CN107054255A - A kind of vehicle-mounted complex control system of land equipment vehicle - Google Patents
A kind of vehicle-mounted complex control system of land equipment vehicle Download PDFInfo
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- CN107054255A CN107054255A CN201710303711.XA CN201710303711A CN107054255A CN 107054255 A CN107054255 A CN 107054255A CN 201710303711 A CN201710303711 A CN 201710303711A CN 107054255 A CN107054255 A CN 107054255A
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- 238000004891 communication Methods 0.000 claims abstract description 11
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- 230000009977 dual effect Effects 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 7
- 238000004458 analytical method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 3
- 210000000056 organ Anatomy 0.000 claims description 2
- 230000006870 function Effects 0.000 description 11
- 238000013461 design Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
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- 241000894007 species Species 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
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- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0054—Train integrity supervision, e.g. end-of-train [EOT] devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0063—Multiple on-board control systems, e.g. "2 out of 3"-systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Safety Devices In Control Systems (AREA)
- Hardware Redundancy (AREA)
- Small-Scale Networks (AREA)
Abstract
The present invention discloses a kind of vehicle-mounted complex control system of land equipment vehicle, including is used as a Comprehensive control computer, two cascade Ethernet switches and multiple general vehicle controllers based on PLC；The power module and CPU module of Comprehensive control computer use dual redundant Hot Spare mode；The data that Comprehensive control computer monitoring record general vehicle controller is uploaded；Ethernet switch realizes the data communication between Comprehensive control computer and general vehicle controller using full-duplex switched Ethernet；General vehicle controller is scattered to be arranged near bottom executing agency, and the data of the sensor of collection monitoring bottom executing agency simultaneously receive the control command that Comprehensive control computer issues and complete to export the control signal of bottom executing agency.The present invention improves the reliability of vehicle-mounted complex control system.
Description
Technical field
The present invention relates to land equipment vehicle.More particularly, to a kind of vehicle-mounted Comprehensive Control system of land equipment vehicle
System.
Background technology
Vehicle-mounted complex control system is installed on land equipment vehicle, the control for each vehicle-mounted subsystem of land equipment vehicle
System and status monitoring function.
The mobile unit of current land equipment vehicle is divided into multiple subsystems, and each system has a computer,
The control of done subsystem is calculated, collection is monitored and communication function, and subsystems collaboration completes vehicle task control process,
And mostly using single redundant system.Under the architectural framework, the control function of whole vehicle is scattered, device resource is repeated, information
Interaction is cumbersome, while subsystems establish one's own system, causes information dispersion not share, once there is event in some computer
Barrier, then whole task process will be interrupted, if improving reliability by the way of cold standby, can cause the backup of whole system
Equipment is excessive, improves system cost, while cold standby scheme needs human intervention to complete system and recover equally interrupt to appoint
Business process, can so be greatly lowered the task reaction speed of system, if by the way of Hot Spare, for every computer
Whole system complexity can be improved by carrying out Hot Spare, and global reliability can be reduced on the contrary, it is impossible to realize that future terrestrial equips vehicle
Inexpensive, highly reliable, information-based growth requirement.
Vehicle-mounted complex control system is as the ground core system of land equipment vehicle, and its performance directly affects equipment
Can, its reliability and automaticity directly determine and influence the survival ability and quick-reaction capability of equipment.Accordingly, it would be desirable to carry
For a kind of vehicle-mounted complex control system of the land equipment vehicle of integrated, integrated, information-based high reliability.
The content of the invention
It is an object of the invention to provide a kind of vehicle-mounted complex control system of land equipment vehicle, conventional ground dress is solved
The problem of standby vehicle electrical systems complexity height, low reliability, fault correction time length, versatility autgmentability difference.
To reach above-mentioned purpose, the present invention uses following technical proposals：
A kind of vehicle-mounted complex control system of land equipment vehicle, including calculated as the centralized Control of land equipment vehicle
One Comprehensive control computer of processing center, two cascade Ethernet switches as data switching center and it is used as bottom
Multiple general vehicle controllers based on PLC of control node；The power module and CPU module of the Comprehensive control computer are equal
Using dual redundant Hot Spare mode；The data that the Comprehensive control computer monitoring record general vehicle controller is uploaded；It is described
Ethernet switch realizes the Comprehensive control computer and the general vehicle controller using full-duplex switched Ethernet
Between data communication；The general vehicle controller is scattered to be arranged near bottom executing agency, and collection monitoring bottom is held
The data of the sensor of row mechanism simultaneously receive the control command that Comprehensive control computer issues and complete control to bottom executing agency
Signal output processed.
Preferably, the Comprehensive control computer includes arbitration modules, host CPU module, standby CPU module and two power supply moulds
Block；
Host CPU module and standby CPU module carry out data syn-chronization by point-to-point ethernet communication；
Host CPU module and standby CPU module receive the input signal of input equipment and synchronously carry out task processing simultaneously, main
CPU module also carries out task result output；
Host CPU module and the standby equal fixed time intervals of CPU module send heartbeat data and self-operating shape to arbitration modules
State information；
Arbitration modules carry out accident analysis judgement and active-standby switch to host CPU module and standby CPU module, when arbitration modules are sentenced
Determine after the failure of host CPU module, when arbitration modules do not receive the heartbeat signal or right of some CPU module within a certain period of time
When the progress accident analysis of self-operating status information judges that some CPU module breaks down, the automatic active-standby switch that carries out causes separately
One CPU module carries out task processing and the output of task result, while the CPU module that will appear from failure is carried out at power-off
Reason.
Preferably, the set time is 10ms.
Preferably, two Ethernet interfaces of described two cascade Ethernet switches externally use virtual mac address
Mode, realizes that two external IP address of Ethernet interface are identical.
Preferably, the bottom executing agency includes vehicle chassis, power supplying and distributing equipment, temperature equipment and leveling a perpendicular machine
Structure.
Beneficial effects of the present invention are as follows：
Technical scheme of the present invention changes traditional electrical system framework, reduces system complexity, design cost,
The information sharing of land equipment vehicle is realized, system reliability, autgmentability is improved, simultaneously as reducing calculating in system
The cable of machine quantity and equipment room, having saved installing space reduces mobile unit weight, improves land equipment vehicle
Overall performance.
Brief description of the drawings
The embodiment to the present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 shows the schematic diagram of the vehicle-mounted complex control system of ground equipment cart.
Embodiment
In order to illustrate more clearly of the present invention, the present invention is done further with reference to preferred embodiments and drawings
It is bright.Similar part is indicated with identical reference in accompanying drawing.It will be appreciated by those skilled in the art that institute is specific below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
As shown in figure 1, the vehicle-mounted complex control system of land equipment vehicle disclosed by the invention is by original land equipment car
Each subsystem carries out integrated, generalization, informationization designing on, using new electrical hierarchy framework, cancels each subsystem
Computer, using the Comprehensive control computer of a high-performance high reliability as the centralized Control calculating of land equipment vehicle at
Reason center, is completed to the Comprehensive Control of full car function and to equipment Test and control function.Land equipment disclosed by the invention
The vehicle-mounted complex control system of vehicle is using data transmission channel of the full-duplex switched Ethernet as system, by Comprehensive Control
Computer is as the information centre in system, whole communication data informations and general vehicle control on monitoring record ethernet network
The data that device processed is uploaded, the data of upload include the running state information of all mobile units, complete the data of equipment and vehicle
Centrally stored, the processing function of information, realize the shared of all information of vehicle, reduce system complexity, it is easy to fault location and
Process playback, clothes are supported to realize that the on-line fault diagnosis of land equipment vehicle and health management function provide big data future
Business, Comprehensive control computer carries out task processing always according to the input signal of input equipment and issues control to general vehicle controller
System order.The vehicle-mounted complex control system of land equipment vehicle disclosed by the invention uses the general vehicle controller based on PLC
As bottom control node, scattered is arranged near bottom executing agency, the sensor of collection monitoring bottom executing agency
Data simultaneously receive the control command that Comprehensive control computer issues and complete to export the control signal of bottom executing agency, same to hour hands
To the quantity and function of different demands flexible configuration general vehicle controller, versatility, the autgmentability of system are improved.
Reliability is improved using dual redundant Hot Spare mode for the key equipment Comprehensive control computer in system, passed through
The history of computers trouble point is analyzed, it is found that the probability of malfunction of power module and CPU module is higher, therefore to comprehensive control
Power module and CPU module in computer processed carry out including two electricity in redundancy backup design, i.e. Comprehensive control computer
Source module, 2 CPU modules and an arbitration modules, wherein arbitration modules are used to sentence two CPU modules progress accident analyses
Fixed and active-standby switch, the hardware design of two CPU modules is identical, and one of module is used as host CPU module, another mould
Block is connected as standby CPU module, arbitration modules by RS422 serial ports with host CPU module and standby CPU module, and two CPU modules are equal
Fixed time intervals send heartbeat data and self-operating status information to arbitration modules, and the set time may be configured as 10ms.
Arbitration modules monitor the heartbeat data of two CPU modules and analyze its running state information in real time, when arbitration modules are in a timing
The interior heartbeat signal for not receiving some CPU module judges some to the progress accident analysis of self-operating status information
When CPU module breaks down, the automatic active-standby switch that carries out causes another CPU module to carry out task processing and task result
Output (work undertakes emission control task), so that in the case where not needing human intervention, it is automatic to ensure land equipment car
The continuation of task.On Comprehensive control computer after electricity, two mutually redundant simultaneously powered up work of CPU module, host CPU module
The input signal of input equipment, synchronous progress task processing, but only host CPU module is received simultaneously with standby CPU module externally to enter
Row task result is exported, and standby CPU module does not carry out task result output externally, when arbitration modules monitor host CPU
After module breaks down, it is switched to standby CPU module and carries out task processing and the output of task result, while arbitration modules will be main
CPU module carries out power down process, treats to carry out troubleshooting maintenance work after the completion of system task.Host CPU module and standby CPU module pass through
Point-to-point ethernet communication carries out data syn-chronization, it is ensured that the uniformity of running status each other.
General vehicle controller, it is defeated with No. 12 relay isolation IO using the standard modular product based on PLC frameworks
Go out, 12 tunnel light-coupled isolation IO inputs, 12 road analog inputs, 12 road analog outputs, while having high-grade rain-proof, antidetonation
Dynamic, anti-adverse environment characteristic.General vehicle controller mainly realizes IO Input Monitor Connectors, IO output controls, analog acquisition function
And drive control output, the control output to bottom executing agency and status monitoring are completed, including to vehicle chassis, for distribution
Equipment, temperature equipment, the control and monitoring of leveling Erecting organ.Because PLC has good autgmentability, reliability and environment suitable
Ying Xing, is adapted to vehicle environment, is programmed with using trapezoid figure language, simplifies writing, debugging complexity for software code.Ground
Face equipment vehicle replaces the common control equipment of each subsystem using general vehicle controller, based on full underbody layer executing agency
Function carries out pool reasonable disposition, and is installed nearby according to position realization, and cable, reduction complexity, improve system in reduction system
System autgmentability reliability, while reducing vehicle-mounted spare part quantity.
The vehicle-mounted complex control system of land equipment vehicle disclosed by the invention is using dual redundant Ethernet as in system
Each equipment carries out the communication link of information exchange, while as in data exchange by the way of two Ethernet switch cascades
The heart.The host CPU module of Comprehensive control computer and standby CPU module, general vehicle controller all have two Hot Spares each other
Dual redundant Ethernet card, each Ethernet switch is connected by two Ethernet interfaces respectively, while two cascade Ethernets
Two Ethernet interfaces of interchanger externally use virtual mac address mode, realize the external IP address of two Ethernet interfaces
Identical, synchronization only one of which Ethernet switch work, another Ethernet switch is in redundancy backup state, when
When the network interface card or Ethernet physical link of the Ethernet switch worked break down, the Ethernet exchanging of redundancy backup
The network interface card of machine can in real time, be automatically switched to working condition, it is continual to continue to and send data, simultaneously for
When top level application program is write at family, without considering bottom network interface card handoff procedure.Using the Ethernet switches of two cascades and double
The network interface card of redundancy backup Ethernet switch make it that ethernet communication realizes dual redundant communication in vehicle-mounted complex control system
Link, reduces Single Point of Faliure, improves the reliability of data transfer.
Current land equipment vehicle electrical systems use computer species in single remaining architectural framework, simultaneity factor numerous
Many, function is repeated, Single Point of Faliure is more, causes that system overall complexity is high, reliability is low, maintainability is poor, is unsatisfactory for land equipment
Vehicle is highly reliable, inexpensive, Informatization Development trend, and the present invention changes traditional electrical system framework, reduces system
Complexity, design cost, realize the information sharing of land equipment vehicle, improve system reliability, autgmentability, simultaneously as
The cable of number of computers and equipment room in system is reduced, having saved installing space reduces mobile unit weight, improved
The overall performance of land equipment vehicle.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention, for those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms, all embodiments can not be exhaustive here, it is every to belong to this hair
Row of the obvious changes or variations that bright technical scheme is extended out still in protection scope of the present invention.
Claims (5)
1. a kind of vehicle-mounted complex control system of land equipment vehicle, it is characterised in that including the collection as land equipment vehicle
Middle control calculates a Comprehensive control computer, the two cascade Ethernet switches as data switching center of processing center
With multiple general vehicle controllers based on PLC as bottom control node；The power module of the Comprehensive control computer
Dual redundant Hot Spare mode is used with CPU module；The Comprehensive control computer monitoring record general vehicle controller is uploaded
Data；The Ethernet switch realizes the Comprehensive control computer and described general using full-duplex switched Ethernet
Data communication between Vehicle Controller；The general vehicle controller is scattered to be arranged near bottom executing agency, is gathered
The data of the sensor of monitoring bottom executing agency simultaneously receive the control command that Comprehensive control computer issues and complete to hold bottom
The control signal output of row mechanism.
2. the vehicle-mounted complex control system of land equipment vehicle according to claim 1, it is characterised in that the comprehensive control
Computer processed includes arbitration modules, host CPU module, standby CPU module and two power modules；
Host CPU module and standby CPU module carry out data syn-chronization by point-to-point ethernet communication；
Host CPU module and standby CPU module receive the input signal of input equipment and synchronously carry out task processing, host CPU mould simultaneously
Block also carries out task result output；
Host CPU module and the standby equal fixed time intervals of CPU module send heartbeat data and self-operating state letter to arbitration modules
Breath；
Arbitration modules carry out accident analysis judgement and active-standby switch to host CPU module and standby CPU module, when arbitration modules judge to lead
After CPU module breaks down, when arbitration modules do not receive the heartbeat signal of some CPU module or to itself within a certain period of time
When running state information progress accident analysis judges that some CPU module breaks down, the automatic active-standby switch that carries out causes another
CPU module carries out task processing and the output of task result, while the CPU module that will appear from failure carries out power down process.
3. the vehicle-mounted complex control system of land equipment vehicle according to claim 2, it is characterised in that when described fixed
Between be 10ms.
4. the vehicle-mounted complex control system of land equipment vehicle according to claim 1, it is characterised in that described two levels
Two Ethernet interfaces for joining Ethernet switch externally use virtual mac address mode, realize two Ethernet interfaces pair
Outer IP address is identical.
5. the vehicle-mounted complex control system of land equipment vehicle according to claim 1, it is characterised in that the bottom is held
Row mechanism includes vehicle chassis, power supplying and distributing equipment, temperature equipment and leveling Erecting organ.
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| CN201710303711.XA CN107054255A (en) | 2017-05-03 | 2017-05-03 | A kind of vehicle-mounted complex control system of land equipment vehicle |
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| CN201710303711.XA CN107054255A (en) | 2017-05-03 | 2017-05-03 | A kind of vehicle-mounted complex control system of land equipment vehicle |
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Cited By (15)
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| CN107807630A (en) * | 2017-11-29 | 2018-03-16 | 瑞斯康达科技发展股份有限公司 | A kind of method for handover control of master/slave device, its handover control system and device |
| CN107967194A (en) * | 2017-10-19 | 2018-04-27 | 北京全路通信信号研究设计院集团有限公司 | A kind of trusted computer system based on Redundant Ethernet |
| CN110174883A (en) * | 2019-05-28 | 2019-08-27 | 北京润科通用技术有限公司 | A kind of system health status appraisal procedure and device |
| CN111915869A (en) * | 2020-07-14 | 2020-11-10 | 上海空间电源研究所 | High-reliability RS422 serial port communication circuit device |
| CN111988081A (en) * | 2019-05-06 | 2020-11-24 | 上海汽车集团股份有限公司 | Redundant processing method and system for laser radar data |
| CN113619647A (en) * | 2021-08-27 | 2021-11-09 | 中车唐山机车车辆有限公司 | Vehicle-mounted display device and train |
| CN113721503A (en) * | 2021-08-16 | 2021-11-30 | 北京超星未来科技有限公司 | Vehicle-mounted computing platform, unmanned system and vehicle |
| CN113726833A (en) * | 2020-05-26 | 2021-11-30 | 北京机械设备研究所 | Heterogeneous network-based redundancy reconfigurable vehicle control system and control method |
| CN114194125A (en) * | 2021-12-31 | 2022-03-18 | 上海仙途智能科技有限公司 | Vehicle control unit, running method of vehicle control unit and vehicle |
| CN115061422A (en) * | 2022-07-18 | 2022-09-16 | 索提斯云智控科技(上海)有限公司 | Mutual detection redundancy no-missing-step implementation scheme for PLC |
| CN115529223A (en) * | 2022-09-14 | 2022-12-27 | 天津津航计算技术研究所 | Dual-redundancy network card switching method based on cascade switch |
| CN115529222A (en) * | 2022-09-14 | 2022-12-27 | 天津津航计算技术研究所 | Dual-redundancy network card switching device based on cascade switch |
| CN115923686A (en) * | 2022-12-17 | 2023-04-07 | 中国重汽集团济南动力有限公司 | Double-machine hot backup whole vehicle control system and method and new energy vehicle |
| CN116859707A (en) * | 2023-07-31 | 2023-10-10 | 河北三佳电子有限公司 | Redundant hot backup vehicle-mounted communication-in-motion main control system |
| WO2024001683A1 (en) * | 2022-06-27 | 2024-01-04 | 蔚来汽车科技(安徽)有限公司 | Vehicle processing system and vehicle comprising same, data processing method, and storage medium |
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|---|---|---|---|---|
| CN107967194A (en) * | 2017-10-19 | 2018-04-27 | 北京全路通信信号研究设计院集团有限公司 | A kind of trusted computer system based on Redundant Ethernet |
| CN107807630A (en) * | 2017-11-29 | 2018-03-16 | 瑞斯康达科技发展股份有限公司 | A kind of method for handover control of master/slave device, its handover control system and device |
| CN111988081A (en) * | 2019-05-06 | 2020-11-24 | 上海汽车集团股份有限公司 | Redundant processing method and system for laser radar data |
| CN110174883A (en) * | 2019-05-28 | 2019-08-27 | 北京润科通用技术有限公司 | A kind of system health status appraisal procedure and device |
| CN113726833B (en) * | 2020-05-26 | 2024-03-26 | 北京机械设备研究所 | Heterogeneous network-based reconfigurable vehicle control system and control method |
| CN113726833A (en) * | 2020-05-26 | 2021-11-30 | 北京机械设备研究所 | Heterogeneous network-based redundancy reconfigurable vehicle control system and control method |
| CN111915869B (en) * | 2020-07-14 | 2021-11-16 | 上海空间电源研究所 | High-reliability RS422 serial port communication circuit device |
| CN111915869A (en) * | 2020-07-14 | 2020-11-10 | 上海空间电源研究所 | High-reliability RS422 serial port communication circuit device |
| CN113721503A (en) * | 2021-08-16 | 2021-11-30 | 北京超星未来科技有限公司 | Vehicle-mounted computing platform, unmanned system and vehicle |
| CN113619647A (en) * | 2021-08-27 | 2021-11-09 | 中车唐山机车车辆有限公司 | Vehicle-mounted display device and train |
| CN113619647B (en) * | 2021-08-27 | 2024-03-22 | 中车唐山机车车辆有限公司 | Vehicle-mounted display device and train |
| CN114194125A (en) * | 2021-12-31 | 2022-03-18 | 上海仙途智能科技有限公司 | Vehicle control unit, running method of vehicle control unit and vehicle |
| CN114194125B (en) * | 2021-12-31 | 2024-01-19 | 上海仙途智能科技有限公司 | Whole vehicle controller, running method of whole vehicle controller and automobile |
| WO2024001683A1 (en) * | 2022-06-27 | 2024-01-04 | 蔚来汽车科技(安徽)有限公司 | Vehicle processing system and vehicle comprising same, data processing method, and storage medium |
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| CN115529223B (en) * | 2022-09-14 | 2024-05-14 | 天津津航计算技术研究所 | Dual-redundancy network card switching method based on cascade switch |
| CN115529222B (en) * | 2022-09-14 | 2024-05-28 | 天津津航计算技术研究所 | Dual-redundancy network card switching device based on cascading switch |
| CN115923686A (en) * | 2022-12-17 | 2023-04-07 | 中国重汽集团济南动力有限公司 | Double-machine hot backup whole vehicle control system and method and new energy vehicle |
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Application publication date: 20170818 |