length has elapsed;
The physical quantity control information output step (be) (SB0611) performs processing to output physical quantity control information (e.g., information for determining the amount of current for heating, etc.), which is information for controlling the physical quantity of the object to be controlled based on the control target information.
This is an operating method for causing a multi-point physical quantity control system, which is a computer, to execute such a series of processes.

<Embodiment 4: Hardware>

Figure 7 is a conceptual diagram showing an example of the hardware configuration of the master module of the multi-point physical quantity control system of this embodiment. As shown in FIG. 7 , the device includes a CPU (0701), a nonvolatile memory (0702) (e.g., ROM, SSD, etc.), a main memory (0703), an Ethernet communication I/F (0704) (interface is abbreviated as I/F in FIG. 3 ) for connection with a control PC, a recorder, etc., a general-purpose serial communication interface I/F1 (0705) for connection with a control module, etc., a user I/F (0706), a bus controller (0709) for controlling a communication I/F (0711) with an internal bus (0710), a controller DMAC (0708) for performing a DMA method (a method of transferring data to and from a memory without going through the CPU) during internal bus transmission, and a control system I/F (0712) which is an interface for a physical quantity measurement result input (0713) and a physical quantity control information output (0714), and a system bus (0707) for transmitting and receiving signals therebetween. The CPU can be a customized, dedicated CPU, and dedicated firmware can be used instead of an OS (operating system). Systems with multiple CPU cores and/or sufficient cache memory are also preferred, as this helps prevent operational delays due to memory shortages.

In addition to the OS (operating system) and device drivers, non-volatile memory also contains
a start-up command receiving program that receives a start-up command to start the master module;
a reply prompting information output program that outputs reply prompting information, which is information for prompting a reply from a slave module to a communication line with the slave module in order to determine a slave module that will cooperate with the program when a start command is received;
a reply receiving program for receiving replies from slave modules in response to reply prompting information, the replies including measurement results of physical quantities at physical quantity measurement points of the controlled object that each slave module is responsible for, and a slave ID that uniquely identifies the slave module;
Various programs and specific port numbers are recorded, such as a control target information output program that outputs control target information, which is information for setting physical quantity control targets for each slave module based on the measurement results included in the received reply, a physical quantity measurement program that measures the physical quantities of measurement points on the controlled object, and a physical quantity control information output program that outputs physical quantity control information (e.g., information for determining the amount of current for heating), which is information for controlling the physical quantities of the controlled object based on the control target information. Each program is deployed and executed, and information and data acquired via the interface are stored in nonvolatile memory, the stored information and data are processed by executing the program in a work area of the main memory, and are retained in nonvolatile memory, or inquiries from a higher-level control device are responded to by executing the program via an Ethernet communication interface or a serial communication interface.

8 is a conceptual diagram showing an example of the hardware configuration of each slave module of the multi-point physical quantity control system of this embodiment 4. As shown in FIG. 8, the system includes a CPU (0801), a non-volatile memory (0802) (e.g., ROM, SSD, etc.), a main memory (0803), a general-purpose serial communication interface I/F1 (0804) for connecting to a control module, etc., a user I/F (0805), a bus controller (0808) for controlling a communication I/F (0810) with an internal bus (0809), a controller DMAC (0807) for performing DMA (a method of transferring data to and from memory without going through the CPU) during internal bus transmission, and a control system I/F (0811) that serves as an interface for inputting physical quantity measurement results (0812) and outputting physical quantity control information (0813), as well as a system bus (0806) for transmitting and receiving signals between them. The CPU can be a customized, dedicated CPU, and dedicated firmware can be used instead of an OS (operating system). Systems with multiple CPU cores and/or sufficient cache memory are also preferred, as this helps prevent operational delays due to memory shortages.

In addition to the OS (operating system) and device drivers, non-volatile memory also contains
a start command receiving program that receives a start command to start the slave module, a slave ID holding program that holds a slave ID that uniquely identifies itself, a time length measuring program that measures a time length, a physical quantity measuring program that measures a physical quantity at a measurement point of the controlled object, a physical quantity control information output program that outputs physical quantity control information (e.g., information that determines the amount of current for heating, etc.) that is information for controlling the physical quantity of the controlled object based on control target information, a reply prompt information receiving program that receives reply prompt information from the master module, and a program that outputs the reply prompt information of the controlled object that it is responsible for when it receives reply prompt information addressed to itself. The master module stores various programs and specific port numbers, such as a reply output program that outputs a reply including measurement results of physical quantities at measurement points and a slave ID, a control target information receiving program that receives control target information, a control target information holding program that holds the control target information addressed to the master module, an elapsed time length determination program that determines whether an elapsed time length measured in a time length measurement step from a predetermined event after startup has reached a predetermined time length, and an output command program that causes the physical quantity control information output program to output the first physical quantity control information after startup if the determination result in the elapsed time length determination step is that the predetermined time length has elapsed.The master module then deploys and executes each program, stores information and data acquired via an interface in a nonvolatile memory, processes the stored information and data in a work area of the main memory by executing the program, and stores the information and data in the nonvolatile memory or outputs a response to the master module via a serial communication interface by executing the program.
<Effects of Fourth Embodiment>

With the multi-point physical quantity control system of this embodiment 4, when the master module itself controls a control object, the physical quantity of the control object of the master module can also be used as data when setting control target information. Even if the same number of slave modules are used, it is possible to control control objects at more points.

Claims (9)

A multi-point physical quantity control system comprising a master module and one or more slave modules which cooperate with the master module and are physical quantity controllers of a controlled object,
The master module is
an activation command receiving unit (AA);
a time length measuring unit (AH) for measuring a time length;
a reply prompting information output unit (AB) that, when receiving a start command, outputs reply prompting information, which is information for prompting a reply from the slave module, to a communication line with the slave module in order to determine the slave module that will cooperate with the unit;
a reply receiving unit (AC) that receives replies from the slave modules in response to the reply prompting information, the replies including measurement results of physical quantities at physical quantity measurement points of the controlled object that each slave module is responsible for, and a slave ID that uniquely identifies the slave module;
After a predetermined startup waiting time measured by the startup time length measurement unit (AH) has elapsed, a predetermined provisional value is output to the slave module as control target information (described later),
a control target information output unit (AD) that selects, based on the measurement results of the physical quantities at the physical quantity measurement points included in the responses from the slave modules in response to the output control target information, a physical quantity at which the physical quantity at each physical quantity measurement point reaches a target of a common physical quantity processing profile, and outputs control target information that indicates a target of the physical quantity for controlling the physical quantity to each slave module based on the selected physical quantity;
and
The slave module is
a start-up command receiving unit (BA);
a slave ID holding unit (BB) that holds a slave ID that uniquely identifies itself;
a time length measurement unit (BC) for measuring a time length;
a physical quantity measurement unit (BD) for measuring a physical quantity at a measurement point of an object to be controlled;
a physical quantity control information output unit (BE) that outputs physical quantity control information (e.g., information for determining the amount of current for heating) that is information for controlling the physical quantity of the controlled object based on the control target information;
a reply prompt information receiving unit (BF) for receiving reply prompt information from the master module;
a reply output unit (BG) that outputs a reply including a measurement result of a physical quantity at a measurement point of a control object that is in charge of the reply output unit (BG) when reply prompting information is received, and a slave ID;
a control target information receiving unit (BH) for receiving control target information;
a control target information storage unit (BJ) for storing the control target information;
an elapsed time length determination unit (BK) that determines whether the elapsed time length measured by the time length measurement unit (BC) after startup has reached a predetermined time length for completing output from the master module to all slave modules of the control target information set by the master module based on the measurement results included in the replies from each slave module;
an output command unit (BM) for causing a physical quantity control information output unit (BE) to output the first physical quantity control information after startup when the determination result of the elapsed time length determination unit (BK) is that a predetermined time length has elapsed;
A multipoint physical quantity control system configured to have: A multi-point physical quantity control system as described in claim 1, wherein the control target information output by the master module to the slave modules is the same for all slave modules. The master module also has a physical quantity measurement unit (AE) that measures the physical quantity of the measurement point of the controlled object,
a physical quantity control information output unit (AF) that outputs physical quantity control information (e.g., information for determining an amount of current for heating, etc.) that is information for controlling the physical quantity of the controlled object based on the control target information. A method for operating a multi-point physical quantity control system, which is a computer comprising a master module and one or more slave modules which cooperate with the master module and are physical quantity controllers of a controlled object, comprising the steps of:
The operation of the master module, which is a computer, is as follows:
A start command receiving step (aa);
a time length measurement step (ah) for measuring a time length;
a reply prompting information output step (ab) of outputting reply prompting information, which is information for prompting a reply from the slave module to a communication line with the slave module in order to determine a slave module that will cooperate with the reply prompting information output step (ab) when the activation command is received;
a reply receiving step (ac) of receiving a reply from a slave module in response to the reply prompting information, the reply including a measurement result of a physical quantity at a physical quantity measurement point of the controlled object that each slave module is responsible for, and a slave ID that uniquely identifies the slave module;
After the predetermined startup waiting time measured in the startup time length measurement step (ah) has elapsed, a predetermined provisional value is output to the slave module as control target information (to be described later);
a control target information output step (ad) of selecting, based on the measurement results included in the replies from each slave module in response to the output control target information, a physical quantity at each physical quantity measurement point that reaches a target of a common physical quantity processing profile as a criterion, and outputting, to each slave module, control target information that indicates a target of the physical quantity for controlling the physical quantity based on the selected physical quantity;
The operation method of the slave module, which is a computer, is as follows:
a start command receiving step (ba);
a slave ID holding step (bb) of holding a slave ID that uniquely identifies itself;
a time length measurement step (bc) for measuring a time length;
a physical quantity measuring step (bd) of measuring a physical quantity at a measurement point of the controlled object;
a physical quantity control information output step (be) of outputting physical quantity control information (e.g., information for determining the amount of current for heating) that is information for controlling the physical quantity of the controlled object based on the control target information;
a reply prompting information receiving step (bf) for receiving reply prompting information from the master module;
a reply output step (bg) of outputting a reply including a measurement result of a physical quantity at a measurement point of the controlled object that the device is responsible for and a slave ID when the device receives reply prompting information;
a control target information receiving step (bh) of receiving control target information;
a control target information holding step (bj) for holding the control target information;
an elapsed time length determination step (bk) for determining whether the elapsed time length measured by the time length measurement step (bc) after startup has reached a predetermined time length for completing output from the master module to all slave modules of the control target information set by the master module based on the measurement results included in the replies from each slave module;
an output command step (bm) for causing a physical quantity control information output step (be) to output the first physical quantity control information after startup when the determination result in the elapsed time length determination step (bk) is that a predetermined time length has elapsed;
A method of operating a multi-point physical quantity control system, the computer being configured to include: 5. A method for operating a multi-point physical quantity control system that is a computer according to claim 4 , wherein the control target information output from the master module to the slave modules is the same for all slave modules. The operation method of the master module, which is a computer, is also a physical quantity measurement step (ae) that measures the physical quantity of the measurement point of the controlled object,
a physical quantity control information output step (af) of outputting physical quantity control information (e.g., information for determining the amount of current for heating, etc.) that is information for controlling the physical quantity of the controlled object based on the control target information. An operating program readable by a multi-point physical quantity control system, which is a computer comprising a master module and one or more slave modules which cooperate with the master module and are physical quantity controllers for a controlled object,
The operating program that can be read by the master module, which is a computer, is
A start command receiving step (aa);
a time length measurement step (ah) for measuring a time length;
a reply prompting information output step (ab) of outputting reply prompting information, which is information for prompting a reply from the slave module to a communication line with the slave module in order to determine a slave module that will cooperate with the reply prompting information output step (ab) when the activation command is received;
a reply receiving step (ac) of receiving a reply from a slave module in response to the reply prompting information, the reply including a measurement result of a physical quantity at a physical quantity measurement point of the controlled object that each slave module is responsible for, and a slave ID that uniquely identifies the slave module;
After the predetermined startup waiting time measured in the startup time length measurement step (ah) has elapsed, a predetermined provisional value is output to the slave module as control target information (to be described later);
a control target information output step (ad) of selecting, based on the measurement results included in the replies from each slave module in response to the output control target information, a physical quantity at each physical quantity measurement point that reaches a target of a common physical quantity processing profile as a criterion, and outputting, to each slave module, control target information that indicates a target of the physical quantity for controlling the physical quantity based on the selected physical quantity;
The operating program that can be read by the slave module, which is a computer, is
a start command receiving step (ba);
a slave ID holding step (bb) of holding a slave ID that uniquely identifies itself;
a time length measurement step (bc) for measuring a time length;
a physical quantity measuring step (bd) of measuring a physical quantity at a measurement point of the controlled object;
a physical quantity control information output step (be) of outputting physical quantity control information (e.g., information for determining the amount of current for heating) that is information for controlling the physical quantity of the controlled object based on the control target information;
a reply prompting information receiving step (bf) for receiving reply prompting information from the master module;
a reply output step (bg) of outputting a reply including a measurement result of a physical quantity at a measurement point of the controlled object that the device is responsible for and a slave ID when the device receives reply prompting information;
a control target information receiving step (bh) of receiving control target information;
a control target information holding step (bj) for holding the control target information;
an elapsed time length determination step (bk) for determining whether the elapsed time length measured by the time length measurement step (bc) after startup has reached a predetermined time length for completing output from the master module to all slave modules of the control target information set by the master module based on the measurement results included in the replies from each slave module;
an output command step (bm) for causing a physical quantity control information output step (be) to output the first physical quantity control information after startup when the determination result in the elapsed time length determination step (bk) is that a predetermined time length has elapsed;
An operating program readable by a multi-point physical quantity control system, the multi-point physical quantity control system being a computer configured to have: 8. The operating program readable by a multi-point physical quantity control system that is a computer according to claim 7 , wherein the control target information output from the master module to the slave modules is the same for all slave modules. The operating program that can be read by the master module, which is a computer, is a physical quantity measurement step (ae) that measures the physical quantity of the measurement point of the controlled object,
a physical quantity control information output step (af) of outputting physical quantity control information (e.g., information for determining an amount of current for heating, etc.) that is information for controlling the physical quantity of the control target object based on the control target information.