CN102419559A - Train traction control system - Google Patents
Train traction control system Download PDFInfo
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- CN102419559A CN102419559A CN2011103623566A CN201110362356A CN102419559A CN 102419559 A CN102419559 A CN 102419559A CN 2011103623566 A CN2011103623566 A CN 2011103623566A CN 201110362356 A CN201110362356 A CN 201110362356A CN 102419559 A CN102419559 A CN 102419559A
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Abstract
The invention provides a train traction control system comprising a master control unit, an auxiliary control unit, a storage unit, a data acquisition control unit and a power drive unit. The master control unit comprises a master processor and a field programmable gate array; the auxiliary control unit comprises a floating point digital signal processor; the storage unit is connected with the master processor; the master processor is connected with the field programmable gate array; the data acquisition control unit is connected with the field programmable gate array; the field programmable gate array is connected with the floating point digital signal processor; and the power drive unit is connected with the field programmable gate array. The train traction control system provided by the invention can finish the control works of the train traction system, can improve data acquisition accuracy, data processing accuracy and traction control accuracy, and also can improve the instantaneity of performance control of a traction motor.
Description
Technical field
The present invention relates to the control system technology, relate in particular to a kind of train traction control system.
Background technology
Track traffic comprises big railway, inter-city train, subway, light rail, tramcar and middle low speed magnetic floating etc., is the main pattern that solves public trip.Traction and auxiliary converter system are the key core equipment of train, are responsible for the power drive and the power supply of train.Traction and the auxiliary most crucial part of converter system are pull-in control systems, and existing pull-in control system can be accomplished control function, comprises control function such as input and processing, main circuit control, control algolithm, protection logic, information processing.
In carrying out research process of the present invention, the inventor finds to adopt above-mentioned existing train traction control system to have following technological deficiency:
Existing train traction control system, control module are monolithic fixed-point dsp (Digital Signal Processor is called for short DSP), and perhaps control module is fixed-point dsp and floating-point signal processor.Carry out data interaction through dual port random access storer (Random AccessMemory is called for short RAM).
Because existing train traction control system is the monolithic fixed-point dsp; Perhaps be fixed-point dsp and floating-point signal processor; Cause the performance of control module lower, adopt the train traction control system of above-mentioned framework, when the train traction system is controlled; Can cause the precision of data acquisition, processing and traction control lower, can not satisfy the requirement of the high performance real-time control of train traction control system.
Summary of the invention
The present invention provides a kind of train traction control system, in order to solve the lower technological deficiency of train traction control system control performance of the prior art.
The present invention provides a kind of train traction control system, comprises main control unit, Auxiliary Control Element, storage unit, data acquisition control unit and power drive unit;
Said main control unit comprises primary processor and field programmable gate array; Said Auxiliary Control Element comprises floating-point signal processor;
Said storage unit is connected with said primary processor; Said primary processor is connected with said field programmable gate array;
Said data acquisition control unit is connected with said field programmable gate array; Said field programmable gate array is connected with said floating-point signal processor; Said power drive unit is connected with said field programmable gate array;
Said data acquisition control unit is used to gather the analog and digital signal of train traction and auxiliary converter system; Said field programmable gate array and said floating-point signal processor are used for calling inner control algolithm and logic according to said analog and digital signal and carry out calculation process; Said power drive unit is used for controlling the train traction system according to the result of said calculation process;
Said primary processor is used to handle the control data of said field programmable gate array and floating-point signal processor, and through the said control data of said cell stores.
Preferably, also comprise NIU, said NIU is connected with said primary processor.
Preferably, also comprise the software loading unit; Said software loading unit is connected with field programmable gate array with said primary processor, and said software loading unit also is connected with said floating-point signal processor;
Said primary processor is used for transferring through said NIU the Control Software of local computer, and said software loading unit is used for institute's control is stated software loading to said field programmable gate array and floating-point signal processor.
Preferably, said software loading unit is specially complicated programmable logic device.
Preferably, said floating-point signal processor is two, is specially first floating-point signal processor and second floating-point signal processor, and said first floating-point signal processor is connected with second floating-point signal processor.
Preferably, said NIU comprises Ethernet interface and serial communication interface; Said NIU also comprises control area net network interface or MVB gateway interface;
Said Ethernet interface is used for being connected with Ethernet; Realization is communicated by letter with local computer and other pull-in control system; Realize the download of train operation data and carry out the real time execution monitoring simultaneously, realize this locality and remote system diagnostics through local computer and wireless network through local computer;
Said control area net network interface or MVB gateway interface are used to realize and being connected of Train Control network;
Said serial communication interface is used to realize that multichannel is subsequent use, and the data interaction of internal system and miscellaneous equipment is provided.
Preferably, said storage unit comprises synchronous DRAM, first non-volatile flash memory and second non-volatile flash memory;
The said synchronous DRAM and first non-volatile flash memory are used for the software of storage control system service data and said primary processor, and said second non-volatile flash memory is used to store the software of said field programmable gate array and floating-point signal processor.
Preferably, said data acquisition control unit comprise be used to gather with the analog input module of treatment of simulated amount, be used to export the emulation mode amount analog output module, be used to the digital output module gathering and handle the digital input module of digital state amount and be used to export digital state amount and controlled quentity controlled variable;
Preferably, said power drive unit comprises driver module, monitoring feedback module and switching tube;
Said driver module is connected with field programmable gate array with said switching tube; Said monitoring feedback module is connected with field programmable gate array with said switching tube;
Said driver module is used to receive the driving pulse that said field programmable gate array sends, and said driving pulse is carried out electricity isolate and power amplification, drives said switching tube action;
Said monitoring feedback module is used to monitor the running status of the said switching tube of processing and result is fed back to said field programmable gate array, and said field programmable gate array is protected the setting of logic according to the running status of said switching tube.
Train traction control system provided by the invention; Through primary processor and field programmable gate array as main control unit; Through floating-point signal processor as auxiliary processing unit; Data acquisition, processing and all the core control algolithm and the logic of trailer system be can realize, the control and the protection of train traction system realized.Compare with existing train traction control system, owing to have Main Processor Unit and Auxiliary Control Element, thereby can improve the precision of data acquisition, processing and traction control, improve the real-time of traction electric machine Properties Control.
Description of drawings
The synoptic diagram of the train traction control system that Fig. 1 provides for first embodiment of the invention;
The synoptic diagram of the train traction control system that Fig. 2 provides for second embodiment of the invention;
Fig. 3 is primary processor and the synoptic diagram of peripherals in the third embodiment of the invention;
Fig. 4 is field programmable gate array and the synoptic diagram of peripherals in the fourth embodiment of the invention;
Fig. 5 is the software loading process flow diagram of the software loading unit in the fifth embodiment of the invention;
Fig. 6 is the synoptic diagram of the software loading unit in the sixth embodiment of the invention;
Fig. 7 is the synoptic diagram of the software loading unit in the seventh embodiment of the invention.
Embodiment
With reference to figure 1, the synoptic diagram of the train traction control system that Fig. 1 provides for first embodiment of the invention.
In the first embodiment of the present invention, the train traction control system comprises main control unit, Auxiliary Control Element, storage unit 4, data acquisition control unit 5 and power drive unit 6.
The data acquisition control unit is used to realize collection and the processing of internal system analog quantity, digital quantity and to the output of system and device and control.
Main control unit comprises primary processor 1 and field programmable gate array 2 (Field-Programmable GateArray is called for short FPGA); Auxiliary Control Element comprises floating-point signal processor 3.
Data acquisition control unit 5 is used to gather the analog and digital signal of train traction and auxiliary converter system; Field programmable gate array 2 is used for calling inner control algolithm and logic according to analog and digital signal with floating-point signal processor 3 and carries out calculation process; Power drive unit 6 is used for controlling the train traction system according to the result of calculation process;
Floating-point signal processor 3 is used to realize Electric Machine Control core algorithm and vehicle steering logic.
Particularly, in the present embodiment, primary processor 1 adopts high-performance microprocessor (being called for short PowerPC); In addition; Primary processor 1 also can adopt arm processor (Advanced RISCMachines is called for short ARM) or digital signal processor (Digital Signal Processor is called for short DSP) etc.; Primary processor 1 adopts the PowerPC processor, can improve the speed and the precision of data processing and program management.
Field programmable gate array 2 links to each other with primary processor 1 through parallel bus agreement (Low Pin Count is called for short LPC), realizes the mutual of bottom control data and overlay network data.Field programmable gate array 2 adopts the NIOS system architecture; Field programmable gate array 2 bottoms adopt VHSIC hardware description language Very-High-Speed Integrated Circuit Hardware DescriptionLanguage; Be called for short VHDL) programming, system adopts standard C language to manage.
Floating-point signal processor 3 is accomplished Electric Machine Control core algorithm and vehicle steering logic; The The software adopted standard C or the C++ of floating-point signal processor 3 programme; Carry out the scheduling and the management of multitask, multithreading through DSP/BIOS, compiling is accomplished on the IDE software CCS that TI provides.In general control system, adopt a floating-point signal processor 3 can accomplish required control function, in complication system, adopt the division of labor control of the common completion of 3 one of two floating-point signal processor system.Particularly; As shown in Figure 2; Adopt two interconnective first floating-point signal processor 31 and second floating-point signal processor 32; Pass through multichannel buffer serial line interface (Multichannel BufferedSerial Port between the first floating digital signal point processor 31 and second floating-point signal processor 32; Be called for short MCBSP) interconnected, and realize with the real time data of field programmable gate array 2 mutual through external memory interface (ExternalMemory Interface is called for short EMIF) separately.
The networked control system of the train system that present embodiment provides; Through primary processor 1 and field programmable gate array 2 as main control unit; Through floating-point signal processor 3 as auxiliary processing unit; Data acquisition, processing and all the core control algolithm and the logic of trailer system be can realize, the control and the protection of train traction system realized.Compare with existing train traction control system; The train traction control system that present embodiment provides can be accomplished Train Control and Electric Machine Control algorithm; Owing to have Main Processor Unit and Auxiliary Control Element; Thereby can improve the precision of data acquisition, processing and traction control, improve the real-time of traction electric machine Properties Control.
With reference to figure 2, the synoptic diagram of the train traction control system that Fig. 2 provides for second embodiment of the invention.
The available train traction control system of second embodiment of the invention; NIU 7 and software loading unit 8 on the basis of first embodiment, have been increased; NIU 7 is connected with primary processor 1, is used for carrying out data communication with outside networking and Train Control network.
With reference to figure 3, Fig. 3 is primary processor and the synoptic diagram of peripherals in the third embodiment of the invention.
In the present embodiment, NIU 7 comprises Ethernet interface 71 and serial communication interface 72 (serial communication interface is called for short SCI); NIU 7 also comprises control area net network interface 73 (Control Area Network is called for short CAN) or MVB (Multifunction Vehicle Bus is called for short MVB) gateway interface 74.
Said Ethernet interface is used for being connected with Ethernet; Realization is communicated by letter with local computer and other pull-in control system; Realize the download of train operation data and carry out the real time execution monitoring simultaneously, realize this locality and remote system diagnostics through local computer and wireless network through local computer;
Said control area net network interface or MVB gateway interface are used to realize and being connected of Train Control network;
Said serial communication interface is used to realize that multichannel is subsequent use, and the data interaction of internal system and miscellaneous equipment is provided.
Said Ethernet interface 71 is used for being connected with Ethernet; Can be connected with other pull-in control systems 102 with local computer 101 through Ethernet; Realize communicating by letter with other pull-in control system 102, can realize the download of system's service data, realize that many playscripts with stage directions ground computing machine 101 carries out the real time execution monitoring simultaneously through Ethernet interface 71 with local computer 101; Local computer 101 is communicated by letter with remote server 103 through wireless network, realizes local and remote system diagnostics function.
Control area net network interface 73 or MVB gateway interface 74 are used to realize and being connected of Train Control network.Serial communication interface 72 is used to realize that multichannel is subsequent use, and the data interaction of internal system and miscellaneous equipment is provided, and the system that also makes is applicable to other applied field, and is convertible into the communication interface of other form.
Particularly; Have two Ethernet interfaces 71; Ethernet interface 71 is connected to the RJ45 interface through LAN8710 and network transformer; One of them Ethernet interface is connected with local computer 101, and the interface that can write through computer software and virtual oscilloscope realize that monitoring, test and the online data of system's real-time status download, and realize faults analysis and detection through fault diagnosis software again.
Another Ethernet interface 71 is connected with other pull-in control systems 102, can realize that the data in real time of inner all pull-in control systems of same train is mutual.In addition, local computer 101 can be uploaded to remote server 103 with the service data of trailer system through wireless network, realizes the real-time technical support of far-end; Simultaneously, can carry out exchanges data, realize that many playscripts with stage directions ground computing machine 101 monitors local trailer system simultaneously through router.
The quantity of control area net network interface 73 is two; MVB gateway interface 74 adopts third party devices, and control area net network interface 73 and MVB gateway interface 74 are used to realize and being connected of Train Control network that the real time data of miscellaneous equipment is mutual on responsible trailer system and the train; Coupling needs according to the true train communication network can be selected respectively; For example, in the isometric marshaling of subway, adopt MVB gateway interface 74; And in short marshaling such as light rail car, tramcar, middle low speed magnetic floating, adopt and select control area net network interface 73 for use.
The quantity of serial communication interface 72 is four, adopts MAX3232 to realize two-way RS232 communication interface, adopts AMD2468 to realize two-way RS485 communication interface.Serial communication interface 72 is the multichannel spare interface; Internal system and other data interaction than slow devices can be provided; And for control system be applied in other occasion carry out subsequent use, for example, tractive power supply system and upper layer data collection and supervisor control (Supervisory Control And Data Acquisition; Abbreviation SCADA) interface also can convert other network interface form to through adding conversion equipment.
The synchronous DRAM 41 and second non-volatile flash memory 43 are used for the software of real-time memory system service data and primary processor 1, and first non-volatile flash memory 42 is used to store the software of realizing field programmable gate array 2 and floating-point signal processor 3.
Particularly; Synchronous DRAM 41 is connected to the special-purpose control interface of DDR II of primary processor 11; First non-volatile flash memory 42 and second non-volatile flash memory 43 are connected to the lpc bus interface, with data, variable and the system software of storing whole trailer system.Dynamic data obtains from network through Ethernet interface 71 on the one hand; Obtain the traction control data of all bottoms on the one hand from field programmable gate array 2 through lpc bus; Through using synchronous DRAM 41 to carry out buffer memory, regularly exist in jumbo second non-volatile flash memory 43 then.
When needs carry out system's operation or fault analysis, through Ethernet interface 71 data are downloaded to local computer 101 from second non-volatile flash memory 43, analyze by slip-stick artist or user then.The storage of system software is divided into two parts: the system software of primary processor 1 is stored in second non-volatile flash memory 43, and the software of field programmable gate array 2 and floating-point signal processor 3 then is stored in first non-volatile flash memory 42.
With reference to figure 4, Fig. 4 is field programmable gate array and the synoptic diagram of peripherals in the fourth embodiment of the invention.
In the present embodiment, data acquisition control unit 5 comprises and is used to gather with the analog input module 51 of treatment of simulated amount, is used to export the analog output module 52 of emulation mode amount, the digital output module 54 that is used to gather and handle the digital input module 53 of digital state amount and is used to export digital state amount and controlled quentity controlled variable.
Particularly; Field programmable gate array 2 is accomplished all analog quantitys through analog input module 51; The for example collection and the processing of analog quantitys such as system voltage, electric current, temperature, flow and pressure; Accomplish all digital quantities, the for example collection and the processing of the digital signal of train and internal system, motor and train speed signal through digital input module 53; Simultaneously, through analog output module 52 internal simulation quantity of state such as reality traction/damping force, this car reference velocity etc. are exported, and can the internal system analog variable be exported, the feed system test is used; Numeral output module 54 can provide mos field effect transistor (Metal-Oxide-Semiconductor Field-Effect Transistor; MOSFET) and two kinds of way of outputs of relay, carry out the control and the inner quantity of state and the output of Train Control signal of trailer system of internal interface tentaculum etc. respectively.
Monitoring feedback module 62 is used to monitor the running status of processing switching tube 63 and result is fed back to field programmable gate array 2; Field programmable gate array 2 is protected the setting of logic according to the running status of switching tube 63, and the train traction control system is implemented protection.
Field programmable gate array 2 each peripheral functional module all possess self-checking function; The technology implementation mode is: through self-test signal of field programmable gate array 2 output and triggering source to functional module; Detect the input state of this functional module then; Through judging the whether whether operate as normal of consistent arbitration functions module of testing result and excitation, realize the detection certainly of each functional module that field programmable gate array 2 is peripheral.
Below in conjunction with the train traction control system that the foregoing description provides, specify the course of work of this train traction control system and the function of realization.
The train traction control system is through interface, hardwire interface and the control area net network interface 73 and MVB gateway interface 74 of sensors such as analog input module 51, digital input module 53 and electric current, voltage, temperature, flow, pressure, speed; Realization is to the simulating signal and the digital signal acquiring of train traction, auxiliary converter system and controlled device (like traction electric machine, auxiliary alternating current-direct current load etc.) thereof, and the collection that realizes all signals of train.
According to the signal of gathering; Field programmable gate array 2 calls control corresponding algorithm and logic with floating-point signal processor 3; Then operation result is driven the switching tube 63 of converter system through power drive unit 6; Realization is to the control of controlled device (like traction electric machine, auxiliary alternating current-direct current load etc.) input voltage, electric current, thereby the control controlled device is according to re-set target work.
On the other hand; The train traction control system is through functional modules such as NIU 7, digital output module 54, analog output modules 52; The information that the train traction control system is obtained is exported or controlled, thereby realize monitoring and diagnosis whole converter system and controlled device thereof.
As shown in Figure 5, the flow process that software loading unit 8 carries out software loading is:
Particularly, connect the train traction control system through Ethernet;
Particularly, adopt the corresponding IDE software translating of target controller to generate output file;
Particularly, convert the file layout that the software loading unit can be discerned to through the software format converter;
Can there be at least two kinds of hardware supports modes software loading unit 8 when carrying out software loading.Specific as follows, with reference to figure 6 and Fig. 7, Fig. 6 is the synoptic diagram of the software loading unit in the sixth embodiment of the invention; Fig. 7 is the synoptic diagram of the software loading unit in the seventh embodiment of the invention.
As shown in Figure 6, the software of field programmable gate array 2, first floating-point signal processor 31 and second floating-point signal processor 32 is stored in in a slice first non-volatile flash memory 42, adopts the address space apportion design to carry out the memory location management; When the needs update software; Software loading unit 8 reads the software data in corresponding address space through primary processor 1 from first non-volatile flash memory 42, is loaded on field programmable gate array 2, first floating-point signal processor 31 and second floating-point signal processor 32 according to loading sequential by software loading unit 8 then.
As shown in Figure 7, the software of field programmable gate array 2, first floating-point signal processor 31 and second floating-point signal processor 32 is stored in respectively in the first different non-volatile flash memories 42.When the needs update software; Software loading unit 8 is according to loading sequential; Through the software in the primary processor 1 download local computer 101; Download to respectively in first non-volatile flash memory 42 through Ethernet 9; Primary processor 1 is given field programmable gate array 2, first floating-point signal processor 31 and second floating-point signal processor, 32 reset signals respectively, and field programmable gate array 2, first floating-point signal processor 31 and second floating-point signal processor 32 are called the program run in corresponding first non-volatile flash memory 42 automatically.
What should explain at last is: above embodiment is only in order to explaining technical scheme of the present invention, but not to its restriction; Although with reference to previous embodiment the present invention has been carried out detailed explanation, those of ordinary skill in the art is to be understood that: it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement; And these are revised or replacement, do not make the scope of the essence disengaging various embodiments of the present invention technical scheme of relevant art scheme.
Claims (9)
1. a train traction control system is characterized in that, comprises main control unit, Auxiliary Control Element, storage unit, data acquisition control unit and power drive unit;
Said main control unit comprises primary processor and field programmable gate array; Said Auxiliary Control Element comprises floating-point signal processor;
Said storage unit is connected with said primary processor; Said primary processor is connected with said field programmable gate array;
Said data acquisition control unit is connected with said field programmable gate array; Said field programmable gate array is connected with said floating-point signal processor; Said power drive unit is connected with said field programmable gate array;
Said data acquisition control unit is used to gather the analog and digital signal of train traction and auxiliary converter system; Said field programmable gate array and said floating-point signal processor are used for calling inner control algolithm and logic according to said analog and digital signal and carry out calculation process; Said power drive unit is used for controlling the train traction system according to the result of said calculation process;
Said primary processor is used to handle the control data of said field programmable gate array and floating-point signal processor, and through the said control data of said cell stores.
2. train traction control system according to claim 1 is characterized in that, also comprises NIU, and said NIU is connected with said primary processor.
3. train traction control system according to claim 2 is characterized in that, also comprises the software loading unit; Said software loading unit is connected with field programmable gate array with said primary processor, and said software loading unit also is connected with said floating-point signal processor;
Said primary processor is used for transferring through said NIU the Control Software of local computer, and said software loading unit is used for institute's control is stated software loading to said field programmable gate array and floating-point signal processor.
4. train traction control module according to claim 3 is characterized in that, said software loading unit is specially complicated programmable logic device.
5. according to each described train traction control system of claim 1-4; It is characterized in that; Said floating-point signal processor is two; Be specially first floating-point signal processor and second floating-point signal processor, said first floating-point signal processor is connected with second floating-point signal processor.
6. according to each described train traction control system of claim 2-4, it is characterized in that said NIU comprises Ethernet interface and serial communication interface; Said NIU also comprises control area net network interface or MVB gateway interface;
Said Ethernet interface is used for being connected with Ethernet; Realization is communicated by letter with local computer and other pull-in control system; Realize the download of train operation data and carry out the real time execution monitoring simultaneously, realize this locality and remote system diagnostics through local computer and wireless network through local computer;
Said control area net network interface or MVB gateway interface are used to realize and being connected of Train Control network;
Said serial communication interface is used to realize that multichannel is subsequent use, and the data interaction of internal system and miscellaneous equipment is provided.
7. according to each described train traction control system of claim 1-4, it is characterized in that said storage unit comprises synchronous DRAM, first non-volatile flash memory and second non-volatile flash memory;
The said synchronous DRAM and first non-volatile flash memory are used for the software of storage control system service data and said primary processor, and said second non-volatile flash memory is used to store the software of said field programmable gate array and floating-point signal processor.
8. according to each described train traction control system of claim 1-4; It is characterized in that, said data acquisition control unit comprise be used to gather with the analog input module of treatment of simulated amount, be used to export the emulation mode amount analog output module, be used to the digital output module gathering and handle the digital input module of digital state amount and be used to export digital state amount and controlled quentity controlled variable;
9. according to each described train traction control system of claim 1-4, it is characterized in that said power drive unit comprises driver module, monitoring feedback module and switching tube;
Said driver module is connected with field programmable gate array with said switching tube; Said monitoring feedback module is connected with field programmable gate array with said switching tube;
Said driver module is used to receive the driving pulse that said field programmable gate array sends, and said driving pulse is carried out electricity isolate and power amplification, drives said switching tube action;
Said monitoring feedback module is used to monitor the running status of the said switching tube of processing and result is fed back to said field programmable gate array, and said field programmable gate array is protected the setting of logic according to the running status of said switching tube.
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| CN103812739A (en) * | 2012-11-06 | 2014-05-21 | 中国北车股份有限公司 | Communication apparatus and communication method between FPGA and DSP |
| CN105620497A (en) * | 2014-11-28 | 2016-06-01 | 中车大连电力牵引研发中心有限公司 | Electric locomotive traction control unit |
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