CN107703910A - A kind of high ferro stopping sliding door control system based on multiprocessor - Google Patents
A kind of high ferro stopping sliding door control system based on multiprocessor Download PDFInfo
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- CN107703910A CN107703910A CN201710774434.0A CN201710774434A CN107703910A CN 107703910 A CN107703910 A CN 107703910A CN 201710774434 A CN201710774434 A CN 201710774434A CN 107703910 A CN107703910 A CN 107703910A
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- sliding door
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- 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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0224—Process history based detection method, e.g. whereby history implies the availability of large amounts of data
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Abstract
The present invention relates to a kind of high ferro stopping sliding door control system based on multiprocessor, including motor motion control subsystem, is realized based on DSP control system, for controlling stopping sliding door motion control and fault diagnosis；MVB communication subsystems, realized based on FPGA, for connecting vehicle MVB communication bus；Ether net system, realized based on ARM system, for connecting vehicle ethernet communication bus.The present invention realizes multiprocessor cooperative cooperating, DSP Processor sole duty controlled motor and door system function, and can connect PTU softwares by USB interface, carries out the operations such as fault data is downloaded and program updates；FPGA processor realizes that MVB communicates, and FPGA internal circuit blocks can be modified according to different demands；ARM chips realize that Ethernet communicates, and complete the storage of historical failure data, can carry out data by USB and Ethernet ports respectively and download and program real-time update.
Description
Technical field
The present invention relates to technical field of rail traffic, especially a kind of high ferro stopping sliding door control system based on multiprocessor
System.
Background technology
China's track transportation industry develops rapidly, and the function of high ferro stopping sliding door is stepped up and enriched, and is intended to ether
Net direction is developed.Car door function includes car door motion control, car door fault diagnosis, car door communication function；Wherein communication function
CAN communication, MVB communications and ethernet communication etc. are included according to the mode of communication.A core is only used only in the realization of each function
Piece is very difficult, while considers follow-up maintenance and Function Extension, and multi-chip is coordinated to realize each functional module, respectively takes charge of it
Duty, give full play to the speciality and performance of different chips, it is ensured that the good result that car door function is realized.
The realization of MVB communication functions at present realizes that chip price is higher using the MCS-1 chips of Siemens productions more,
Buying is inconvenient, and the update of this MVB chip has not caught up with the function paces of vehicle, stays cool.
The content of the invention
The technical problem to be solved in the present invention is：It is proposed a kind of high ferro stopping sliding door control system based on multiprocessor, energy
Motor motion control, the communication of MVB vehicle control signals and the communication of Ethernet monitoring signal are enough realized, high ferro stopping sliding door is controlled work(
Energy is substantially improved with performance.
The technical solution adopted in the present invention is：A kind of high ferro stopping sliding door control system based on multiprocessor, including with
In the motor motion control subsystem of control stopping sliding door motion control and fault diagnosis, for connecting vehicle MVB communication bus
MVB communication subsystems and the ether net system for connecting vehicle ethernet communication bus；Described motor motion control
Subsystem is connected by CAN with ether net system, and is connected group with other stopping sliding door control systems by CAN
Net；Described MVB communication subsystems are connected by UART buses with motor motion control subsystem, carry out networked control system of the train life
Order and the interaction of vehicle door status monitoring data；Described ether net system passes through CAN and motor motion control subsystem
Data interaction is carried out, while preserves historical failure record, so as to network unified query and management.
Further, motor motion control subsystem of the present invention includes dsp system daughter board, described DSP systems
Unite daughter board include data dictionary module, motor movement module, car door functional module, fault diagnosis module, CAN and
MVB communication modules；Described motor movement module, car door functional module, fault diagnosis module, CAN and MVB communications
Module is connected with data dictionary module respectively.
Further say, MVB communication subsystems of the present invention include FPGA system daughter board, described FPGA system
Daughter board includes coding module, decoding module, redundant control module, message analysis module, main control module, communication storage control mould
Block, UART modules and address logic module；Described UART modules have serial communication interface, realize UART to RS232 electricity
Flat turn is changed.
Further say, ether net system of the present invention includes ARM system daughter board, described ARM system
Plate nets the communications status of monitoring permutation car by Ethernet, and carries out data interaction by CAN and dsp system daughter board,
Historical failure record is preserved simultaneously, and network unified query and management are carried out will pass through Ethernet interfaces.
Further say, present invention additionally comprises motherboard, be provided with described motherboard input/output end port,
Ethernet interfaces, MVB interfaces, CAN interface, RS232 interface and USB turn UART interface；Dsp system daughter board passes through motherboard
Base is connected with CAN with ARM system daughter board；FPGA system daughter board is by motherboard base with terminal block and dsp system daughter board
Connection；The communications status that ARM system daughter board passes through Ethernet interface monitoring permutation cars.
The beneficial effects of the invention are as follows：The present invention realizes multiprocessor cooperative cooperating, DSP Processor sole duty controlled motor and
Door system function, and PTU softwares can be connected by USB interface, carry out the operations such as fault data is downloaded and program updates；FPGA
Processor realizes that MVB communicates, and FPGA internal circuit blocks can be modified according to different demands；ARM chips are realized
Ethernet communicates, and completes the storage of historical failure data.Line number can be entered by USB and Ethernet ports respectively simultaneously
According to download and program real-time update.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the theory diagram of control system of the present invention；
Fig. 2 is the hardware module block diagram of DSP subsystems of the present invention；
Fig. 3 is vehicle door status data exchange process of the present invention；
Fig. 4 is the hardware module block diagram of FPGA subsystems of the present invention；
Fig. 5 is daughter board connection of the present invention and interface distribution schematic diagram.
Embodiment
Presently in connection with accompanying drawing and preferred embodiment, the present invention is further detailed explanation.These accompanying drawings are simplified
Schematic diagram, only illustrate the basic structure of the present invention in a schematic way, therefore it only shows the composition relevant with the present invention.
A kind of high ferro stopping sliding door control system based on multiprocessor, to control high ferro stopping sliding door running status；Wherein
Including motor motion control subsystem, realized based on DSP control system, for controlling stopping sliding door motion control and fault diagnosis；
MVB communication subsystems, realized based on FPGA, for connecting vehicle MVB communication bus；Ether net system, it is real based on ARM system
It is existing, for connecting vehicle ethernet communication bus.Door controller system block diagram is as shown in Figure 1.
The functions such as motor movement, car door function and fault diagnosis, are realized by DSP subsystems.DSP subsystems include with
Lower software module：Data dictionary module, motor movement module, car door functional module, fault diagnosis module, CAN and
MVB communication modules.Routine data is carried out tissue by DSP subsystems in the form of data dictionary, effectively reduces making for global variable
With making program structure simple and clear.The software module block diagram of DSP subsystems is as shown in Figure 2.
The structure description of the data dictionary of door control system is shown in Table lattice 1.
The door device data dictionary structure of form 1
| Allocation index | Data definition | Attribute specification |
| 0~127 | Door control system preset parameter | It is read-only |
| 128~255 | Door control system adjustable parameter | It is readable it is writeable |
| 256~511 | Car door function module data region | It is readable it is writeable |
| 512~767 | Fault diagnosis module data area | It is readable it is writeable |
| 768~1023 | MVB communication modules data area | It is readable it is writeable |
| 1024~1279 | CAN data area | It is readable it is writeable |
| 1280~1535 | Motor control module data area | It is readable it is writeable |
| 1536~2047 | Retain standby | It is readable it is writeable |
" door control system preset parameter " is cured in system nonvolatile storage, and reads phase in system initialization
In the program answered；If malfunctioned when reading, corresponding controlled quentity controlled variable in program is arranged to a rational default value；And this
Parameter in block region cannot write." door control system adjustable parameter " and it is solidificated in system nonvolatile storage, and
Read in system initialization in corresponding program and make corresponding error handling processing；Unlike, the parameter in this block region can
To be modified in door control system program operation process, and write corresponding data area；Door control system program obtains simultaneously
New parameter, run with new parameter；When gating device powers off again it is upper electric when, gate program can also read newly-installed parameter to transport
OK.
" car door function module data region " is used to deposit vehicle door status and car door function program running mark and order etc.
Data；These data can be read and changed by other software module.Car door functional module has been included to input output signals
Processing and control.
" fault diagnosis module data area " is used to deposit malfunction and fault diagnostic program running mark and order etc.
Data；These data can be read and changed by other software module.
" MVB communication modules data area " is used for MVB communications status and MVB is received with sending data；These data can be with
Read and changed by other software module.
" CAN data area " is used for CAN communication state and CAN is received with sending data；These data can be with
Read and changed by other software module.
" motor control module data area " is used to deposit motor operating state and motor control program running mark and order
Etc. data；These data can be read and changed by other software module.
Data interaction schematic flow sheet between modules is as shown in the figure：When vehicle door status changes, car door function mould
The data of vehicle door status in " car door function module data region " are arranged to corresponding state by block；Other modules need to detect car
During door state, vehicle door status data are obtained in " car door function module data region ".The interaction of other data and this process class
Seemingly.
FPGA subsystems realize MVB communication functions.FPGA subsystems include following hardware module：Coding module, decode mould
Block, redundant control module, message analysis module, main control module, communicate storage control module, UART modules and address logic mould
Block.FPGA subsystems realize MVB communication functions and performance indications as defined in IEC61375 agreements, and by UART buses with
DSP carries out data exchange.The module frame chart of FPGA subsystems is as shown in Figure 4.
UART modules in FPGA subsystems realize serial communication function, and serial communication line is guided into motherboard, in mother
UART to RS232 level conversions are realized on plate, configure RS232 interface.For the ease of the logical of debugging and verification FPGA subsystems
Believe stability, FPGA 3 pins are especially used for the baud rate for configuring serial communication, can separately verify 8 kinds of ripples by the design
The effect to be communicated under special rate；And it can turn down or heighten serial communication baud rate according to project demands and system interference situation.
DSP and ARM is attached communication by CAN；Networking is easy to using CAN communication, can be by multiple gates
Device connects into a network.The CAN communication agreement of the system observes CAN2.0B agreements, and data frame is to extend frame, communication baud rate
For 125kbps, 8 bytes are included per bag data.The ID node resources distribution of communication frames is shown in Table lattice 2.
The communication protocol CAN-ID of form 2 is distributed
| CAN ID | Region | Define explanation |
| 28~23 | A areas | Data reception node ID |
| 22~17 | B areas | Data transmitting node ID |
| 16~14 | C areas | Data packet locations |
| 13~11 | D areas | Type of data packet |
| 10~9 | E areas | Number of parameters |
| 8~0 | F areas | Packet label |
A areas are data reception node ID, take CAN-ID bit28~bit23, can distribute 1~63 node.B areas
For data transmitting node ID, CAN-ID bit22~bit17 is taken, 1~63 node can also be distributed.C areas are packet position
Mark is put, takes CAN-ID bit16~bit14, it represents that packet is single bag data, initial data bag, intermediate data bag
With end packet.D areas are type of data packet, take CAN-ID bit13~bit11, it represent packet be parameter bag and
Update program bag etc..E areas are number of parameters to be modified, take CAN-ID bit10~bit9, and it represents parameter to be modified
Number.F areas are packet label, take CAN-ID bit8~bit0, can indicate 512 parameter bags.
This agreement is concise efficiently, is easily achieved, and reduces the number of repeating transmission, improves the speed of data interaction.Protocol package
Containing timeout treatment and error retransmission mechanism, and different parameters can be made at transparence according to door device data dictionary
Reason, without making a variety of orders, then gone with different orders to change corresponding parameter.Such as modification gating device
Real-time time, as long as the gating device time parameter in " door control system adjustable parameter " region to be write to new data；Change car door barrier
Hinder analyte detection number, as long as the detection of obstacles count parameter in " door control system adjustable parameter " region to be write to new data.
The daughter board connection diagram of control system is as shown in figure 5, including mother matrix, dsp system daughter board, FPGA system daughter board and
ARM system daughter board.Be equipped with motherboard four input output port, an Ethernet interface, two MVB interfaces, two CAN
Interface, RS232 and USB interface (turning UART).Dsp system daughter board is by motherboard base with CAN and ARM system
Daughter board connects, and can be connected networking with other stopping sliding door car gating devices (DCU) by CAN；FPGA daughter boards pass through motherboard
Base is connected with terminal block with DSP subsystems, carries out networked control system of the train order and the interaction of vehicle door status monitoring data.ARM
Subsystem nets the communications status of monitoring permutation car by Ethernet, and carries out data interaction by CAN and DSP subsystems, together
Shi Baocun historical failures are recorded, and network unified query and management are carried out will pass through Ethernet interfaces.
DSP subsystem control softwares are judged according to system mode and input signal, are ordered according to train network (TCMS)
Order is diagnosed and controlled, such as the inconsistent fault diagnosis of GES, and car door is urgent or isolation reports.If motor
Drive circuit, current sensor, vehicle door locking device etc. break down, and DSP subsystems obtain TCMS system clock, and by failure
Diagnostic message is sent to TCMS by MVB subsystems.For PTU upper computer softwares by USB, CAN or Ethernet network interfaces can
To carry out the download of fault record data and maintenance.
This programme is realized using fpga chip and substituted, and the repertoire of MVB communications is realized by FPGA, ensures that product is expired
Sufficient EMC requirements, eliminate the adverse effect that buying Siemens specializes in chip..Ethernet communication is realized based on ARM chips.ARM cores
The powerful aboundresources of piece, application program is easy for installation, is provided the foundation for subsequent expansion function.Used using main control chip
Daughter board mode is attached with mother matrix, is respectively separately designed DSP, ARM and FPGA for independent daughter board, is passed through pluggable joint
Connection, it is compact-sized, it is conveniently replaceable and safeguards.ARM and DSP is connected using CAN, realizes ARM and DSP inside main gating device
Communication, is realized from gating device and main gating device CAN communication.
The embodiment of the simply present invention described in description above, various illustrations are not to the reality of the present invention
Matter Composition of contents limits, and person of an ordinary skill in the technical field can be to described in the past specific after specification has been read
Embodiment is made an amendment or deformed, without departing from the spirit and scope of the invention.
Claims (5)
- A kind of 1. high ferro stopping sliding door control system based on multiprocessor, it is characterised in that：Including for controlling stopping sliding door to move Control and the motor motion control subsystem of fault diagnosis, the MVB communication subsystems for connecting vehicle MVB communication bus and For connecting the ether net system of vehicle ethernet communication bus；Described motor motion control subsystem passes through CAN It is connected with ether net system, and networking is connected with other stopping sliding door control systems by CAN；Described MVB communicators System is connected by UART buses with motor motion control subsystem, carries out networked control system of the train order and vehicle door status monitoring number According to interaction；Described ether net system carries out data interaction by CAN and motor motion control subsystem, protects simultaneously Historical failure record is deposited, so as to network unified query and management.
- A kind of 2. high ferro stopping sliding door control system based on multiprocessor as claimed in claim 1, it is characterised in that：Described Motor motion control subsystem includes dsp system daughter board, and described dsp system daughter board includes data dictionary module, motor movement Module, car door functional module, fault diagnosis module, CAN and MVB communication modules；Described motor movement module, car Door functional module, fault diagnosis module, CAN and MVB communication modules are connected with data dictionary module respectively.
- A kind of 3. high ferro stopping sliding door control system based on multiprocessor as claimed in claim 1, it is characterised in that：Described MVB communication subsystems include FPGA system daughter board, and described FPGA system daughter board includes coding module, decoding module, redundancy control Molding block, message analysis module, main control module, communication storage control module, UART modules and address logic module；Described UART modules have serial communication interface, realize UART to RS232 level conversion.
- A kind of 4. high ferro stopping sliding door control system based on multiprocessor as claimed in claim 1, it is characterised in that：Described Ether net system includes ARM system daughter board, and described ARM system daughter board nets the communication shape of monitoring permutation car by Ethernet State, and data interaction is carried out by CAN and dsp system daughter board, while historical failure record is preserved, will pass through Ethernet interfaces carry out network unified query and management.
- A kind of 5. high ferro stopping sliding door control system based on multiprocessor as claimed in claim 1, it is characterised in that：Also include Motherboard, input/output end port, Ethernet interfaces, MVB interfaces, CAN interface, RS232 are provided with described motherboard and is connect Mouth and USB turn UART interface；Dsp system daughter board is connected by motherboard base with CAN with ARM system daughter board；FPGA system Daughter board is connected by motherboard base with terminal block with dsp system daughter board；ARM system daughter board passes through Ethernet interface monitoring permutations The communications status of car.
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| CN201710774434.0A CN107703910A (en) | 2017-08-31 | 2017-08-31 | A kind of high ferro stopping sliding door control system based on multiprocessor |
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| CN201710774434.0A CN107703910A (en) | 2017-08-31 | 2017-08-31 | A kind of high ferro stopping sliding door control system based on multiprocessor |
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| CN201710774434.0A Pending CN107703910A (en) | 2017-08-31 | 2017-08-31 | A kind of high ferro stopping sliding door control system based on multiprocessor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488694A (en) * | 2019-08-09 | 2019-11-22 | 大连理工大学 | A kind of sliding plug door of motor train unit control system based on SoC FPGA |
| CN111665753A (en) * | 2020-06-02 | 2020-09-15 | 南京天普机电产品制造有限公司 | High-speed rail sliding plug door controller with multiple processors |
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| JP2003184427A (en) * | 2001-12-21 | 2003-07-03 | Nissan Motor Co Ltd | Control device for vehicular opening/closing body |
| CN101936110A (en) * | 2010-08-27 | 2011-01-05 | 东南大学 | Intelligent door control system for rail train doors |
| CN106014074A (en) * | 2016-06-13 | 2016-10-12 | 北京波斯曼技术有限公司 | Unit sliding plug door control system for China's electric multiple unit (CEMU) |
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2017
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| JP2003184427A (en) * | 2001-12-21 | 2003-07-03 | Nissan Motor Co Ltd | Control device for vehicular opening/closing body |
| CN101936110A (en) * | 2010-08-27 | 2011-01-05 | 东南大学 | Intelligent door control system for rail train doors |
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Non-Patent Citations (1)
| Title |
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| 孙晓文: "新型动车组塞拉门控制器设计与研制", 《中国优秀硕士学位论文全文数据库（电子期刊）工程科技II辑》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110488694A (en) * | 2019-08-09 | 2019-11-22 | 大连理工大学 | A kind of sliding plug door of motor train unit control system based on SoC FPGA |
| CN110488694B (en) * | 2019-08-09 | 2021-05-07 | 大连理工大学 | EMUs stopper sliding door control system based on SoC FPGA |
| CN111665753A (en) * | 2020-06-02 | 2020-09-15 | 南京天普机电产品制造有限公司 | High-speed rail sliding plug door controller with multiple processors |
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Application publication date: 20180216 |