CN101504540B - Control method for safe and intelligent I/O combination system - Google Patents

Control method for safe and intelligent I/O combination system Download PDF

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Publication number
CN101504540B
CN101504540B CN200910058532XA CN200910058532A CN101504540B CN 101504540 B CN101504540 B CN 101504540B CN 200910058532X A CN200910058532X A CN 200910058532XA CN 200910058532 A CN200910058532 A CN 200910058532A CN 101504540 B CN101504540 B CN 101504540B
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mcu
state
data
order
order data
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CN101504540A (en
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何鸿云
钟剑
吴鹏
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Chengdu Yuanda Technology Co., Ltd.
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CHENGDU YUNDA RAIL EQUIPMENT Co Ltd
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Abstract

The invention discloses a control system for a safe intelligent I/O composite system, which comprises an interlocking machine, a device-driving and state-acquiring circuit 1, a device-driving and state-acquiring circuit 2, a first MCU and a second MCU, wherein the first MCU and the second MCU are connected with the interlocking machine respectively through two paths CAN buses, the first MCU is also connected with the device-driving and state-acquiring circuit 1, the second MCU is also connected with the device-driving and state-acquiring circuit 2, and the first MCU is connected with the second MCU through a UART port. By using the control system as a base, the invention also provides a method for controlling the safe intelligent I/O composite system for controlling the states of devices in the safe intelligent I/O composite system and acquiring and commanding the interaction process in real time. The control system and the method can effectively ensure the accuracy of information acquisition and improve the reliability of information transmission and the safety of the system, and are mainly applied to the safe intelligent I/O composite system in the field of locomotive station track control.

Description

The control method of a kind of safe and intelligent I/O combined system
Technical field
The present invention relates to a kind of control method, specifically, relate to a kind of control method that applies to the safe and intelligent I/O combined system in control field, locomotive station track.
Background technology
In control field, locomotive station track, operational efficiency and security that the whether normal direct relation of state of field device (mainly comprising signalling arrangements such as teleseme, track circuit, track switch) of standing whole operation system, if can not reliably control and in time find its abnormal conditions to it, will bury potential safety hazard to the locomotive driving, even may cause security incident, the information monitoring and the control of the field device of therefore standing are a crucial job.
At present, stand that the information Detection ﹠ Controling of field device realize by corresponding interface circuits control by the industrial computer of carrying out the interlocking computing.Because industrial computer should move the interlocked control program, control interface circuit again, the therefore interface circuit limited amount that can control, this has just caused the extendability of existing station field device information Detection ﹠ Controling system bad, can not be applied to relatively large field, station.Secondly, the prior art system layer of structure is clear inadequately, makes carrying out of malfunction elimination and testing very difficult, and then has also caused the reliability of system not high.
Summary of the invention
The object of the present invention is to provide the control method of a kind of safe and intelligent I/O combined system, the automatic detection and the control of the field device that is applied to stand, the accuracy that guarantee information is gathered improves the security of information transmission and the reliability of system.
To achieve these goals, the technical solution used in the present invention is as follows:
The control system of a kind of safe and intelligent I/O combined system, it is characterized in that, the control system of described safe and intelligent I/O combined system comprises interlocking machine, device drives and state acquisition circuit 1, device drives and state acquisition circuit 2, a MCU and the 2nd MCU, a described MCU, the 2nd MCU are connected by two-way CAN bus with interlocking machine respectively, and a MCU, also with device drives and state acquisition circuit 1, the 2nd MCU also is connected with state acquisition circuit 2 with device drives, and a MCU and the 2nd MCU also interconnect by the UART port.
Based on the control system of above-mentioned safe and intelligent I/O combined system, the invention allows for the control method of a kind of safe and intelligent I/O combined system, this control method comprises: under non-fill order state, the real-time gatherer process of the state of the field device of standing; And under the fill order state, the command interaction process that system carries out.
The real-time gatherer process of state of described station field device may further comprise the steps:
Self is set for (1) the one MCU and the 2nd MCU and the other side's state flag bit is normal;
Whether (2) the one MCU and the 2nd MCU detect the oneself state zone bit respectively normal, if fault, then close device drives and the state acquisition circuit oneself controlled, otherwise, then the status information of controlling object is gathered in real time by device drives and state acquisition circuit;
(3) the one MCU and the 2nd MCU judge respectively whether the other side's state flag bit is normal, if the other side's state is a fault, then oneself being collected status information data is saved in the CANOpen object dictionary of MCU inside separately, execution in step (2) then, otherwise, then the status information of equipment data that collect are transferred to the other side mutually by the UART port;
After (4) the one MCU and the 2nd MCU receive the information data that the other side passes, judge whether the other side's state flag bit is normal, if the other side's state is a fault, then the data of receiving is abandoned, execution in step (2) then, on the contrary then whether the judgment data transmission is wrong;
(5) if data transmission is wrong, then the data of receiving are abandoned, execution in step (2) then, otherwise, then relatively whether the status information of equipment that obtains of two MCU is identical, if identical, then status information is saved in the CANOpen object dictionary of above-mentioned two MCU inside, otherwise, then be judged as corresponding apparatus and drive and the state acquisition fault;
(6) if device drives and the state acquisition fault of this MCU, it is fault that the oneself state zone bit then is set, and this MCU failure message is saved in the CANOpen object dictionary of this MCU inside, otherwise, it is fault that the other side's state flag bit then is set, and the other side MCU failure message is saved in the CANOpen object dictionary of this MCU inside execution in step (2) then.
Described command interaction process may further comprise the steps:
A. the interlocking machine data of giving an order transfer to a MCU and the 2nd MCU with order data;
B. to judge whether the order data receive transmits wrong for a MCU and the 2nd MCU, if transmission is wrong, then abandons order data, directly end, otherwise, judge whether order data is querying command;
C. if order data is a querying command, judge then whether this querying command issues this MCU, otherwise, judge then whether order data is operational order;
D. if querying command is not issued this MCU, then abandon order data, directly finish, otherwise, inquire about required status information the CANOpen object dictionary in this MCU, and Query Result is back to interlocking machine;
E. if order data is the not operation order, then directly finish, otherwise, judge then whether this operational order issues this MCU;
F. if operational order is not issued this MCU, then the order data of receiving is issued another MCU by the UART port, otherwise, the hold-over command data, and set the overtime time limit, wait for that another MCU sends to this MCU with order data and makes comparisons;
G. if in the time limit of setting, do not receive the order data that another MCU sends over, then remove the order data of preserving, directly finish, otherwise, order data of preserving and the order data that another MCU sends over are made comparisons, identical then drive controlling object operation command, difference then directly finish.
The process that order data transfers to MCU among the described step a comprises:
Interlocking machine becomes two parts with replication of command data, simultaneously two parts of order datas are transferred to a MCU and the 2nd MCU by two-way CAN bus, the one MCU and the 2nd MCU are according to the state of two-way CAN bus, keep the order data that the transmission state data conduct of one road CAN bus transfer is preferably received, remove the order data of another road CAN bus simultaneously.
Query Result passback process is in the described steps d:
The MCU of designated reception order data is copied into two parts with the status information that inquires, and is back to interlocking machine simultaneously by two-way CAN bus.
The concrete steps of drive controlling object operation command comprise in the described step g:
(1) MCU of designated reception operational order checks respectively whether the oneself state zone bit is fault, if fault is then removed the order data of preserving, directly finish, otherwise, check then whether controlling object has been in this mode of operation; (2) if controlling object has been under this state, then directly finish the operational order that interlocking machine sends, otherwise, then send drive signal, and detect drive signal whether can be by device drives and state acquisition circuit function in controlling object; (3) if drive signal can not then stop a drive signal by device drives and state acquisition circuit function in controlling object, and the oneself state zone bit is set is fault, otherwise, the setting operation time limit; (4) at the state of setting continuous review controlling object in the time limit, when detecting controlling object and arrived the state that operational order requires, stop to send drive signal, and the end operation order; When the setting time limit surpasses, stop to send drive signal, it is fault that the oneself state zone bit is set then, and the end operation order.
Principle of the present invention: adopt the identical hardware device of two covers to make up, and information data is successively compared, when the information of having only two cover hardware devices to gather respectively is identical, just be considered as accurate information, and preserved, ensureing the accuracy of data, thereby give security for information inquiry; On the transmission of Information problem, adopt two-way CAN bus, during each information extraction, all transmit two information simultaneously, and two information are compared by two-way CAN bus, have only both identical, just be considered as correct information, thus the raising reliability of information transmission; Two one of MCU use a standby equipment then to provide guarantee as the normal operation of system.
Compare with traditional control system, the present invention not only adopts two complete equipments to move simultaneously, for Information Monitoring, data have also been carried out relatively, have only the status information of the synchronization that two MCU obtain identical, just regard it as status information accurately, and in the MCU internal separation be used to store zone---the CANOpen object dictionary of data, in order to the storage real-time status information of controlling object and other information of system, provide reliable information data during simultaneously for the status information of interlocking machine inquiry controlling object.After the accuracy that has guaranteed status information, need also to guarantee that the transmission of Information circuit is errorless, for this reason, between each MCU and interlocking machine, adopt the two-way CAN bus of two-way to connect, during data transmission, with data transmission simultaneously in two-way CAN bus respectively, to guarantee reliability of data transmission.When interlocking machine is given an order data, interlocking machine is two parts with replication of command data, and two parts of order datas are passed through two-way CAN bus transfer respectively give two MCU, each MCU receives two parts of identical order datas, they select transmission state one road CAN bus preferably, keep its order data, and remove the order data of another road CAN bus transfer.As MCU during to interlocking machine passback station field device status data, MCU copies as two parts with device status data, and two parts of status datas are passed through two-way CAN bus transfer respectively give interlocking machine, interlocking machine is selected transmission state one road CAN bus preferably, keep its data, and remove the device data of another road CAN bus transfer.In the process of MCU drive controlling object, system not only proofreads order data by two MCU, and the state of establishing device drives and state acquisition circuit has also been carried out detection judged, with this security that improves command execution, guarantee the security of operation of system.Native system has increased a lot of check points to station field device and control circuit thereof, can the very convenient point of fault location exactly, greatly reduced the workload that maintenance detects.
Some equipment in the may command of control system described in the present invention safe and intelligent I/O combined system, also can control a plurality of equipment, can also control the equipment of whole safe and intelligent I/O combined system, correspondingly gather the status information of an equipment or a plurality of equipment in real time, and opertaing device carries out corresponding operating.
The present invention have have wide range of applications, the controlling object amount is big, the control flexible characteristic, not only can guarantee the accuracy of Information Monitoring, can also improve reliability of information transmission greatly, guarantee the safe operation of system effectively, improve system reliability, greatly reduce maintenance load.
Description of drawings
Fig. 1 is the system chart of control system among the present invention.
Fig. 2 is the schematic flow sheet of field device state acquisition process in station among the present invention.
Fig. 3 is the schematic flow sheet of command interaction process among the present invention.
Fig. 4 transfers to the schematic flow sheet of MCU for order data among the present invention.
Fig. 5 is the schematic flow sheet of drive controlling object operation command among the present invention.
Embodiment
The present invention is further described below by coming for example.
As shown in Figure 1, the control system of a kind of safe and intelligent I/O combined system, it is characterized in that, the control system of described safe and intelligent I/O combined system comprises interlocking machine, device drives and state acquisition circuit 1, device drives and state acquisition circuit 2, a MCU and the 2nd MCU, a described MCU, the 2nd MCU are connected by two-way CAN bus with interlocking machine respectively, and a MCU, also with device drives and state acquisition circuit 1, the 2nd MCU also is connected with state acquisition circuit 2 with device drives, and a MCU and the 2nd MCU also interconnect by the UART port.
In MCU inside, realize that by software its function: MCU at first receives the order data that interlocking machine sends fully, operate accordingly according to order data then, or from the object dictionary of CANOpen query State information, or send drive controlling object operation command; And in the real-time gatherer process of state, whether the status information that two MCU also need constantly relatively two MCU to obtain is identical, and identical status information is saved in the object dictionary of CANOpen.
Describe the concrete course of work of the present invention in detail according to above-mentioned hardware system and software setting below:
One. the real-time gatherer process of the state of the field device of standing
As shown in Figure 2: at first two MCU set self and the other side's state flag bit respectively for normal, right latter two MCU checks whether the oneself state sign is normal, if malfunction is then closed corresponding apparatus and driven and the state acquisition circuit, otherwise, then controlling object is carried out state and gathers in real time.After MCU collects the status information of controlling object, whether the state flag bit of checking the other side is normal, if the other side's state flag bit is a fault, then directly preserve the status information that self collects to the object dictionary of CANOpen, and return and continue to check whether the oneself state zone bit is normal, thereby the status information of circle collection controlling object.After the status information that collects controlling object, check that the other side's state flag bit is for just often, the status information transmission that two MCU will collect is separately given the other side, and check once more whether the other side's state flag bit is normal, at this moment, if the other side's state flag bit is a fault, then abandon the information that the other side transmits, otherwise, then whether the judgment data transmission is wrong, if wrong, then abandons the information that the other side transmits, if it is errorless, then relatively whether the status information that collects of two MCU is identical, if identical, then two MCU preserve the status information that collects separately to the object dictionary of CANOpen, if inequality, then the set device driving is a malfunction with the state acquisition circuit.Two MCU judge respectively whether the device drives and the state acquisition circuit of control break down separately, if break down, then setting corresponding M CU is malfunction, and failure message is saved in the object dictionary of the CANOpen in the corresponding M CU; If device drives and the state acquisition circuit state of self control are normally, then the other side MCU state flag bit is made as fault, the other side's failure message is saved in the object dictionary of CANOpen of self.
Two. the command interaction process
As shown in Figure 3, interlocking machine is simultaneously to two MCU data of giving an order, and MCU receives orders after the data, checks whether data transmission makes mistakes, if loading error occurring then directly finishes, otherwise, judge then whether order data is querying command.If order data is querying command, judge then whether this order sends self MCU, if, the corresponding information of inquiry the CANOpen object dictionary in self MCU then, and passback is to interlocking machine; If order data is not transferred to self MCU, then directly abandon order data and termination routine.If the order data that MCU receives is not a querying command, judge then whether it is operational order, if not operational order then directly finishes, if operational order, judge then whether this order issues this MCU, if not, then operational order is transferred to the other side MCU, if, then preserve this operational order, and set the execution time limit of this operational order, and in this time limit, judge whether to receive the operational order of another MCU transmission.If the operational order that the other side MCU transmits is received in this MCU position, then remove the operational order in this MCU; If receive the operational order of the other side MCU transmission, then relatively whether the operational order obtained of two MCU is identical, if identical, then the drive controlling object is carried out corresponding operation, otherwise, the finish command then.
Three. command transfer is to the mode of MCU
As Fig. 1, shown in Figure 4, in the present invention, command transfer adopts two-way CAN bus, sends simultaneously to two MCU.At first, interlocking machine is two parts with replication of command data, be transferred to two MCU respectively by two-way CAN bus then, the transmission state that compares two-way CAN bus at last, keep transmission state one road CAN bus transfer order data of coming preferably, remove the order data of another road CAN bus transfer simultaneously.
Four. the operational order implementation
Receive operational order and confirm that under the errorless situation of data transmission, MCU is with drive controlling object operation command, as shown in Figure 5 at MCU.MCU will check at first whether the state flag bit of self is normal, if state flag bit is a fault, and then clear operation order, and finish; If oneself state is normal, check then whether controlling object has been in the state of requirement, if controlling object has been under the state of requirement, then finish the operational order that interlocking machine sends, if controlling object also is not under the state of requirement, MCU just sends drive signal, reexamine drive signal and whether act on controlling object this moment, if do not act on the controlling object, then stop to send drive signal, and the oneself state zone bit is set is fault, if drive signal has acted on the controlling object, then set the operation time limit of this operational order, and whether the continuous review controlling object has been under the state of requirement in the operation time limit, has been in when controlling object under the state of requirement, then stop to send drive signal, if be not under the state of requirement at operation time limit inner control object, then stop to send drive signal, and the oneself state zone bit is set be fault always.
In above-mentioned information inquiry process control and operation of equipment process control, in case system can't finish the desired work of interlocking machine, then illustrative system breaks down, the system maintenance personnel can find the place of breaking down apace according to the information of preserving in the CANOpen object dictionary, so that it is overhauled, thereby improve the efficient of system maintenance, guarantee the normal operation of system.

Claims (5)

1. the control method of safe and intelligent I/O combined system is characterized in that, the control method of described safe and intelligent I/O combined system comprises
Under non-fill order state, the real-time gatherer process of the state that the field device of standing carries out;
Under the fill order state, the command interaction process that system carries out;
The real-time gatherer process of described station field device state may further comprise the steps:
Self is set for (1) the one MCU and the 2nd MCU and the other side's state flag bit is normal;
Whether (2) the one MCU and the 2nd MCU detect the oneself state zone bit respectively normal, if fault, then close device drives and the state acquisition circuit oneself controlled, otherwise, then the status information of controlling object is gathered in real time by device drives and state acquisition circuit;
(3) the one MCU and the 2nd MCU judge respectively whether the other side's state flag bit is normal, if the other side's state is a fault, then oneself being collected status information data is saved in the CANOpen object dictionary of MCU inside separately, execution in step (2) then, otherwise, then the status information of equipment data that collect are transferred to the other side mutually by the UART port;
After (4) the one MCU and the 2nd MCU receive the information data that the other side passes, judge whether the other side's state flag bit is normal, if the other side's state is a fault, then the data of receiving is abandoned, execution in step (2) then, on the contrary then whether the judgment data transmission is wrong;
(5) if data transmission is wrong, then the data of receiving are abandoned, execution in step (2) then, otherwise, then relatively whether the status information of equipment that obtains of two MCU is identical, if identical, then status information is saved in the CANOpen object dictionary of above-mentioned two MCU inside, otherwise, then be judged as corresponding apparatus and drive and the state acquisition fault;
(6) if device drives and the state acquisition fault of this MCU, it is fault that the oneself state zone bit then is set, and this MCU failure message is saved in the CANOpen object dictionary of this MCU inside, otherwise, it is fault that the other side's state flag bit then is set, and the other side MCU failure message is saved in the CANOpen object dictionary of this MCU inside execution in step (2) then.
2. the control method of safe and intelligent I according to claim 1/O combined system is characterized in that, described command interaction process may further comprise the steps:
A. the interlocking machine data of giving an order transfer to a MCU and the 2nd MCU with order data;
B. to judge whether the order data receive transmits wrong for a MCU and the 2nd MCU, if transmission is wrong, then abandons order data, directly end, otherwise, judge whether order data is querying command;
C. if order data is a querying command, judge then whether this querying command issues this MCU, otherwise, judge then whether order data is operational order;
D. if querying command is not issued this MCU, then abandon order data, directly finish, otherwise, inquire about required status information the CANOpen object dictionary in this MCU, and Query Result is back to interlocking machine;
E. if order data is the not operation order, then directly finish, otherwise, judge then whether this operational order issues this MCU;
F. if operational order is not issued this MCU, then the order data of receiving is issued another MCU by the UART port, otherwise, the hold-over command data, and set the overtime time limit, wait for that another MCU sends to this MCU with order data and makes comparisons;
G. if in the time limit of setting, do not receive the order data that another MCU sends over, then remove the order data of preserving, directly finish, otherwise, order data of preserving and the order data that another MCU sends over are made comparisons, identical then drive controlling object operation command, difference then directly finish.
3. the control method of safe and intelligent I according to claim 2/O combined system is characterized in that, the process that order data transfers to MCU among the described step a comprises:
Interlocking machine becomes two parts with replication of command data, simultaneously two parts of order datas are transferred to a MCU and the 2nd MCU by two-way CAN bus, the one MCU and the 2nd MCU are according to the state of two-way CAN bus, keep the order data that the transmission state data conduct of one road CAN bus transfer is preferably received, remove the order data of another road CAN bus simultaneously.
4. the control method of safe and intelligent I according to claim 2/O combined system is characterized in that, Query Result passback process is in the described steps d:
The MCU of designated reception order data is copied into two parts with the status information that inquires, and is back to interlocking machine simultaneously by two-way CAN bus.
5. the control method of safe and intelligent I according to claim 2/O combined system is characterized in that, the concrete steps of drive controlling object operation command comprise in the described step g:
(1) MCU of designated reception operational order checks respectively whether the oneself state zone bit is fault, if fault is then removed the order data of preserving, directly finish, otherwise, check then whether controlling object has been in this mode of operation
(2) if controlling object has been under this state, then directly finish the operational order that interlocking machine sends, otherwise, then send drive signal, and detect drive signal whether can be by device drives and state acquisition circuit function in controlling object;
(3) if drive signal can not then stop a drive signal by device drives and state acquisition circuit function in controlling object, and the oneself state zone bit is set is fault, otherwise, the setting operation time limit;
(4) at the state of setting continuous review controlling object in the time limit, when detecting controlling object and arrived the state that operational order requires, stop to send drive signal, and the end operation order; When the setting time limit surpasses, stop to send drive signal, it is fault that the oneself state zone bit is set then, and the end operation order.
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CN105844793A (en) * 2016-04-21 2016-08-10 常州永安公共自行车系统股份有限公司 Self-service card receiving and sending system, card receiving and sending system and special station controller
CN106991825A (en) * 2017-05-05 2017-07-28 深圳市哈工大交通电子技术有限公司 The lamp system controlled based on CAN
CN108557482B (en) * 2018-04-20 2020-07-17 江苏达实久信医疗科技有限公司 Pneumatic logistics receiving and dispatching station

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