CN109388085B - Application method of computer platform based on self-wheel running special equipment - Google Patents

Application method of computer platform based on self-wheel running special equipment Download PDF

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Publication number
CN109388085B
CN109388085B CN201811109528.7A CN201811109528A CN109388085B CN 109388085 B CN109388085 B CN 109388085B CN 201811109528 A CN201811109528 A CN 201811109528A CN 109388085 B CN109388085 B CN 109388085B
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speed
main control
unit
electrically connected
interface
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CN109388085A (en
Inventor
李辉
贾幼尧
肖兴
叶卫春
鲍琛
吕云峰
蒋辉
郑剑
陈立
胡敏慧
张国虎
董金鹏
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Gaoxing Chuanglian Technology Co ltd
Northwest Railway Electronics Co ltd
Signal and Communication Research Institute of CARS
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Northwest Railway Electronics Co ltd
Gosuncn Chuanglian Technology Co ltd
Signal and Communication Research Institute of CARS
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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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G05B19/0425—Safety, monitoring
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
    • G06F11/16—Error detection or correction of the data by redundancy in hardware
    • G06F11/20—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements
    • G06F11/202—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements where processing functionality is redundant
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F15/00—Digital computers in general; Data processing equipment in general
    • G06F15/16—Combinations of two or more digital computers each having at least an arithmetic unit, a program unit and a register, e.g. for a simultaneous processing of several programs
    • G06F15/163—Interprocessor communication

Abstract

The invention discloses a computer platform of self-wheel running special equipment and an application method thereof, wherein the computer platform comprises a host and 2 human-computer interface units DMI; the host comprises a first system A, a second system B and a communication extension unit; each human-computer interface unit DMI comprises a first display control unit, a second display control unit and a switching unit; the switching unit is electrically connected with the first system A, the second system B, the communication expansion unit, the first display control unit and the second display control unit respectively, and the communication expansion unit is electrically connected with the first system A and the second system B respectively. The invention has the following beneficial effects: the first system A and the second system B are mutually hot standby redundancy, so that the safety of the monitoring equipment for the operation of the rail car reaches the safety level of SIL 4; the invention improves the reliability, the availability, the maintainability, the safety and the expandability of the rail car operation control equipment.

Description

Application method of computer platform based on self-wheel running special equipment
Technical Field
The invention relates to the technical field of operation monitoring of self-wheel operation special equipment, in particular to an application method of a computer platform based on self-wheel operation special equipment, wherein the safety of the computer platform reaches the safety level SIL4, and meanwhile, the reliability, the usability, the maintainability, the safety and the expandability of rail car operation control equipment can be improved.
Background
The railway locomotive running monitoring system mainly comprises a passenger train LKJ system, a high-speed rail ATP system and a GYK running monitoring system arranged on self-wheel running special equipment in China. Along with the improvement of the CTCS system in China on the railway operation safety requirement, the ATP and LKJ train control systems meet the safety certification of SIL4, but the GYK operation monitoring system of the self-wheel operation special equipment still adopts a single-machine structure, has no redundant backup, and does not adopt second-order-second-order safety measures; the locomotive signal unit has no redundancy per se, and the information receiving of two paths of coils is not realized; this limits the RAMS requirements of its core part, the safety does not reach the safety level of SIL4, and it is difficult to meet the higher requirements of railway development for safety.
Disclosure of Invention
The invention provides an application method of a computer platform based on self-wheel running special equipment, which has the safety reaching SIL4 and can improve the reliability, the usability, the maintainability, the safety and the expandability of the rail vehicle running control equipment, and aims to overcome the defects that the safety of a GYK running monitoring system of self-wheel running special equipment in the prior art cannot reach the safety level of SIL4 and is difficult to meet the higher requirements of railway development on safety.
In order to achieve the purpose, the invention adopts the following technical scheme:
a computer platform for self-propelled operation of special equipment comprises a host and 2 human-computer interface units DMI; the host comprises a first system A, a second system B and a communication extension unit; each human-computer interface unit DMI comprises a first display control unit, a second display control unit and a switching unit; the switching unit is electrically connected with the first system A, the second system B, the communication expansion unit, the first display control unit and the second display control unit respectively, and the communication expansion unit is electrically connected with the first system A and the second system B respectively.
The first system A and the second system B of the invention are mutually hot standby redundancy, constitute the redundancy framework of the safe computer platform, realize the internal and external communication through the communication extension unit; the safety computer platform with two sampling units solves the limitation that the pressure, the speed and the working condition of the original rail car pipe can only be acquired singly, and improves the safety, the reliability, the usability and the maintainability of the system.
Preferably, the first system a comprises a power panel, a first main control panel, a second main control panel, a first output panel and a first locomotive signal panel; the power panel is respectively connected with first main control board, second main control board, first output board, first locomotive signal board and communication extension unit electricity, and first main control board, second main control board and first locomotive signal board all are connected with communication extension unit electricity, and first main control board and second main control board all are connected with first output board electricity.
Preferably, the first main control board comprises a first processor, a first input unit, a first output unit, a communication interface module, a first synchronous interface module, a power monitoring module and a first memory; the first processor is respectively electrically connected with the first input unit, the first output unit, the communication interface module, the first synchronous interface module, the power monitoring module and the first memory, the first synchronous interface module is electrically connected with the second main control board, the communication interface module is electrically connected with the first locomotive signal board, and the first input unit and the first output unit are electrically connected with the first output board.
Preferably, the first output board includes a first execution unit and a second execution unit; the first execution unit is electrically connected with the first main control board, and the second execution unit is electrically connected with the second main control board.
Preferably, the first locomotive signal board comprises a first CPU, a second CPU, a first signal conditioning module, a second signal conditioning module, 2 communication interface modules, 2 data exchange modules, 2 synchronous clock modules, 2 power monitoring modules and a relay; the first CPU is respectively and electrically connected with the first signal conditioning module and the power monitoring module, the first CPU is electrically connected with the second CPU through each communication interface module, each data exchange module and each synchronous clock module, the second CPU is respectively and electrically connected with the second signal conditioning module and the power monitoring module, and the relay is respectively and electrically connected with the first signal conditioning module and the second signal conditioning module.
Preferably, the first input unit comprises a speed acquisition interface, a pipe pressure acquisition interface, a working condition acquisition interface and a detection interface; the speed acquisition interface, the pipe pressure acquisition interface, the working condition acquisition interface and the detection interface are electrically connected with the first processor, and the detection interface is electrically connected with the first output plate.
Preferably, the communication extension unit includes a CAN communication interface, a high-speed bus interface, a LAN communication interface, a 422 communication interface, and a data memory.
The pipe pressure signal acquisition method of the computer platform of the self-wheel running special equipment further comprises a first pressure sensor and a second pressure sensor; the first pressure sensor and the second pressure sensor are electrically connected with the pipe pressure acquisition interface; the method comprises the following steps:
(8-1) setting a threshold range [ Δ P ] of a pressure differential of the first line pressure P1 and the second line pressure P2min,ΔPmax]；
(8-2) the first main control board acquires a first pipe pressure P1 through a first pressure sensor, and the second main control board acquires a second pipe pressure P2 through a second pressure sensor;
(8-3) calculating a pressure difference Δ P between the first pipe pressure P1 and the second pipe pressure P2 using the formula Δ P ═ P1-P2|, if Δ P is presentmin≤ΔP≤ΔPmaxThe first and second line pressures P1 and P2 are both equal to the average of the first and second line pressures P1 and P2, i.e., P2
Figure GDA0002390347400000031
If Δ P > Δ PmaxOr Δ P < Δ PminFirst and second pipe pressures P1 and P2 are each equal to the maximum of first and second pipe pressures P1 and P2, i.e., P1-P2-max { P1, P2 };
(8-4) comparing the first pipe pressure P1 with the second pipe pressure P2, if P1 ≠ P2, indicating that the pipe pressure data is erroneous, the first master control board does not send data to the human interface unit DMI; if P1 is P2, the first master control board sends data to the human interface unit DMI.
A speed signal acquisition method of a computer platform of self-wheel running special equipment further comprises a first speed sensor and a second speed sensor; the first speed sensor and the second speed sensor are both electrically connected with the speed acquisition interface; the method comprises the following steps:
(9-1) setting threshold range [ Delta V ] of speed differencemin,ΔVmax]；
(9-2) the first main control board acquires a first speed V1 through a first speed sensor, and acquires a second speed V2 through a second speed sensor; the second main control board acquires a third speed V1 'through the first speed sensor, and the second speed sensor acquires a fourth speed V2';
(9-3) selecting the larger of the first speed V1 and the second speed V2 as the fifth speed V3, that is, V3 ═ max { V1, V2 }; selecting the larger value of the third speed V1 'and the fourth speed V2' as the sixth speed V4, that is, V4 ═ max { V1 ', V2' };
(9-4) calculating a speed difference Δ V between the fifth speed V3 and the sixth speed V4 using the formula Δ V ═ V3-V4|, if Δ Vmin≤ΔV≤ΔVmaxThe fifth speed V3 and the sixth speed V4 are both equal to the fifth speed V3 and the sixth speed V4The maximum value of V4, i.e., V3 ═ V4 ═ max { V3, V4 };
if Δ V > Δ VmaxOr Δ V < Δ VminAnd implementing emergency braking.
Therefore, the invention has the following beneficial effects: the first system A and the second system B are mutually hot standby redundancy, so that the safety of the monitoring equipment for the operation of the rail car reaches the safety level of SIL 4; the invention improves the reliability, the availability, the maintainability, the safety and the expandability of the rail car operation control equipment.
Drawings
FIG. 1 is a system block diagram of the present invention;
FIG. 2 is a block diagram of a first master control board of the present invention;
FIG. 3 is a block diagram of a first cab signal board of the present invention;
FIG. 4 is a schematic view of embodiment 1 of the present invention;
FIG. 5 is a schematic view of example 2 of the present invention;
FIG. 6 is a schematic view of embodiment 3 of the present invention;
fig. 7 is a schematic view of embodiment 5 of the present invention.
In the figure: the system comprises a host 1, a human-computer interface unit DMI2, a speed acquisition interface 3, a pipe pressure acquisition interface 4, a working condition acquisition interface 5, a first pressure sensor 6, a second pressure sensor 7, a first speed sensor 8, a second speed sensor 9, a detection interface 10, a first system A11, a second system B12, a communication expansion unit 13, a first display control unit 21, a second display control unit 22, a switching unit 23, a power panel 111, a first main control panel 112, a second main control panel 113, a first output panel 114, a first locomotive signal panel 115, a first processor 1121, a first input unit 1122, a first output unit 1123, a communication interface module 1124, a first synchronous interface module 1125, a power monitoring module 1126, a first memory 1127, a first CPU1151, a second CPU1152, a first signal conditioning module 3, a second signal conditioning module 1154, a communication interface module 1155, a data exchange module 6, a communication interface module 1151155, a second speed sensor 1151151153, a pipe pressure acquisition interface 4, a working condition acquisition interface 5, a first pressure, A synchronous clock module 1157 and a relay 1158.
Detailed Description
The invention is further described in the following detailed description with reference to the drawings in which:
example 1
Embodiment 1 shown in fig. 1 is a computer platform for a self-propelled special equipment, comprising a host 1 and 2 human-machine interface units DMI 2; the host comprises a first system A11, a second system B12 and a communication extension unit 13; the first system a comprises a power panel 111, a first main control panel 112, a second main control panel 113, a first output panel 114 and a first locomotive signal panel 115; the first output board comprises a first execution unit and a second execution unit; each human-computer interface unit DMI comprises a first display control unit 21, a second display control unit 22 and a switching unit 23; the switching unit is respectively and electrically connected with the first system A, the second system B, the communication expansion unit, the first display control unit and the second display control unit, and the communication expansion unit is respectively and electrically connected with the first system A and the second system B; the power panel is respectively and electrically connected with the first main control panel, the second main control panel, the first output panel, the first locomotive signal panel and the communication expansion unit, the first main control panel, the second main control panel and the first locomotive signal panel are all electrically connected with the communication expansion unit, and the first main control panel and the second main control panel are all electrically connected with the first output panel; the first execution unit is electrically connected with the first main control board, and the second execution unit is electrically connected with the second main control board.
The first system A and the second system B have the same internal structure and are mutually redundant in hot standby, and the second system B comprises a power panel, a third main control panel, a fourth main control panel, a second output panel and a second locomotive signal panel; the power panel is respectively and electrically connected with the third main control panel, the fourth main control panel, the second output panel, the second locomotive signal panel and the communication expansion unit, the third main control panel, the fourth main control panel and the second locomotive signal panel are all electrically connected with the communication expansion unit, and the third main control panel and the fourth main control panel are all electrically connected with the second output panel; the first display control unit and the second display control unit have the same internal structure and are mutually cold standby redundant; the communication extension unit comprises a CAN communication interface, a high-speed bus interface, a LAN communication interface, a 422 communication interface and a data memory, the power panel communicates through the CAN communication interface, and the first system A and the second system B communicate through the high-speed bus interface; the first execution unit and the second execution unit are designed in a serial reliability mode, and only when the first main control board and the second main control board output the same control instruction, the first output board can execute control output.
As shown in fig. 2, the first main control board includes a first processor 1121, a first input unit 1122, a first output unit 1123, a communication interface module 1124, a first synchronization interface module 1125, a power monitoring module 1126, and a first memory 1127; the first input unit comprises a speed acquisition interface 3, a pipe pressure acquisition interface 4, a working condition acquisition interface 5 and a detection interface 10; (ii) a The first output unit comprises an emergency valve control interface, a common valve control interface, a pressure retaining valve control interface and a flameout control interface; the first processor is respectively and electrically connected with the first input unit, the first output unit, the communication interface module, the first synchronous interface module, the power monitoring module and the first memory, the first synchronous interface module is electrically connected with the second main control board, the communication interface module is electrically connected with the first locomotive signal board, and the first input unit and the first output unit are electrically connected with the first output board; the speed acquisition interface, the pipe pressure acquisition interface, the working condition acquisition interface and the detection interface are electrically connected with the first processor, and the detection interface is electrically connected with the first output board; the emergency valve control interface, the common valve control interface, the pressure retaining valve control interface and the flameout control interface are respectively and electrically connected with the first processor and the first output board.
In addition, the internal circuits of the second main control board and the first main control board are the same, and the second main control board and the first main control board collect speed, pipe pressure and working condition information together.
As shown in fig. 3, the first locomotive signal board includes a first CPU1151, a second CPU1152, a first signal conditioning module 1153, a second signal conditioning module 1154, 2 communication interface modules 1155, 2 data exchange modules 1156, 2 synchronous clock modules 1157, 2 power monitoring modules and a relay 1158; the first CPU is respectively and electrically connected with the first signal conditioning module and the power monitoring module, the first CPU is electrically connected with the second CPU through each communication interface module, each data exchange module and each synchronous clock module, the second CPU is respectively and electrically connected with the second signal conditioning module and the power monitoring module, and the relay is respectively and electrically connected with the first signal conditioning module and the second signal conditioning module.
The 4-channel locomotive sensor coil signals are input to the first locomotive signal board through the relay, namely the locomotive sensor coil group 11, the locomotive sensor coil group 12, the locomotive sensor coil group 21 and the locomotive sensor coil group 22, the first locomotive signal board switches the locomotive sensor coil group through the state of working conditions, and the double CPUs simultaneously acquire and decode the locomotive sensor coil signals.
As shown in fig. 4, the pipe pressure signal acquisition method of the computer platform of the self-running special equipment further comprises a first pressure sensor 6 and a second pressure sensor 7; the first pressure sensor and the second pressure sensor are electrically connected with the pipe pressure acquisition interface; the method comprises the following steps:
(8-1) setting a threshold range [ Δ P ] of a pressure differential of the first line pressure P1 and the second line pressure P2min,ΔPmax]；
(8-2) the first main control board acquires a first pipe pressure P1 through a first pressure sensor, and the second main control board acquires a second pipe pressure P2 through a second pressure sensor;
(8-3) calculating a pressure difference Δ P between the first pipe pressure P1 and the second pipe pressure P2 using the formula Δ P ═ P1-P2|, if Δ P is presentmin≤ΔP≤ΔPmaxThe first and second line pressures P1 and P2 are both equal to the average of the first and second line pressures P1 and P2, i.e., P2
Figure GDA0002390347400000071
If Δ P > Δ PmaxOr Δ P < Δ PminFirst and second pipe pressures P1 and P2 are each equal to the maximum of first and second pipe pressures P1 and P2, i.e., P1-P2-max { P1, P2 };
(8-4) comparing the first pipe pressure P1 with the second pipe pressure P2, if P1 ≠ P2, indicating that the pipe pressure data is erroneous, the first master control board does not send data to the human interface unit DMI; if P1 is P2, the first master control board sends data to the human interface unit DMI.
Example 2
Embodiment 2 includes all of the structure of embodiment 1, as shown in fig. 5, further including a third pressure sensor, a first pipe pressure isolation amplifier, a second pipe pressure isolation amplifier, a third signal conditioning module, and a fourth signal conditioning module; the third pressure sensor is respectively and electrically connected with the first tube voltage isolation amplifier and the second tube voltage isolation amplifier, the third signal conditioning module is respectively and electrically connected with the first tube voltage isolation amplifier and the first main control board, and the fourth signal conditioning module is respectively and electrically connected with the second tube voltage isolation amplifier and the third main control board; fig. 5 illustrates a method for acquiring a tube pressure signal by using only the third pressure sensor as an example; the pipe pressure signal acquisition method of the fourth pressure sensor is the same as that of the third pressure sensor; and the third pressure sensor and the fourth pressure sensor both adopt current type pressure sensors.
Embodiment 2 is a method of computer platform shared pipe pressure signal acquisition for a first system a and a second system B of a self-propelled special equipment: the first main control board and the third main control board share a pipe pressure signal acquired by a third pressure sensor; the second main control board and the fourth main control board share a pipe pressure signal acquired by a fourth pressure sensor; when the first system A and the second system B both work normally, the first pipe voltage isolation amplifier of the first main control board and the second pipe voltage isolation amplifier of the third main control board form a current closed loop in a serial connection mode, a current signal of a third pressure sensor is collected together, and the current signals are converted into pipe voltage signals through the third signal conditioning module and the fourth signal conditioning module; when only one of the first system A and the second system B works normally, a current signal of the third pressure sensor can flow back through the bypass diode to form a closed loop, and normal collection of the signal of the third pressure sensor is not influenced; the line pressure signal of the fourth pressure sensor is acquired in the same way as the line pressure signal of the third pressure sensor.
Example 3
Embodiment 3 includes all the structures of embodiment 1, as shown in fig. 6, embodiment 3 is a speed signal acquisition method of a computer platform of a self-wheel-running special equipment, and further includes a first speed sensor 8 and a second speed sensor 9; the first speed sensor and the second speed sensor are both electrically connected with the speed acquisition interface; the method comprises the following steps:
(9-1) setting threshold range [ Delta V ] of speed differencemin,ΔVmax]；
(9-2) the first main control board acquires a first speed V1 through a first speed sensor, and acquires a second speed V2 through a second speed sensor; the second main control board acquires a third speed V1 'through the first speed sensor, and the second speed sensor acquires a fourth speed V2';
(9-3) selecting the larger of the first speed V1 and the second speed V2 as the fifth speed V3, that is, V3 ═ max { V1, V2 }; selecting the larger value of the third speed V1 'and the fourth speed V2' as the sixth speed V4, that is, V4 ═ max { V1 ', V2' };
(9-4) calculating a speed difference Δ V between the fifth speed V3 and the sixth speed V4 using the formula Δ V ═ V3-V4|, if Δ Vmin≤ΔV≤ΔVmaxThe fifth speed V3 and the sixth speed V4 are both equal to the maximum of the fifth speed V3 and the sixth speed V4, i.e., V3-V4-max { V3, V4 };
if Δ V > Δ VmaxOr Δ V < Δ VminAnd implementing emergency braking.
Example 4
Embodiment 4 includes all the structures of embodiment 1, and embodiment 4 is a working condition acquisition method of a computer platform of self-running special equipment: the working condition belongs to the switching value, when the working condition states collected by the first main control board and the second main control board are inconsistent, the output state is wrong or not trusted, so that the two-out comparison of the working condition states is required to be completely consistent, if the two-out comparison of the working condition states is inconsistent, the data guidance is safe, the working condition states are not updated, and old data are maintained; if the working condition state two is inconsistent for 3 times, the system is in failure, the system is guided safely, and emergency braking is implemented.
Example 5
Embodiment 5 includes all the structures of embodiment 1, as shown in fig. 7, further includes a solenoid valve; the first execution unit comprises a first safety relay and a first state monitoring circuit, and the second execution unit comprises a second safety relay and a second state monitoring circuit; the second safety relay is electrically connected with the first safety relay and the electromagnetic valve respectively; embodiment 5 is a hardware-by-two method for output control of the first system a of the computer platform for self-running special equipment: the first output board receives control signals output by the first main control board and the second main control board at the same time, when the control signals received by the first main control board and the second main control board are consistent, the output states of the first execution unit and the second execution unit are consistent, and the second execution unit executes output control action on the electromagnetic valve; if the control signals received by the first main control board and the second main control board are inconsistent, the output states of the first execution unit and the second execution unit are inconsistent, and the output board does not output control actions; and when the first main control board and the second main control board detect that the output states of the first main control board and the second main control board are inconsistent, automatically entering an isolation state according to a guiding safety side principle, and finishing a second hardware-out-of-two function of output control.
It should be understood that this example is for illustrative purposes only and is not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.

Claims (6)

1. The application method of the computer platform based on the self-wheel running special equipment is characterized in that the computer platform based on the self-wheel running special equipment comprises a host (1), 2 human-computer interface units DMI (2), a first pressure sensor (6), a second pressure sensor (7), a first speed sensor (8) and a second speed sensor (9); the host comprises a first system A (11), a second system B (12) and a communication extension unit (13); each human-computer interface unit DMI comprises a first display control unit (21), a second display control unit (22) and a switching unit (23); the first system A comprises a power panel (111), a first main control panel (112), a second main control panel (113), a first output panel (114) and a first locomotive signal panel (115); the switching unit is respectively and electrically connected with the first system A, the second system B, the communication expansion unit, the first display control unit and the second display control unit, and the communication expansion unit is respectively and electrically connected with the first system A and the second system B; the power panel is respectively and electrically connected with the first main control panel, the second main control panel, the first output panel, the first locomotive signal panel and the communication expansion unit, the first main control panel, the second main control panel and the first locomotive signal panel are all electrically connected with the communication expansion unit, and the first main control panel and the second main control panel are all electrically connected with the first output panel; the first pressure sensor and the second pressure sensor are both electrically connected with the first main control board; the first speed sensor and the second speed sensor are both electrically connected with the first main control board; the method comprises the following steps:
(1-1) a tube pressure signal acquisition method;
(1-1-1) setting a threshold range [ Δ P ] of a pressure differential of the first line pressure P1 and the second line pressure P2min,ΔPmax]；
(1-1-2) the first main control board acquires a first pipe pressure P1 through a first pressure sensor, and the second main control board acquires a second pipe pressure P2 through a second pressure sensor;
(1-1-3) calculating a pressure difference Δ P between the first line pressure P1 and the second line pressure P2 using the formula Δ P ═ P1-P2|, if Δ P is presentmin≤ΔP≤ΔPmaxThe first and second line pressures P1 and P2 are both equal to the average of the first and second line pressures P1 and P2, i.e., P2
Figure FDA0002390347390000011
If Δ P > Δ PmaxOr Δ P < Δ PminFirst and second pipe pressures P1 and P2 are each equal to the maximum of first and second pipe pressures P1 and P2, i.e., P1-P2-max { P1, P2 };
(1-1-4) comparing the first pipe pressure P1 with the second pipe pressure P2, if P1 ≠ P2, indicating that the pipe pressure data is erroneous, the first master control board does not send data to the human interface unit DMI; if P1 is P2, the first master control board sends data to the human-computer interface unit DMI;
(1-2) a speed signal acquisition method;
(1-2-1) setting the threshold range [ Delta V ] of the speed differencemin,ΔVmax]；
(1-2-2) the first main control board collects a first speed V1 through a first speed sensor and collects a second speed V2 through a second speed sensor; the second main control board acquires a third speed V1 'through the first speed sensor, and the second speed sensor acquires a fourth speed V2';
(1-2-3) selecting the larger of the first speed V1 and the second speed V2 as the fifth speed V3, that is, V3 ═ max { V1, V2 }; selecting the larger value of the third speed V1 'and the fourth speed V2' as the sixth speed V4, that is, V4 ═ max { V1 ', V2' };
(1-2-4) calculating a speed difference Δ V between the fifth speed V3 and the sixth speed V4 using the formula Δ V ═ V3-V4|, if Δ Vmin≤ΔV≤ΔVmaxThe fifth speed V3 and the sixth speed V4 are both equal to the maximum of the fifth speed V3 and the sixth speed V4, i.e., V3-V4-max { V3, V4 };
if Δ V > Δ VmaxOr Δ V < Δ VminAnd implementing emergency braking.
2. The method for applying the computer platform based on the self-propelled special equipment as claimed in claim 1, wherein the first main control board comprises a first processor (1121), a first input unit (1122), a first output unit (1123), a communication interface module (1124), a first synchronization interface module (1125), a power monitoring module (1126) and a first memory (1127); the first processor is respectively electrically connected with the first input unit, the first output unit, the communication interface module, the first synchronous interface module, the power monitoring module and the first memory, the first synchronous interface module is electrically connected with the second main control board, the communication interface module is electrically connected with the first locomotive signal board, and the first input unit and the first output unit are electrically connected with the first output board.
3. The method for applying the computer platform based on the self-propelled special equipment as claimed in claim 1, wherein the first output board comprises a first execution unit and a second execution unit; the first execution unit is electrically connected with the first main control board, and the second execution unit is electrically connected with the second main control board.
4. The method for applying the computer platform based on the self-propelled special equipment as claimed in claim 1, wherein the first locomotive signal board comprises a first CPU (1151), a second CPU (1152), a first signal conditioning module (1153), a second signal conditioning module (1154), 2 communication interface modules (1155), 2 data exchange modules (1156), 2 synchronous clock modules (1157), 2 power monitoring modules and a relay (1158); the first CPU is respectively and electrically connected with the first signal conditioning module and the power monitoring module, the first CPU is electrically connected with the second CPU through each communication interface module, each data exchange module and each synchronous clock module, the second CPU is respectively and electrically connected with the second signal conditioning module and the power monitoring module, and the relay is respectively and electrically connected with the first signal conditioning module and the second signal conditioning module.
5. The method for applying the computer platform based on the self-wheel running special equipment is characterized in that the first input unit comprises a speed acquisition interface (3), a pipe pressure acquisition interface (4), a working condition acquisition interface (5) and a detection interface (10); the speed acquisition interface, the pipe pressure acquisition interface, the working condition acquisition interface and the detection interface are electrically connected with the first processor, and the detection interface is electrically connected with the first output plate.
6. The method for applying the computer platform based on the self-propelled special equipment as claimed in claim 1, 2, 3, 4 or 5, wherein the communication extension unit comprises a CAN communication interface, a high-speed bus interface, a LAN communication interface, a 422 communication interface and a data storage.
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