CN106527117A - Full-automatic driving vehicle-on-board controller and train redundancy control system and method - Google Patents
Full-automatic driving vehicle-on-board controller and train redundancy control system and method Download PDFInfo
- Publication number
- CN106527117A CN106527117A CN201611179771.7A CN201611179771A CN106527117A CN 106527117 A CN106527117 A CN 106527117A CN 201611179771 A CN201611179771 A CN 201611179771A CN 106527117 A CN106527117 A CN 106527117A
- Authority
- CN
- China
- Prior art keywords
- train
- mvb
- interface
- vobc
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Safety Devices In Control Systems (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a full-automatic driving vehicle-on-board controller and train redundancy control system and a full-automatic driving vehicle-on-board controller and train redundancy control method. The full-automatic driving vehicle-on-board controller and train redundancy control system comprises a vehicle-on-board controller VOBC and a train control system, wherein the VOBC comprises first multifunctional vehicle bus MVB interface equipment; the train control system comprises second MVB interface equipment and an information acquisition processor; the first MVB interface equipment and the second MVB interface equipment are in communication connection; and the VOBC is in communication connection with the information acquisition processor. The full-automatic driving vehicle-on-board controller and train redundancy control system transmits digital signals through the communication connection between the first MVB interface equipment and the second MVB interface equipment, can effectively avoid the problems that PWM pulses have burrs and the acquisition precision is not high, reduces the influence of electromagnetic interference, solves the problem of the acquisition precision, and reduces spurious triggering of emergency braking; by introducing digital signals, more information can be transmitted between the VOBC and the train control system, thereby being capable of controlling trains from more aspects later; and the safety and usability of train control are increased through redundant processing.
Description
Technical field
The present invention relates to technical field of rail traffic, and in particular to a kind of full-automatic driving Vehicle Controller and train redundancy
Control system and method.
Background technology
In subway, train generally provides the mode for configuring end to end, and the two ends of each fixed car group all respectively equip a set of vehicle-mounted
Equipment, as shown in Figure 1.In general, the mode of present Vehicle Controller (VOBC) and Train Control takes circuit side connector
Formula, according to certain mark and requirement arrangement circuit between Vehicle Controller and train signal point.According to the safety of signal
Source can be divided into safe input, Safety output, non-security input, non-security output, their connection principle such as Fig. 2-5 institutes
Show.
Controls of the existing VOBC to train can the explanation by taking controls of the VOBC to train traction and braking as an example.ATO is carried
Traction is represented respectively with braking for switching value all the way, 0/1.ATO provides pwm signal output all the way, and the output area of the interface is
0 100% dutycycle, 10%-90% dutycycles are range of linearity setting value, and which is equivalent to pull strength/brake force 0 to 100%
Setting value.When dutycycle is less than 5% or is more than 95%, it is believed that pwm signal failure, trailer system is without traction and electric braking, system
Dynamic system does not apply braking under non-brake operating mode, under damped condition applies full service braking；When pulsewidth is more than 5%, and
During less than 10%, it is believed that PWM outputs 10%；When pulsewidth is more than 90% and is less than 95%, it is believed that pwm signal output 90% (5%
It is effective status with 95%).When Vehicle Controller needs output braking, output switch parameter 1, pwm signal is then according to brake force
Size export different dutycycles.
Control car is carried out by the way of existing VOBC and train information point are directly connected to, between VOBC and train information point
Wiring is complicated, high cost.Once circuit is out of joint, difficult, replacing inconvenience is searched, is unfavorable for the maintenance of later stage train, it is practical
Property is poor.
In addition, by electromagnetic interference and the precision of acquisition chip, the PWM waveform of the ATO outputs that train is collected has ripple thorn,
The unstable of speed is caused, the comfortableness of train is reduced, the fluctuation of speed in addition can also cause unnecessary traction and braking, make
Into the waste of the energy.When fluctuating larger, even can cause brake hard sometimes, potential safety hazard be brought to train passenger.
The content of the invention
As prior art has the problems referred to above, the present invention proposes a kind of full-automatic driving Vehicle Controller and train redundancy
Control system and method.
In a first aspect, the present invention proposes a kind of full-automatic driving Vehicle Controller and train redundancy control system, including：Car
Set controller VOBC and train control system；
The VOBC includes MVB interface equipments；
The train control system includes the 2nd MVB interface equipments and information acquisition processor；
The first MVB interface equipments are communicated to connect with the 2nd MVB interface equipments；
The VOBC is communicated to connect with described information Acquisition Processor；
Wherein, digital signal is transmitted between MVB interface equipments and the 2nd MVB interface equipments；It is described
Transmission of analogue signal between VOBC and described information Acquisition Processor；Described information Acquisition Processor leads to for gathering the VOBC
The signal of switching value interface or analog signal interface output is crossed, and the information that MVB interfaces are received is compared redundancy process,
And perform the control car instruction of the VOBC.
Alternatively, MVB interface equipments include MVB interfaces, and the 2nd MVB interface equipments include second
MVB interfaces；
The first MVB interfaces are connected with the 2nd MVB interface communications.
Alternatively, MVB interfaces are communicated to connect by MVB with the 2nd MVB interfaces.
Alternatively, the VOBC includes the switching value interface and the analog signal interface；
Switching value interface and the analog signal interface are communicated to connect with described information Acquisition Processor.
Second aspect, the present invention also propose a kind of full-automatic driving Vehicle Controller and train redundancy control method, including：
Vehicle Controller VOBC passes through switching value interface and analog signal interface gathers the first train information, more than first
Function train bus-line MVB interfaces gather the second train information, and first train information and second train information are done
The process of first redundancy；
If the result after the first redundancy process is in default first range of error, to first train information
Carry out being calculated the first result of calculation, second train information is carried out being calculated the second result of calculation, and will be described
First result of calculation is sent to the Information Collecting ＆ Processing of train control system by switching value interface and the analog signal interface
Device, second result of calculation is sent by the MVB interfaces to the 2nd MVB interface equipments of train control system；
The train control system carries out the second redundancy process to first result of calculation and second result of calculation；
If the result after the second redundancy process calculates knot according to described first in default second range of error
Fruit or second result of calculation are controlled to train.
Alternatively, the Vehicle Controller VOBC passes through switching value interface and analog signal interface gathers the first train letter
Breath, gathers the second train information by the first multifunctional train bus MVB interface, specifically includes：
Vehicle Controller VOBC gathers first train information and second train information according to predetermined period.
Alternatively, methods described also includes：
If the result after the first redundancy process gives up the first row outside default first range of error
Car information and second train information.
Alternatively, methods described also includes：
If the result after the second redundancy process maintained a upper cycle pair outside default second range of error
The control instruction of train.
As shown from the above technical solution, the present invention is communicated with the 2nd MVB interface equipments by MVB interface equipments
Connection transmission digital signal, the problems such as can be prevented effectively from the ripple thorn and not high acquisition precision of pwm pulse, reduces electromagnetic interference
Affect, solve the problems, such as acquisition precision, reduce the false triggering of brake hard；VOBC and Train Control can be allowed by introducing digital signal
More information can be transmitted between system, possibility is provided for the follow-up train that controls in terms of more；Simultaneously by redundancy
Reason, increased safety and the availability of control car.
Description of the drawings
In order to be illustrated more clearly that technical scheme of the invention or of the prior art, below will be to embodiment or prior art
Needed for description, accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only the present invention's
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with according to this
A little figures obtain other accompanying drawings.
The train configuration connection diagram that Fig. 1 is provided for prior art；
The safe input principle schematic diagram of the signal that Fig. 2 is provided for prior art；
The non-security input principle schematic diagram of the signal that Fig. 3 is provided for prior art；
The Safety output principle schematic diagram of the signal that Fig. 4 is provided for prior art；
The non-security output principle schematic diagram of the signal that Fig. 5 is provided for prior art；
A kind of full-automatic driving Vehicle Controller and train redundancy control system that Fig. 6 is provided for one embodiment of the invention
Structural representation；
A kind of full-automatic driving Vehicle Controller and train redundancy control method that Fig. 7 is provided for one embodiment of the invention
Schematic flow sheet.
Specific embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is further described.Following examples are only used for more
Technical scheme is clearly demonstrated, and can not be limited the scope of the invention with this.
Fig. 6 shows a kind of full-automatic driving Vehicle Controller of the present embodiment offer and the knot of train redundancy control system
Structure schematic diagram, including：Vehicle Controller (VOBC) 601 and train control system 602；
The VOBC 601 includes MVB interface equipments 6011；
The train control system 602 includes the 2nd MVB interface equipments 6021 and information acquisition processor 6023；
The first MVB interface equipments 6011 are communicated to connect with the 2nd MVB interface equipments 6021；
Wherein, numeral letter is transmitted between MVB interface equipments 6011 and the 2nd MVB interface equipments 6021
Number；Transmission of analogue signal between the VOBC 601 and described information Acquisition Processor 602；Described information Acquisition Processor 6023
For gathering the signal that the VOBC 601 is exported by switching value interface or analog signal interface, and MVB interfaces 6011
The information for receiving is compared redundancy process, and performs the control car instruction of the VOBC 601.
Specifically, MVB interface equipments 6011 include MVB interfaces 6012, the 2nd MVB interface equipments
6021 include the 2nd MVB interfaces 6022；
The first MVB interfaces 6012 are communicated to connect with the 2nd MVB interfaces 6022.
For example, MVB interfaces 6012 are communicated to connect by MVB with the 2nd MVB interfaces 6022.
By introducing MVB technology, train control system and VOBC set up communication, can allow VOBC and Train Control system
More information can be transmitted between system, and is not limited to the transmission of analogue signal in prior art.
The VOBC 601 is communicated to connect with described information Acquisition Processor 6023；
Specifically, the VOBC 601 includes switching value interface 6013 and analog signal interface 6014；
The switching value interface 6013 and analog signal interface 6014 are communicated to connect with described information Acquisition Processor 6023.
The present embodiment with the addition of a kind of new digital signal way of output in existing VOBC analog signal outputs mode,
I.e. by digital signal is transmitted between MVB interface equipments 6011 and the 2nd MVB interface equipments 6021, two kinds of outputs are protected
The safety of control car, availability are demonstrate,proved.
A kind of full-automatic driving Vehicle Controller that the present embodiment is proposed is with train redundancy control system in prior art
On the basis of increased MVB, communication by way of Redundant Control train, while train also need increase MVB interface equipments.
Specifically, what is produced in VOBC originally is exactly digital signal, when in use, has converted thereof into switching signal or mould
Intend signal to be controlled；Therefore, in the present embodiment, only need to increase MVB interfaces, set without increasing digital signal generation
It is standby.
Specifically, MVB interface equipments (including MVB interface equipments 6011 and the 2nd MVB interface equipments 6021) are used for
Communication between Vehicle Controller and train communication system 602；Information acquisition processor 6023 is used to gather VOBC by switch
What amount interface 6013 and analog signal interface 6014 (switching value interface and analog signal interface may be collectively referred to as former interface) were exported
Signal, and the information received with MVB interfaces 6012 is compared redundancy process, finally performs the control car instruction of VOBC.
The present embodiment transmits digital signal by MVB interface equipments and the 2nd MVB interface equipments communication connection,
The problems such as ripple thorn and not high acquisition precision of pwm pulse can be prevented effectively from, reduces the impact of electromagnetic interference, solves acquisition precision
Problem, reduces the false triggering of brake hard；Can be allowed by introducing digital signal and can transmit between VOBC and train control system
More information, provide possibility for the follow-up train that controls in terms of more；Simultaneously by redundancy process, the peace of control car is increased
Full property and availability.
Fig. 7 shows a kind of full-automatic driving Vehicle Controller of the present embodiment offer and the stream of train redundancy control method
Journey schematic diagram, methods described include：
S701, Vehicle Controller VOBC pass through switching value interface and analog signal interface gathers the first train information, pass through
First multifunctional train bus MVB interface gathers the second train information, and to first train information and second train
Information does the process of the first redundancy；
Specifically, VOBC can gather first train information and second train information according to predetermined period.
If the result after the process of S702, first redundancy is in default first range of error, to the first row
Car information carries out being calculated the first result of calculation, and second train information is carried out being calculated the second result of calculation, and
First result of calculation is sent to the information of train control system by switching value interface and the analog signal interface and is adopted
Set processor, second result of calculation is sent by the MVB interfaces to the 2nd MVB interfaces of train control system and is set
It is standby；
S703, the train control system carry out the second redundancy to first result of calculation and second result of calculation
Process；
If the result after the first redundancy process gives up the first row outside default first range of error
Car information and second train information.
Specifically, VOBC ends workflow is as follows：
VOBC first passes through switching value interface and analog signal interface and MVB interfaces gather train information, and handle is adopted
The information of collection does redundancy process, if information is gathered in certain range of error unanimously, these information is used for train next
The calculating of step action, otherwise gives up.
Then VOBC calculates next step action and result of calculation is exported by processing, and ties output is calculated at VOBC ends
Fruit output simultaneously is to switching value interface and analog signal interface and MVB interfaces.
If the result after the process of S704, second redundancy is in default second range of error, according to described first
Result of calculation or second result of calculation are controlled to train.
If the result after the second redundancy process maintained a upper cycle pair outside default second range of error
The control instruction of train.
Specifically, train end workflow is as follows：
First, train end passes through switching value interface and analog signal interface and the 2nd MVB interfaces gather the letter of VOBC outputs
Breath；Then, the information of the two is compared at train end, carries out redundancy process, is held if consistent in certain range of error at once
OK, the upper sampling action of maintenance if inconsistent.
The present embodiment is compared to two kinds of outputs by being processed using redundancy twice, if unanimously just continued executing with, is protected
Card train safety.
For example, when train will export braking, VOBC gathers train information first, by redundancy process, calculates
The information such as present speed, acceleration, position, train status judge that next step operation is to draw, brake, or maintain coasting, if
Braking, then export brake signal by switching value interface and analog signal interface and MVB interfaces；Then train receives vehicle-mounted
The control command redundancy that controller sends is processed, if consistent in certain range of error, is performed at once.
The present embodiment transmits digital signal by MVB interface equipments and the 2nd MVB interface equipments communication connection,
The problems such as ripple thorn and not high acquisition precision of pwm pulse can be prevented effectively from, reduces the impact of electromagnetic interference, solves acquisition precision
Problem, reduces the false triggering of brake hard；Can be allowed by introducing digital signal and can transmit between VOBC and train control system
More information, provide possibility for the follow-up train that controls in terms of more；Simultaneously by redundancy process, the peace of control car is increased
Full property and availability.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
By software plus required general hardware platform mode realizing, naturally it is also possible to by hardware.Based on such understanding, on
State the part that technical scheme substantially contributes prior art in other words to embody in the form of software product, should
Computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD etc., including some fingers
Order is used so that a computer equipment (can be personal computer, server, or network equipment etc.) performs each enforcement
Method described in some parts of example or embodiment.
It should be noted that：Above example only to illustrate technical scheme, rather than a limitation；Although reference
Previous embodiment has been described in detail to the present invention, it will be understood by those within the art that：Which still can be right
Technical scheme described in foregoing embodiments is modified, or carries out equivalent to which part technical characteristic；And this
A little modifications are replaced, and do not make the essence of appropriate technical solution depart from the spirit and model of various embodiments of the present invention technical scheme
Enclose.
Claims (8)
1. a kind of full-automatic driving Vehicle Controller and train redundancy control system, it is characterised in that include：Vehicle Controller
VOBC and train control system；
The VOBC includes MVB interface equipments；
The train control system includes the 2nd MVB interface equipments and information acquisition processor；
The first MVB interface equipments are communicated to connect with the 2nd MVB interface equipments；
The VOBC is communicated to connect with described information Acquisition Processor；
Wherein, digital signal is transmitted between MVB interface equipments and the 2nd MVB interface equipments；The VOBC with
Transmission of analogue signal between described information Acquisition Processor；Described information Acquisition Processor is used to gather the VOBC by switch
The signal of interface or analog signal interface output is measured, and the information that MVB interfaces are received is compared redundancy process, and performed
The control car instruction of the VOBC.
2. system according to claim 1, it is characterised in that MVB interface equipments include MVB interfaces,
The 2nd MVB interface equipments include the 2nd MVB interfaces；
The first MVB interfaces are connected with the 2nd MVB interface communications.
3. system according to claim 2, it is characterised in that MVB interfaces are passed through with the 2nd MVB interfaces
MVB is communicated to connect.
4. system according to claim 1, it is characterised in that the VOBC includes the switching value interface and the simulation
Signaling interface；
The switching value interface and the analog signal interface are communicated to connect with described information Acquisition Processor.
5. a kind of full-automatic driving Vehicle Controller and train redundancy control method, it is characterised in that include：
Vehicle Controller VOBC passes through switching value interface and analog signal interface gathers the first train information, multi-functional by first
Train bus-line MVB interfaces gather the second train information, and do first to first train information and second train information
Redundancy process；
If the result after the first redundancy process is carried out to first train information in default first range of error
The first result of calculation is calculated, carries out being calculated the second result of calculation to second train information, and by described first
Result of calculation is sent to the Information Collecting ＆ Processing of train control system by the switching value interface and the analog signal interface
Device, second result of calculation is sent by the MVB interfaces to the 2nd MVB interface equipments of train control system；
The train control system carries out the second redundancy process to first result of calculation and second result of calculation；
If second redundancy process after result in default second range of error, according to first result of calculation or
Second result of calculation is controlled to train.
6. method according to claim 5, it is characterised in that the Vehicle Controller VOBC is by the switching value interface
The first train information is gathered with the analog signal interface, the second train is gathered by the first multifunctional train bus MVB interface
Information, specifically includes：
Vehicle Controller VOBC gathers first train information and second train information according to predetermined period.
7. method according to claim 5, it is characterised in that methods described also includes：
If the result after the first redundancy process is outside default first range of error, give up the first train letter
Breath and second train information.
8. method according to claim 7, it is characterised in that methods described also includes：
If the result after the second redundancy process maintained a upper cycle to train outside default second range of error
Control instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611179771.7A CN106527117B (en) | 2016-12-19 | 2016-12-19 | A kind of full-automatic driving Vehicle Controller and train redundancy control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611179771.7A CN106527117B (en) | 2016-12-19 | 2016-12-19 | A kind of full-automatic driving Vehicle Controller and train redundancy control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106527117A true CN106527117A (en) | 2017-03-22 |
| CN106527117B CN106527117B (en) | 2019-12-03 |
Family
ID=58339786
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611179771.7A Active CN106527117B (en) | 2016-12-19 | 2016-12-19 | A kind of full-automatic driving Vehicle Controller and train redundancy control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106527117B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1632702A (en) * | 2004-12-31 | 2005-06-29 | 武汉正远铁路电气有限公司 | Traction control system for stationary reconnection locomotive |
| CN201051223Y (en) * | 2007-05-11 | 2008-04-23 | 重庆工学院 | Car qnformation centralized collection device based on onboard network bus 2 h |
| CN101592954A (en) * | 2008-05-28 | 2009-12-02 | 北京人和路通科技有限公司 | A kind of fault safety control device that is applied to locomotive vehicle-mounted control |
| US20100299007A1 (en) * | 2009-05-19 | 2010-11-25 | Ghaly Nabil N | Method & apparatus for hybrid train control device |
| CN104268958A (en) * | 2014-08-27 | 2015-01-07 | 南车南京浦镇车辆有限公司 | Event recording method and equipment based on central control unit |
| CN104571045A (en) * | 2015-01-04 | 2015-04-29 | 北京纵横机电技术开发公司 | Central control unit of high speed train network control system |
-
2016
- 2016-12-19 CN CN201611179771.7A patent/CN106527117B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1632702A (en) * | 2004-12-31 | 2005-06-29 | 武汉正远铁路电气有限公司 | Traction control system for stationary reconnection locomotive |
| CN201051223Y (en) * | 2007-05-11 | 2008-04-23 | 重庆工学院 | Car qnformation centralized collection device based on onboard network bus 2 h |
| CN101592954A (en) * | 2008-05-28 | 2009-12-02 | 北京人和路通科技有限公司 | A kind of fault safety control device that is applied to locomotive vehicle-mounted control |
| US20100299007A1 (en) * | 2009-05-19 | 2010-11-25 | Ghaly Nabil N | Method & apparatus for hybrid train control device |
| CN104268958A (en) * | 2014-08-27 | 2015-01-07 | 南车南京浦镇车辆有限公司 | Event recording method and equipment based on central control unit |
| CN104571045A (en) * | 2015-01-04 | 2015-04-29 | 北京纵横机电技术开发公司 | Central control unit of high speed train network control system |
Non-Patent Citations (1)
| Title |
|---|
| 张益齐等: "基于DSP的空间电源变换器的冗余调压设计", 《电子测量技术》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106527117B (en) | 2019-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102616258B (en) | Synchronous control method for heavy-duty locomotive signal based on ATP/ATO (Automatic Train Protection/Automatic Train Operation) equipment | |
| CN105923018B (en) | A kind of dynamic dispersivity train constant speed centralized control method | |
| EP2746132B1 (en) | Ctcs level-3 onboard automatic train operation device and rail transit car | |
| CN106347143B (en) | Electric vehicle and its pass through the control system and control method between third rail non-Electric region | |
| CN204915311U (en) | Controller and car | |
| CN105015523B (en) | A kind of EMUs braking instruction conversion control circuit | |
| CN105291887B (en) | The bi-motor moment of torsion distribution control method of rubber tire low-floor intelligent track train | |
| CN109572726A (en) | A kind of rail traffic traction braking fused controlling system and method | |
| CN102874280A (en) | Train speed limitation control method based on train network system | |
| CN106354120B (en) | A kind of combined test system of rail traffic vehicles control equipment | |
| CN101559763A (en) | Automobile brake-by-wire method based on CAN bus communication technology and device thereof | |
| CN102649436B (en) | Electric locomotive shunting control method, device and system | |
| EP3069918A1 (en) | Assembly and method for brake energy recovery of a vehicle into a catenary | |
| CN106394613A (en) | Railway vehicle speed control system and method | |
| CN103112443A (en) | Braking control device, method and multi-machine vehicle braking control system | |
| CN107097806B (en) | The electronic control system of AC drive locomotive braking system | |
| CN216313114U (en) | Motor train unit control system fusion framework | |
| CN104925071A (en) | Locomotive differentiation wireless reconnection synchronous control method based on artificial intelligence | |
| CN105005225A (en) | Rail vehicle rescue return device and rescue method thereof | |
| CN105109522B (en) | A kind of EMUs ATO automatic Pilot control circuit | |
| CN106527117A (en) | Full-automatic driving vehicle-on-board controller and train redundancy control system and method | |
| CN109491356A (en) | Electric reconnection control signal pickup assembly and its diagnostic method in one kind | |
| CN106394618B (en) | A kind of train speed limit method based on TCMS controls | |
| CN101968650A (en) | High-speed maglev train vehicle controller and control method thereof | |
| CN101592954A (en) | A kind of fault safety control device that is applied to locomotive vehicle-mounted control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |