CN102890451A - Semi-physical simulation platform for vehicle-mounted controller test - Google Patents
Semi-physical simulation platform for vehicle-mounted controller test Download PDFInfo
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- CN102890451A CN102890451A CN201210374760XA CN201210374760A CN102890451A CN 102890451 A CN102890451 A CN 102890451A CN 201210374760X A CN201210374760X A CN 201210374760XA CN 201210374760 A CN201210374760 A CN 201210374760A CN 102890451 A CN102890451 A CN 102890451A
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Abstract
The invention discloses a semi-physical simulation platform for vehicle-mounted controller test. The semi-physical simulation platform comprises a sensor operation system, a vehicle-mounted controller, a software simulation train system and a power supply system, wherein the sensor operation system comprises a rotating bracket, a driving motor, an acceleration sensor, a Doppler radar, an annunciator searcher and a speed sensor, wherein the driving motor is used for driving the rotating bracket to rotate; the acceleration sensor and the Doppler radar are fixed on the rotating bracket; the speed sensor is used for measuring the speed of the rotating bracket; and the speed sensor, the acceleration sensor, the Doppler radar and the annunciator searcher are models actually used in a railway train. According to the semi-physical simulation platform for the vehicle-mounted controller test, real rail train sensors are adopted; the speed sensor, the acceleration sensor, the Doppler radar and an annunciator antenna are arranged at the different positions of the rotating bracket, the sensors are operated according to real work theories, the inputs and outputs of real sensors are provided for the vehicle-mounted controller, so that an environment extremely simulated with a real operation environment is provided for the vehicle-mounted controller.
Description
Technical field
The invention belongs to Vehicle Controller design and technical field of measurement and test, specifically relate to a kind of semi-physical emulation platform for the Vehicle Controller test.
Background technology
Vehicle Controller (Carbone Controller) is a kind of safety computer platform for rail traffic control system, mainly is comprised of a series of integrated circuit boards with functional module.Vehicle Controller is mainly used to gather the speed pickup in high ferro circuit or the subway line, acceleration transducer, radar Doppler, the signal of the onboard sensors such as beacon requestor.
Along with scientific-technical progress and era development, automation control system more and more is used in subway and the high ferro circuit, the part that Vehicle Controller can not obtain as subway or high ferro train, it is tested with authenticating becomes a part that guarantees that security is indispensable.In the process of Vehicle Controller research and development and test, in order to guarantee its security, reliability and availability need to carry out a series of stricter tests to Vehicle Controller.For the consideration of security, can not directly Vehicle Controller be installed on track train and carry out on-the-spot test, and on-the-spot test need to expend huge manpower and material resources cost.Along with the development of emulation technology, the researchist sets up sensor model according to principle of work and the input-output characteristic of sensor, and the sensor signal of emulation is provided for Vehicle Controller.
At present in the more typical hardware-in-the-loop simulation onboard system of bibliographical information, signal system is by the motion of traction motor controller control traction electric machine, traction electric machine drives tachogenerator and conveyer belt, tachogenerator produces rate signal, the passive balise and the active balise that are installed in travelling belt produce transponder signal, cab signal system (Vehicle Controller) picking rate information and transponder signal (cab signal systemic software development semi-physical emulation platform, Yin Liming, Liu Junyan, Cheng Jia, Urban Mass Transit, the fourth phase in 2011,40-44).Set up sensor model by emulation technology, the sensor signal of emulation is provided for Vehicle Controller, although can analog sensor ground function, some performance of test carriage set controller.But the signal of the sensor signal of these emulation and real sensor still has very large difference, even and set up semi-matter simulating system with regard to a certain sensor, also can only be from the individual event performance of test carriage set controller in a certain respect.The all properties of test carriage set controller comparatively all sidedly.And owing to lacking running environment and the scene of Vehicle Controller, these test macros are still very not comprehensive and complete to the test that Vehicle Controller carries out.
Summary of the invention
The invention provides a kind of semi-physical emulation platform for the Vehicle Controller test, this simulation platform structure is simple, by adopting real track train sensor, for Vehicle Controller provide the input of real sensor and with the real running environment test environment of emulation very, the exploitation that is used for Vehicle Controller is during with test, more comprehensively the performance of the each side of test carriage set controller.
A kind of semi-physical emulation platform for the Vehicle Controller test, described Vehicle Controller is used for track train, comprising: the operating sensor system, be used for induced signal and the Vehicle Controller that sends corresponding control signal that the pick-up transducers operational system sends, software emulation train system and the electric power system that is used for receiving the control signal of Vehicle Controller and controls the operation of operating sensor system; Described operating sensor system comprises:
Runing rest;
Drive the drive motor that described runing rest rotates;
Be fixed on acceleration transducer and radar Doppler on the runing rest;
The teleseme requestor comprises teleseme antenna, fixedly transponder FB and variable transponder tango B, and described teleseme antenna is fixed on the described runing rest;
Speed pickup is for the speed of measuring runing rest;
Described speed pickup, acceleration transducer, radar Doppler and teleseme requestor are the actual model of using in the track train.
Semi-physical emulation platform for the Vehicle Controller test of the present invention is mainly used in track train, is specially adapted in the subway system.Wherein acceleration transducer is mainly used in measuring the linear acceleration of disk border, speed pickup is mainly used in measuring the linear velocity of disk border, radar Doppler is mainly used in measuring the linear velocity of disk border and the distance that disk border turns over, and the teleseme antenna is mainly used in measuring beacon signal.Described speed pickup, acceleration transducer, radar Doppler and teleseme antenna are the actual model of using in the track train, and having realized provides real sensor input and output to the test carriage set controller.According to the difference of true train structure, can suitably increase and decrease number and the type of sensor.
For further having improved the authenticity of emulation platform, be convenient to simultaneously the layout of acceleration transducer, radar Doppler and teleseme antenna, as preferably, described runing rest comprises the rotating shaft of output shaft interlock of bottom and described drive motor and the disk that is fixed on the rotating shaft top; Described speed pickup, acceleration transducer, radar Doppler and teleseme antenna are distributed in this disk end face take the transient equilibrium that keeps described disk as principle.
The optionally connected touch of described speed pickup and contactless speed pickup, in the actual use procedure for ease of the layout of sensor, as preferably, described speed pickup is the contact speed pickup, between this speed pickup and the described disk by gear drive.The rotary speed pickup of contact directly contacts with moving object.When moving object contacted with rotary speed pickup, the roller of friction force band dynamic sensor rotated.Adopt gear transmission structure, reduced the wearing and tearing to contact speed pickup upper roller.During practical set, the gear that transmission is used and the coaxial setting of contact speed pickup upper roller, and be provided with the engaging tooth that meshes with described gear around the described disk.
Speed pickup, acceleration transducer, radar Doppler and teleseme antenna need to link to each other with electric power system and Vehicle Controller by signal wire or power lead, layout for ease of power lead or signal wire, prevent wearing and tearing power lead or signal wire in the rotating shaft rotation process, as further preferred, described rotating shaft is hollow structure, this rotating shaft outer wall circumferential arrangement has some electric conductors, the electric conductor outer wall links to each other by the signal receiving end of carbon brush with electric power system and Vehicle Controller, and the electric conductor inwall has at least a part and passes the sidewall of described rotating shaft and be communicated with the rotating shaft inner chamber; Described acceleration transducer, radar Doppler and teleseme antenna are communicated with electric conductor in the rotating shaft inner chamber respectively by circuit.Electric conductor can adopt conductive coating made to be sprayed in the rotating shaft directly and form, and also can select to utilize the direct machine-shaping of conductive material, and then be installed in the corresponding position of rotating shaft and get final product.
For further lowering the overall weight of runing rest, reduce energy consumption, as further preferred, described disk is ring texture, interfixes by some web members and described rotating shaft.Layout for ease of circuit, can metallic channel be set at described web member end face, during actual installation, directly line arrangement is got final product in metallic channel, the position of web member can be according to the location positioning of speed pickup, acceleration transducer, radar Doppler and the installation of teleseme antenna, further to be convenient to the layout of circuit.
For understanding in real time the implementation status of software emulation train system, as preferably, also be provided with monitoring modular in the described software emulation train system, be used for the executive signal of monitoring of software emulation train system, and with this signal feedback to Vehicle Controller.
For ease of the transmission of information between Vehicle Controller and the software emulation train system, can between described Vehicle Controller and software emulation train system, be provided with signal translating system.Signal translating system is mainly used in the signal of Vehicle Controller output is converted to digital signal, and the digital signal with software emulation train system feedback is converted to the signal that Vehicle Controller need to be inputted simultaneously.Also can increase according to actual needs signal conversion module between software emulation train system and the operating sensor system.
The software of signal translating system and software emulation train system generally moves in industrial computer among the present invention.The hardware of signal translating system generally comprises cabinet and level conversion plate, and the level conversion plate directly links to each other with industrial computer, and running software is made of acquisition module and communication module in industrial computer.Acquisition module gathers the IO signal of onboard sensor; Sensor information is transmitted in the communication module communication of communication module and software emulation train system.
Software emulation train system among the present invention is comprised of communication module, velocity and acceleration computing module, display module and locating module.Communication module is responsible for the communication module communication with signal translating system, the velocity and acceleration computing module is used for speed and the acceleration information of Calculation Simulation train, locating module is used for the location simulation train position, and display module is used for the line information of the running status of demonstration virtual train.
In the actual track train system, the teleseme antenna generally is distributed on the whole piece track, only just can detect signal under specific occasion.For further improving the authenticity of emulation platform, as preferably, also be provided with a control module in the described electric power system, this control module is used for the drive current size of timed on-off of power and the drive motor of control signal machine requestor.In the time interval of the timed on-off of power of teleseme requestor, can determine according to the actual arrangement situation of teleseme antenna in the railway train system.By the control to the drive current size of drive motor, control in real time the rotating speed of drive motor.
Vehicle Controller described in the present invention generally is comprised of a series of integrated circuit boards with functional module, can adopt multiple existing computer platform, for example can get that two safety computer platforms consist of or two gets two safety computer platforms and consist of by common three.Commonly used three get two safety computer platforms three gets the hardware configuration of two safety computer platforms and comprise: three CPU board, three block signals gather SAC plate, two blocks of communication COM plates, two blocks of ATO plates, three blocks of IO plates.Wherein the SAC plate is used for the signal of each sensor in the pick-up transducers operational system, and the SAC plate links to each other with carbon brush by the three rear outlets of getting two safety computer platforms, by contacting of carbon brush and slide block, can realize and being connected of sensor signal lines.
Compared with prior art, beneficial effect of the present invention is embodied in:
(1) the present invention adopts real track train sensor, and by speed pickup, acceleration transducer, radar Doppler and teleseme antenna are arranged on the different position of runing rest, make these sensors according to its real principle of work operation, for Vehicle Controller provides the input of real sensor and output, thus for Vehicle Controller provide one with real running environment simulated environment very.
(2) the present invention provides a cover complete simulating scheme design for Vehicle Controller, sensor in the simulated environment can increase or reduce according to the actual requirements, these increases or minimizing can't bring any impact to function and the completeness of Vehicle Controller emulation platform, the applicability of emulation platform is wider, the single-board testing stage that namely can be used for Vehicle Controller, also can be used for the integration testing of Vehicle Controller and system testing stage etc., the performance of test carriage set controller is wide.
Description of drawings
Fig. 1 is the structural representation that the present invention is used for the semi-physical emulation platform of Vehicle Controller test;
Fig. 2 is the plan structure schematic diagram of the semi-physical emulation platform operating sensor system for Vehicle Controller test shown in Figure 1;
Fig. 3 is the main TV structure schematic diagram of operating sensor shown in Figure 2 system;
Fig. 4 is the broken section structure for amplifying schematic diagram of A part in the operating sensor shown in Figure 3 system;
Fig. 5 is the structural representation of a kind of embodiment of Vehicle Controller among the present invention.
Fig. 6 is the hardware configuration schematic diagram that the present invention is used for the semi-physical emulation platform of Vehicle Controller test
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the example of the present invention is carried out clear, complete description, obviously, the embodiment of description only is a part of embodiment among the present invention, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making other all embodiment that obtain under the creative work prerequisite.
Such as Fig. 1 and shown in Figure 6, a kind of semi-physical emulation platform for the Vehicle Controller test comprises: operating sensor system 44; Vehicle Controller 41 is used for the induced signal that the pick-up transducers operational system is sent, and according to the induced signal that receives, sends corresponding control signal; The software emulation train system is used for receiving the control signal of Vehicle Controller, and according to the control signal that receives, controls the operation of operating sensor system; Signal translating system is used for Vehicle Controller and software emulation train system carried out that signal transforms; Electric power system 43 provides power supply to the hardware in the whole emulation platform, and electric power system comprises a software control unit simultaneously, is used for the timed on-off of power of control signal machine requestor and the size of motor drive current.
Such as Fig. 2, Fig. 3 and shown in Figure 4, the operating sensor system comprises: runing rest 1; Drive the drive motor 2 that runing rest 1 rotates; Be fixed on acceleration transducer 4 and the radar Doppler 5 of runing rest 1; The teleseme requestor comprises teleseme antenna 6, fixedly transponder FB and variable transponder tango B, and teleseme antenna 6 is fixed on the runing rest 1, and fixedly transponder FB and variable transponder tango B are arranged in runing rest 1 below, the running status of simulation true train; Speed pickup 3 is for the speed of measuring runing rest 1; Speed pickup 3, acceleration transducer 4, radar Doppler 5 and teleseme requestor are the actual model of using in the track train.
The hollow structure that has inner chamber centered by the rotating shaft 1a, this rotating shaft 1a outer wall circumferential arrangement has some electric conductor 1c, electric conductor 1c outer wall links to each other with the signal receiving end of electric power system and Vehicle Controller by carbon brush 7, and electric conductor 1c inwall has at least a part and passes the sidewall of rotating shaft 1a and be communicated with the rotating shaft inner chamber; Acceleration transducer 4, radar Doppler 5 and teleseme antenna 6 are communicated with electric conductor 1c in the rotating shaft inner chamber respectively by signal wire and power lead, thereby make electric power system can be acceleration transducer 4, radar Doppler 5,6 power supplies of teleseme antenna, while acceleration transducer 4, radar Doppler 5, the signal of teleseme antenna 6 can send onboard sensor to.Electric conductor 1c is the conductive coating that is painted on rotating shaft 1a.Disk 1b is ring texture, interfixes by some web member 1d and rotating shaft 1a.The quantity of web member and electric conductor setting can be determined according to actual needs, not strict restriction.The position of the position of web member 1d and acceleration transducer 4, radar Doppler 5 and teleseme antenna 6 is corresponding respectively, can be chosen in as required web member 1d end face corresponding metallic channel is set so that with the layout of power lead or signal wire.
As shown in Figure 5, Vehicle Controller is got two safety computer platforms by real three and is consisted of, and three get two safety computer platforms is comprised of three CPU board, three block signals collection SAC plate, two blocks of communication COM plates, two blocks of ATO plates, three blocks of IO plates.Wherein, ATO plate and SAC plate gather acceleration transducer 4, speed pickup 3, radar Doppler 5, the sensor signal of teleseme antenna 6 by signal wire 8.CPU board is responsible for the synchronous voting of the sensor signal, and sends to signal translating system by the COM plate with the form of message, and the IO plate links to each other with the level conversion plate of signal translating system simultaneously.
As shown in Figure 5 and Figure 6, the hardware of signal translating system is comprised of with level conversion plate 45 middle control machine 42, and level conversion plate 45 directly links to each other with industrial computer 42, and the running software of signal translating system is made of acquisition module and communication module in industrial computer 42.Acquisition module gathers the IO signal of Vehicle Controller 41; Sensor information is transmitted in the communication module communication of communication module and software emulation train system.Level conversion plate 45 is to be message signals by industrial computer 42 Collect conversions behind the 5V level with the 24V level conversion of the output of IO plate, sends the software emulation train system to; The synchronous signal converting system is converted to the 24V level signal with the IO signal of software emulation train system output, sends Vehicle Controller to as the monitoring executive signal.
The simulation software of software emulation train system also operates in the industrial computer 42, by communication module, and the velocity and acceleration computing module, display module, locating module forms.Communication module is responsible for the communication module communication with signal translating system, the velocity and acceleration computing module is used for speed and the acceleration information of Calculation Simulation train, locating module is used for the location simulation train position, and display module is used for the line information of the running status of demonstration virtual train.The software emulation train system, moving law and mechanics principle according to track train, track train is carried out modeling, Automatic Control Theory according to track train is controlled the emulation train, and make train operation on the track according to real circuit modeling, thereby make real Vehicle Controller can control virtual track train.The software emulation train system receives the control signal of Vehicle Controller, the operation of control operating sensor system, thereby the software emulation train system can be controlled real sensor: acceleration transducer 4, speed pickup 3, radar Doppler 5, the work of teleseme antenna 6, the while can obtain from Vehicle Controller the service data of sensor.
The semi-physical emulation platform actual moving process that is used for the Vehicle Controller test of present embodiment is:
At first utilize the software emulation train system to start drive motor 2, drive motor 2 drives disk 1b and rotates, acceleration transducer 4, and speed pickup 3, radar Doppler 5, teleseme antenna 6 is started working; Acceleration transducer 4, speed pickup 3, radar Doppler 5, teleseme antenna 6 sends to Vehicle Controller with speed, acceleration and the beacon signal that gathers; Vehicle Controller sends corresponding control signal according to the signal that receives to the software emulation train system, carries out the signal conversion by signal translating system between the Vehicle Controller software emulation train system; The software emulation train system receives the control signal of Vehicle Controller, and the operation of control operating sensor system is carried out Comprehensive performance assessment by test to the Vehicle Controller that detects at last.
At last explanation: above embodiment only is used for technical scheme of the present invention is described, but not limits it; Although with reference to previous embodiment the present invention is described in detail, those skilled in the art is to be understood that: it still can be made amendment to the technical scheme that previous embodiment is put down in writing, and perhaps its part technical characterictic is replaced; And these modifications or replacement can not make corresponding technical scheme break away from application category of the present invention.
Claims (9)
1. one kind is used for the semi-physical emulation platform that Vehicle Controller is tested, described Vehicle Controller is used for track train, comprising: the operating sensor system, be used for induced signal and the Vehicle Controller that sends corresponding control signal that the pick-up transducers operational system sends, software emulation train system and the electric power system that is used for receiving the control signal of Vehicle Controller and controls the operation of operating sensor system; It is characterized in that, described operating sensor system comprises:
Runing rest (1);
Drive the drive motor (2) that described runing rest (1) rotates;
Be fixed on acceleration transducer (4) and radar Doppler (5) on the runing rest (1);
The teleseme requestor comprises teleseme antenna (6), fixedly transponder FB and variable transponder tango B, and described teleseme antenna is fixed on the described runing rest (1);
Speed pickup (3) is for the speed of measuring runing rest (1);
Described speed pickup, acceleration transducer, radar Doppler and teleseme requestor are the actual model of using in the track train.
2. the semi-physical emulation platform for Vehicle Controller test according to claim 1, it is characterized in that, described runing rest (1) comprises the rotating shaft (1a) that the output shaft of bottom and described drive motor (2) links and the disk (1b) that is fixed on rotating shaft (1a) top; Described acceleration transducer (4), radar Doppler (5) and teleseme antenna (6) are distributed in this disk (1b) end face take the transient equilibrium that keeps described disk (1b) as principle.
3. the semi-physical emulation platform for Vehicle Controller test according to claim 2, it is characterized in that, described rotating shaft (1a) is hollow structure, this rotating shaft (1a) outer wall circumferential arrangement has some electric conductors (1c), electric conductor (1c) outer wall links to each other with the signal receiving end of electric power system and Vehicle Controller by carbon brush (7), and electric conductor (1c) inwall has at least a part and passes the sidewall of described rotating shaft (1a) and be communicated with the rotating shaft inner chamber; Described acceleration transducer (4), radar Doppler (5) and teleseme antenna (6) are communicated with electric conductor (1c) in the rotating shaft inner chamber respectively by circuit.
4. the semi-physical emulation platform for the Vehicle Controller test according to claim 2 is characterized in that, described disk (1b) is ring texture, interfixes by some web members (1d) and described rotating shaft (1a).
5. the semi-physical emulation platform for the Vehicle Controller test according to claim 2 is characterized in that, described web member (1d) end face is provided with metallic channel.
6. the semi-physical emulation platform for Vehicle Controller test according to claim 2 is characterized in that, described speed pickup is the contact speed pickup, between this speed pickup and the described disk by gear drive.
7. the semi-physical emulation platform for Vehicle Controller test according to claim 1, it is characterized in that, also be provided with monitoring modular in the described software emulation train system, be used for the executive signal of monitoring of software emulation train system, and with this signal feedback to Vehicle Controller.
8. the semi-physical emulation platform for the Vehicle Controller test according to claim 7 is characterized in that, is provided with signal translating system between described Vehicle Controller and the software emulation train system.
9. the semi-physical emulation platform for Vehicle Controller test according to claim 1, it is characterized in that, also be provided with a control module in the described electric power system, this control module is used for the timed on-off of power of control letter teleseme requestor and the drive current size of drive motor.
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| CN110874064B (en) * | 2020-01-17 | 2020-05-15 | 西南交通大学 | High-speed railway traction network-multi-vehicle coupling system semi-physical simulation experiment system |
| CN113534080A (en) * | 2021-08-16 | 2021-10-22 | 电子科技大学 | Short-range Doppler radar test system |
| CN114394137A (en) * | 2021-12-24 | 2022-04-26 | 卡斯柯信号有限公司 | Simulation integration test platform and test method for vehicle-mounted signal system |
| CN114460860A (en) * | 2021-12-29 | 2022-05-10 | 中车永济电机有限公司 | Comprehensive control and management platform and method for train-level semi-physical simulation system |
| CN114460860B (en) * | 2021-12-29 | 2023-10-13 | 中车永济电机有限公司 | Comprehensive control and management platform and method for train-level semi-physical simulation system |
| CN116540564A (en) * | 2023-05-26 | 2023-08-04 | 西南交通大学 | Rail detection robot simulation method based on ROS and semi-physical simulation |
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