CN102520702A - Rail transit field bus system and use method for same - Google Patents

Abstract

The invention relates to a rail transit field bus system and a use method for the same. The system comprises a plurality of independent control circuits, a transmission network and a dispatcher. Each control circuit comprises a controller, an actuator, a controlled object and a sliding simplifying device. The controllers control the controlled objects by transmitting control signals through the transmission network, and the dispatcher is used for dispatching signal transmission of each control circuit. The use method for the rail transit field bus system is used for realizing prior dispatching of signal transmission of each control circuit by the aid of the dispatcher. By the aid of the rail transit field bus system and the use method for the same, limited network bandwidth resources can be effectively distributed and used, and stability and reliability of the system are improved.

Description

A kind of track traffic field bus system and method for application thereof

Technical field

The present invention relates to field of track traffic, relate in particular to a kind of track traffic field bus system and method for application thereof that adopts slip to simplify device.

Background technology

Comprehensive monitoring system (Integrated Supervisory Control System; Be called for short ISCS) just becoming the development trend of domestic city track traffic automated system, ISCS designs by two-stage management (central authorities, station), three grades of controls (central, station and scene).At central level can the supervision to equipment running status, failure condition in each station system compass of competency of whole circuit, and, assume unified command of, coordinate the operation of each website to each website issuing command; The monitoring function of station level equipment mainly is to accomplish the monitoring of this site apparatus, management; Field level is as station level, monitored object at central level; Be the main body of station subway electromechanical equipment, by environment and equipment monitoring system (BAS), automatic fire alarm system (FAS), electric power monitoring system (PSCADA), shield door (PSD), anti-ly flood door (FG), a TV monitoring system (CCTV), passenger information system (PIS), signal system (SIG), AFC system (AFC), gate control system (ACS), broadcast system systems such as (PA) forms.

ISCS station level, local monitor network at central level generally all adopt the 100M/1000M Redundant Ethernet to make up, and underlying device key-course (field level) generally uses bus mode interconnected.The fieldbus that in track traffic, uses at present has Profibus; Modbus; CANbus etc., along with the continuous expansion of track traffic network control system scale, the limited feature of system resource is increasingly significant also; And resource-constrainedly tend to cause message delay, system control performance to reduce and problems such as resource utilization reduction, thereby can't guarantee each item performance index of network control system effectively.

Summary of the invention

The present invention is directed to the resource-constrained problem of fieldbus in the track traffic; Proposition is simplified the resource-constrained problem that sampled signal solves the multiloop network control system through slip, and proposes to realize strategy that the bus system of the many control loops under the limited bandwidth is effectively dispatched through the step-length that adopts dynamic change to slide to simplify device.Be implemented under the limited network bandwidth resources, effectively resource distributed and utilize.

The present invention realizes like this: construct a kind of track traffic field bus system, comprise a plurality of independently control loops, each control loop comprises that controller, actuator, controlled device, slip simplify device; Controller is used to produce control signal; Actuator is used for control signal is reduced to the control action that acts on controlled device; Controlled device also is equipped with sensor, and sensor is used for the real response action of gathering controlled device and converts sampled data into; Slip is simplified device and is used for sampled data slided and simplifies processing, and will pass through the sampled data of simplifying processing and be sent to controller.

Track traffic field bus system of the present invention also comprises transmission network, is used for the control signal that controller generates is transferred to the actuator device and the data transmission of simplifying that device generates is simplified in slip give controller.Each is the shared whole transmission network of control loop independently, and each independent Control Network is used the different links in transmission network.

Track traffic field bus system of the present invention also comprises scheduler, and scheduler is dispatched slip in each control loop simultaneously and simplified the data of device and controller and send.Be that scheduler is according to the priority height for transmission data in each independent loop, the order that data dispatching sends and the time delay of delayed delivery data.

Each individual control loop of track traffic field bus system of the present invention is realized the control to controlled device like this: controller generates control signal; Control signal transfers to controller through transmission network; Controller is converted into the control action to controlled device with control signal after receiving control signal, realizes the control to controlled device; Sampled data is gathered and converted into to controlled device also through the sensor of self to the real response action of controlled device simultaneously, and sampled data has reflected the virtual condition of controlled device; Sensor is sent to the sampled data that collects to slide simplifies device; Slip simplify device to sampled data slide simplify the back send it back controller through transmission network; Sampled data reduction after controller will be simplified; And compare with corresponding control signal, according to comparison result with the transmission of confirming next control signal and supply scheduler to dispatch to slide to simplify device and controller according to control performance.

Among the present invention, the sensor of each control loop adopts the cycle triggering for generating to the sampled data of controller; Slave controller adopts Event triggered to produce to the control signal of actuator.

The present invention also provides a kind of method of application of track traffic field bus system, is applicable to above-mentioned track traffic field bus system.The method of application of track traffic field bus system may further comprise the steps: S1) controller of each independent Control Network sends a control signal to transmission network; S2) each independently the different links of control signal through transmission network be sent to the corresponding actuator of each control loop; S3) each actuator converts the control signal that receives into to controlled device control action, realizes the control to controlled device; S4) sampled data is gathered and converted into to the sensor of the controlled device of each control loop to the real response action of controlled device; S5) sensor of each control loop is simplified device with the slip that sampled data is sent in each control loop loop, slides to simplify device and sampled data is slided simplify; S6) each slides and to simplify the controller that sampled data after device will be simplified is sent to corresponding control loop, and controller reduction sampled data also compares with corresponding control signal; S7) controller in each loop is according to the transmission of next control signal of comparing result decision, and scheduler is simplified device to the controller in each control loop with slip according to the comparing result of each control loop taking of transmission network dispatched.

As transmission network of the present invention, adopt the state of following each control loop of method representation:

$\left\{\begin{array}{c}{x}_{k+1}^i=A_i{x}_k^i+B_i{u}_k^i\\ y_k^i=C_i{x}_k^i,i\∈\{\mathrm{1,2},...\}\end{array}\right.$

A wherein _i∈ R ^{N * n}, B _i∈ R ^{1 * n}, C _i∈ R ^{N * 1}Be the parameter of system,

Be the state of i control loop, Be the control signal of i control loop,

It is the measuring-signal of i control loop.

Slip of the present invention is simplified device and is carried out following processing for the sampled data of sensor acquisition:

Q(y)＝(Q _pre+S _cur·Δ)/2

Wherein this sends to the signal value of controller to Q (y) for device is simplified in slip, Q _PreFor the last time sends to the signal value of controller, S _CurBe this sampled value of being imported into by sensor, Δ is for simplifying step-length, Δ＞0.

Special, for first sampled value, slip is simplified device sampled value is simplified as the slip that sends to for the first time controller, said step signal value, promptly

Q(1)＝S _cur

As a kind of improvement of the method for application of track traffic field bus system of the present invention, when S2 and S6 system carry out data transmission through transmission network, introduce the coping mechanism of data packet loss.Because when transmission delay during greater than the sampling period, back one signal can cover last signal, the present invention will handle as packet loss greater than the time-delay in sampling period, the raising system reliability.

The method of application of this a kind of track traffic field bus system that provides, wherein the dispatching method of scheduler is following: S71) scheduler initialization, the sensor sample cycle of each individual control loop and slip are simplified device and are simplified step-length and be set to original value; S72) read the control performance in each loop, promptly obtain the comparing result of each circuit controls signal and corresponding sample data; S73) scheduler judges whether and need dispatch system, promptly judge whether need to change each control loop sampling period, simplify the priority etc. that step-length, each loop are sent signal, then skip to step S75 if need not scheduling; S74) if need scheduling, scheduler change each control loop sampling period, simplify the priority that step-length, each loop are sent signal; S75) after completion was once dispatched, scheduler judged whether each control loop need continue to control controlled device, if then jump to step S72, otherwise finished scheduling.

For the dispatching method of the scheduler that the present invention relates to, the control loop performance among the step S72 is by the deviation of sampled data and corresponding control signal and reduce the system resource that deviation consumed and reflect that concrete can be expressed as:

$\min J=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{J}_i,$ $J_i=\underset{k=0}{\overset{t}{\mathrm{\Σ}}}\left|e_k\left(t\right)\right|\mathrm{\Δt}$

Wherein, Δ t representes a period of time at interval, e _k(t) represent the error of the control loop in this moment, J _iThe cost function of representing i control loop, J _iMore little expression deviation is more little, and control performance is good more.

Above-mentioned track traffic field bus system and method for application thereof that embodiment of the present invention provides; Bring following beneficial effect: simplify the resource-constrained problem that sampled signal has solved the multiloop network control system through slip, realized the bus system of the many control loops under the limited bandwidth is effectively dispatched through the step-length that adopts dynamic change slip to simplify device.Realized under limited network bandwidth resources, effectively resource has been distributed and utilize, improved the stability and the reliability of system.

Description of drawings

Fig. 1 is the ISCS system level diagram that the present invention relates to;

Fig. 2 is the system construction drawing of track traffic field bus system of the present invention;

Fig. 3 is the workflow diagram of track traffic field bus system of the present invention;

Fig. 4 is the workflow diagram of scheduler of the present invention;

Fig. 5 is the present invention's specific embodiment first, has three individual control loops;

Fig. 6 for the present invention first preferred embodiment do not adopt the performance synoptic diagram before the control loop;

Fig. 7 for the present invention first preferred embodiment adopt the performance synoptic diagram behind the control loop.

Embodiment

Below in conjunction with accompanying drawing the present invention is elaborated.

Fig. 1 is comprehensive monitoring system (Integrated Supervisory Control System the is called for short ISCS) hierarchy chart that the present invention relates to, and the ISCS system among Fig. 1 comprises two-stage management (central authorities, station), three grades of controls (central authorities, station and scene).At central level can the supervision to equipment running status, failure condition in each station system compass of competency of whole circuit, and, assume unified command of, coordinate the operation of each website to each website issuing command; The monitoring function of station level equipment mainly is to accomplish the monitoring of this site apparatus, management; Field level is as station level, monitored object at central level; Be the main body of station subway electromechanical equipment, these monitored objects comprise environment and equipment monitoring system (BAS), automatic fire alarm system (FAS), electric power monitoring system (PSCADA), shield door (PSD), prevent flooding door (FG), a TV monitoring system (CCTV), passenger information system (PIS), signal system (SIG), AFC system (AFC), gate control system (ACS), broadcast system (PA) etc.The controller of track traffic bus detection system of the present invention promptly is positioned at central level or the station level; Controlled device promptly is positioned at field level.

ISCS station level, local monitor network using 100M/1000M Redundant Ethernet at central level make up in Fig. 1, and underlying device key-course (field level) uses bus mode interconnected.The fieldbus that in track traffic, uses has Profibus, Modbus, and CANbus etc., as shown in Figure 1, when the continuous expansion of track traffic network control system scale, system control performance will occur and reduce the problem with the resource utilization reduction.

Fig. 2 is the system construction drawing of track traffic field bus system of the present invention, is used to improve the system control performance and the resource utilization of Fig. 1 system.System comprises a plurality of independently control loops, and for example one of them control loop is used to control the shield door at station, and another control loop is used to control the fire alarm system at station, and is independently of one another between control loop; Each control loop all includes controller, is example with the control loop of controlling the vehicle shield door, and this controller is used to produce the unlatching of control shield door or the control signal of cutting out; Each control loop also comprises actuator, and in the shield door control loop, this actuator is a solenoid valve, is used for responsive control signal, produces control action; Controlled device is positioned at the field level of system, and for example shield door also is equipped with sensor in the controlled device, like the shield door positioning indicator, can periodically gather the state of shield door; Each control loop also is equipped with to slide simplifies device, slides and simplifies the sensor that device communication connects controlled device, can the sampled data of sensor acquisition be slided and simplify processing; Slip simplify device sampled data is slided simplify after, give controller with the data transmission of simplifying that generates, let controller compare with corresponding control signal.

Track traffic field bus system in Fig. 2 also includes transmission network.Preferably, this transmission network offers whole control loop and uses, i.e. for example shield door control loop, broadcast system loop etc., and public shared same transmission network only is to use the different link transmission datas in the transmission network.In the control loop; Controller is connected through transport network communication with actuator; Slip is simplified device and is connected through transport network communication with controller; Transmission network is used for transmitting passing under at central level, the station level and controls signal to field level, and field level is uploaded to slide and simplified signal at central level or station level.Transmission network can produce the phenomenon of packet loss during data in transmission, and when transmission delay during greater than the sampling period, back one signal can cover last signal, and the present invention will handle as packet loss greater than the time-delay in sampling period, improve system reliability.

Track traffic field bus system in Fig. 2 also includes a scheduler, and the signal that is used to dispatch whole transmission network sends the order that data dispatching sends and the time delay of delayed delivery data.Scheduler is dispatched according to controller compared with control signal and the comparing result that signal is simplified in corresponding slip.

Fig. 3 is the workflow diagram of track traffic field bus system of the present invention, is applicable to the track traffic field bus system of Fig. 2.The method of application of track traffic field bus system may further comprise the steps: S1) controller of each independent Control Network transmits control signal; For example the shield door control loop sends the control signal that shield door is closed, and the broadcasting control loop sends control broadcasting and sends the signal that the prompting shield door is closed; S2) each independently the different links of control signal through transmission network be sent to the corresponding actuator of each control loop; At shield door control loop middle controller is the solenoid valve of shield door; In order to the switch shield door, and in the broadcasting control loop, controller is the broadcasting switch; S3) each actuator converts the control signal that receives into to controlled device control action, realizes the control to controlled device, and for example shield door is closed by solenoid control, and the loudspeaker of broadcasting send the prompting warning clause; S4) sampled data is gathered and converted into to the sensor of the controlled device in each loop to the real response action of controlled device, and for example the shield door control loop produces status data, the broadcasting control loop generation broadcast state data of shield door; S5) sensor in each loop is simplified device with the slip that sampled data is sent in each loop, slides to simplify device and sampled data is slided simplify; S6) each slides and to simplify the controller that sampled data after device will be simplified is sent to corresponding control loop; Controller reduction sampled data also compares with corresponding control signal; For example in the shield door control loop, whether the control shield door shutdown signal that controller relatively sends and the slip of feedback are simplified the device data and are coincide; S7) controller in each loop is according to the transmission of next control signal of comparing result decision; Scheduler is simplified device to the controller in each control loop with slip according to the comparing result of each control loop taking of transmission network is dispatched; The state that the shield door feedback for example ought occur is that shield door still is in unlatching; Then controller is from newly sending the control signal of cutting out shield door, and scheduler is made the control signal of sending alarm according to the comparing result scheduling broadcasting control loop of shield door control loop.

Concrete, slip is simplified device and is carried out processing for the sampled data of sensor acquisition:

Q(y)＝(Q _pre+S _cur·Δ)/2

Wherein this sends to the signal value of controller to Q (y) for device is simplified in slip, and for example the signal value in the shield door control loop is the data of shield door state through sliding after simplifying, Q _PreFor the last time sends to the signal value of controller, S _CurBe this sampled value of being imported into by sensor, Δ is for simplifying step-length, Δ＞0.Simplifying step-length is dynamic change, can change according to data transmission priority of control loop etc.

Promptly sliding and simplifying signal value that device sends to controller is that a last transmission value adds that this sampled value and the product of simplifying step-length make even all again.

Special, for first sampled value, slide simplify device with sampled value as the signal value that sends to for the first time controller, promptly

Q(1)＝S _cur

Concrete, when carrying out data transmission through transmission network in S2 and S6 system, the coping mechanism of introducing data packet loss.Packet loss with transmission network in the S6 step is an example, and packet loss is described as:

$\left\{\begin{array}{c}\mathrm{Pr}\{{\mathrm{\β}}_k^i=1\}=E\left\{{\mathrm{\β}}_k^i\right\}={\stackrel{\‾}{\mathrm{\β}}}_i\\ \mathrm{Pr}({\mathrm{\β}}_k^i=0)=E\{1-{\mathrm{\β}}_k^i\}=1-{\stackrel{\‾}{\mathrm{\β}}}_i\end{array}\right.$

Wherein

is constant; Packet loss does not appear in

expression, and

representes to have occurred packet loss.Then for following network system:

$\left\{\begin{array}{c}{x}_{k+1}^i=A_i{x}_k^i+B_i{u}_k^i\\ y_k^i=C_i{x}_k^i,i\∈\{\mathrm{1,2},...\}\end{array}\right.$

A wherein _i∈ R ^{N * n}, B _i∈ R ^{1 * n}, C _i∈ R ^{N * 1}Be the parameter of system, Be the state of i control loop,

Be the control signal of i control loop,

It is the measuring-signal of i control loop.

Have after then simplifying device through sliding:

$y_{\mathrm{qk}}^i=e_q^i+y_k^i=(1+\∈)y_k^i$

Wherein

For error is simplified in slip, ∈ _iIt is the error factor of simplifying of i control loop.

When considering packet loss, have:

$y_{\mathrm{ck}}^i={\mathrm{\β}}_k^i{y}_{\mathrm{qk}}^i$

Be the control loop state:

${\hat{x}}_{k+1}^i=A_i{\hat{x}}_k^i+B_i{u}_k^i+L_i(y_{\mathrm{ck}}^i-{\hat{y}}_{\mathrm{ck}}^i)=(A_i-{\stackrel{\‾}{\mathrm{\β}}}_i(1+{\∈}_i)L_i{C}_i){\hat{x}}_k^i+B_i{u}_k^i+L_i{y}_{\mathrm{ck}}^i$

And $u_k^i=x_k^i-{\hat{x}}_k^i$

Then the state of control loop and corresponding error are:

$\left\{\begin{array}{c}{x}_{k+1}^i=A_i{x}_k^i+B_i{u}_k^i=(A_i-B_i{K}_i)x_k^i+B_i{K}_i{e}_k^i\\ e_{k+1}^i=x_{k+1}^i-{\hat{x}}_{k+1}^i=({\stackrel{\‾}{\mathrm{\β}}}_i-{\mathrm{\β}}_k^i)(1+{\mathrm{\ϵ}}_i)L_i{C}_i{x}_k^i+(A_i-{\stackrel{\‾}{\mathrm{\β}}}_i(1+{\mathrm{\ϵ}}_i)L_i{C}_i)x_k^i\end{array}\right.$

Below in conjunction with Fig. 4 the concrete workflow of scheduler is elaborated.The dispatching method of scheduler is following: S71) scheduler initialization, the sensor sample cycle of each individual control loop and slip are simplified device and are simplified step-length and be set to original value; S72) read the control performance in each loop, promptly obtain the comparing result of each circuit controls signal and corresponding sample data, for example read the control signal of sending in the shield door control loop and corresponding slip that receive simplified the comparing result of signal; S73) scheduler judges whether and need dispatch system; Promptly judge whether need to change each control loop sampling period, simplify the priority etc. that step-length, each loop are sent signal; Then skip to step S75 if need not scheduling, for example in the shield door control loop, scheduler is good if judge the control performance of control loop; Then need not this control loop is dispatched, go to step S75; S74) if need scheduling, scheduler change each control loop sampling period, simplify the priority that step-length, each loop are sent signal, for example in the shield door control loop; If it is untimely the shield door responsive control signal to occur; Control performance is relatively poor, then this control loop is dispatched, and the method for scheduling comprises the raising sampling period; Step-length is simplified in adjusting, and the network that improves the shield door control loop transmits signal and sends priority etc.; S75) after completion was once dispatched, scheduler judged whether each control loop need continue to control controlled device, if then jump to step S72, otherwise finished scheduling.Promptly for the control loop that needs Sustainable Control, the next comparing result of scheduler waits reads again behind the comparing result judging whether and dispatches, and finishes the control to controlled device up to control loop.

The control loop performance is by the deviation of sampled data and corresponding control signal and reduce the system resource that deviation consumed and reflect that concrete can be expressed as:

$\min J=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{J}_i,$ $J_i=\underset{k=0}{\overset{t}{\mathrm{\Σ}}}\left|e_k\left(t\right)\right|\mathrm{\Δt}$

Wherein, Δ t representes a period of time at interval, e _k(t) represent the error of the control loop in this moment, J _iThe cost function of representing i control loop, J _iMore little expression deviation is more little, and control performance is good more.

Dispatching method for scheduler; When system initialization, a basic sampling period is set and simplifies step-length according to system configuration earlier; And carry out priority according to type of message: the signal with schedule information has higher priority; The signal of Event triggered has inferior priority, and the signal that sensor sends has the 3rd type of priority.System dispatches according to performance index J, and scheduler periodically reads the controlling index of each control loop, and its summation is obtained system performance overall performance J _Sys, work as J _SysDuring greater than the value set, the expression system performance is variation, needs this moment suitably to regulate the sampling period.Work as J _SysDuring less than the value set, sort, observe the wherein the poorest J of performance the J in each loop is ascending _LoopWhether in the scope of setting, as exceed its scope, then scalable is simplified step-length, to improve the control performance in this loop.The network dispatcher calculating sampling cycle with simplify step-length and send with periodically packet, notify each node effectively to upgrade.

Below in conjunction with accompanying drawing, the system embodiment with three individual control loops is set forth the beneficial effect that dispatching office of the present invention produces in detail.

Fig. 5 is the present invention's specific embodiment first, has three individual control loops, and the controlling object of each control loop is G (s)=1000/ (s that adopts direct current generator ²+ s), and the employing PID of controller node control, wherein concrete controlled variable is K=0.85, T _i=0.16, T _d=0.095, network type is CSMA/AMP (CAN) bus, and CAN bus communication baud rate is 500K, and initially the employing cycle is 10ms.

For the control loop among Fig. 53, it is lower to be set at priority, as shown in Figure 6 for the system performance before not dispatching.Control loop 3 is because priority is lower; Cause the real-time of system to be affected, system's concussion aggravation makes control performance seriously descend; The priority in loop 1 and loop 2 is higher; Obtain Internet resources more easily, its control performance is also relatively good, but overall performance can not well satisfy the control requirement.

Fig. 7 is for adding the control performance figure after dispatching.The system stability post-sampling cycle is 8.4ms; The step parameter of simplifying that device is simplified in each loop slip is respectively; The control effect of three control loops is not quite similar, but the overall system control performance has obtained optimization, and particularly the control performance of control loop 3 is significantly optimized.That is to say that reduced the probability of each signal conflict through simplifying periodic scheduling, the transfer rate of low priority message has obtained bigger improvement, makes multiloop control system under limited bandwidth situation, guarantee the control requirement of system.

Can know from the comparison of Fig. 6 and Fig. 7: adopt dispatching method of the present invention can improve the stability and the reliability of system.

More than be merely preferred embodiment of the present invention; Can not limit the scope of the embodiment of the invention with this; The equalization that those skilled in the art in the present technique field do according to this creation changes, and the change known of those skilled in that art, all should still belong to the scope that the present invention is contained.

Claims (8)

1. a track traffic field bus system comprises a plurality of separate control loops, transmission network and scheduler, it is characterized in that, said control loop comprises that controller, actuator, controlled device, slip simplify device,

Said controller is used to produce control signal, through transmission network control signal is sent to said actuator;

Said actuator converts the control signal that receives into control action, acts on said controlled device;

Said controlled device also comprises sensor, and said sensor is used to gather the real response action of controlled device and convert sampled data into, and sends sampled data to said slip and simplify device;

Device is simplified in said slip, is used for that the back is simplified in the sampled data slip and simplifies data to said controller through said transmission network transmission slip, supplies said controller compared with control signal and slip to simplify data;

Said scheduler is dispatched control loop with the result who simplifies data that slides according to said controller compared with control signal.

2. track traffic field bus system according to claim 1 is characterized in that, said each shared said transmission network of control loop independently, and each independent Control Network is used the different links in the said transmission network.

3. track traffic field bus system according to claim 1 is characterized in that, the sampled data that said sensor produces adopts the cycle triggering for generating; The control signal of said controller adopts Event triggered to produce.

4. the method for application of a track traffic field bus system; Be applicable to the track traffic field bus system that comprises a plurality of separate control loop, transmission network and schedulers; Said control loop comprises that also controller, actuator, controlled device, slip simplify device; Said controlled device also comprises sensor, it is characterized in that, said method of application may further comprise the steps:

S1) controller of said each independent Control Network sends a control signal to said transmission network;

S2) said each independently the different links of control signal through said transmission network be sent to the corresponding actuator of said each control loop;

S3) said actuator converts the control signal that receives into to controlled device control action;

S4) sampled data is gathered and converted into to the sensor of said controlled device to the real response action of controlled device;

S5) said sensor is simplified device with the slip that sampled data is sent in said each control loop, slides to simplify device and sampled data is slided simplify;

S6) the said controller that sampled data after device will be simplified is sent to corresponding control loop is simplified in said slip, and said controller reduction sampled data also compares with corresponding control signal;

S7) said controller is according to the transmission of next control signal of the comparing result among S6 decision, and said scheduler is simplified device according to the comparing result of each control loop to the said controller in each control loop and said slip taking of transmission network dispatched.

5. according to the method for application of the described track traffic field bus system of claim 4, it is characterized in that, slide among the said step S5 and simplify device and take to simplify processing with lower slider for the sampled data of sensor acquisition:

Q(y)＝(Q _pre+S _cur·Δ)/2

Said Q (y) simplifies device for sliding, and this sends to the signal value of controller, said Q _PreFor the affiliated East China last time sends to the signal value of controller, said S _CurFor this by the sampled value that sensor imports into, said Δ is for simplifying step-length.

6. the method for application of track traffic field bus system according to claim 5 is characterized in that, said slip is simplified first slip of device transmission and simplified first sampled value that signal is said sensor.

7. the method for application of track traffic field bus system according to claim 4 is characterized in that, when transmission network carries out data transmission among said step S2 and the S6, introduces the coping mechanism of data packet loss.

8. the method for application of track traffic field bus system according to claim 4 is characterized in that, the dispatching method of said scheduler comprises:

S71) said scheduler initialization, the sensor sample cycle of each individual control loop and slip are simplified device and are simplified step-length and be set to original value;

S72) said scheduler reads the control performance in each loop;

S73) said scheduler judges whether and need dispatch system, then skips to step S75 if need not scheduling;

S74) if need scheduling, said scheduler change each control loop sampling period, simplify the priority that step-length, each loop are sent signal;

S75) after completion was once dispatched, scheduler judged whether each control loop need continue to control controlled device, if then jump to step S72, otherwise finished scheduling.

Images