可程式邏輯控制器(PLC)在工業控制是不可或缺的存在。而判斷一個PLC是否能在適任於特定控制系統中，最關鍵的要素為掃描時間(Scan time)。然而傳統PLC以單一處理單元輪詢處理所有任務的循序架構下，在同時處理大量周邊與複雜任務的共時控制時，將造成掃描的延遲。PLC為了融入工業4.0智慧工廠中，高速而大量的資料擷取與收集即是一個複雜任務的例子，勢必影響工業控制的即時性。因此本論文提出一個創新的共時控制架構，結合基於FPGA的周邊控制系統，與獨立的資料擷取控制器，構成一個高效能的共時(concurrent) PLC控制器。此控制器具有在處理平行周邊的共時設定、大量共時DI/DO控制以及共時的資料擷取等任務下，系統仍保有硬即時性(hard real-time)。論文最後，我們以一個共時控制大量周邊的PLC程式，驗證我們提出的共時PLC控制器，並證明比現有的產品有更穩定的共時控制能力。;Programmable logic controller (PLC) is an indispensable part in industrial control systems. The key factor of determining whether a PLC is proper in a control system is scan time. However, under the traditional PLC architecture, delay will occur when PLC concurrently controls a lot of peripherals and handles complex tasks, since PLC uses one control unit to do the tasks in polling method. Moreover, for any PLC in an Industry 4.0 smart factory, massive data collection and capture are necessary tasks, and this task must impact on the ability in real-time industrial control. Therefore, this study proposed an innovative concurrent control architecture, combining a field-programmable gate array-based peripheral control system and independent data collection controller to construct a high-performance concurrent PLC. The proposed system features hard real-time control ability even doing complex tasks, such as handling data capture simultaneously during controlling numerous peripherals and DI/DO. In the end of this study, we implement a PLC program which controls 40 peripherals on concurrent PLC and recent PLC product. The result shows that concurrent PLC is more stable than recent PLC product on concurrent control ability.
