CN109426239B - Locomotive sequence control system and method - Google Patents
Locomotive sequence control system and method Download PDFInfo
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- CN109426239B CN109426239B CN201710771635.5A CN201710771635A CN109426239B CN 109426239 B CN109426239 B CN 109426239B CN 201710771635 A CN201710771635 A CN 201710771635A CN 109426239 B CN109426239 B CN 109426239B
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- 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
- G05B23/0243—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 model based detection method, e.g. first-principles knowledge model
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
Abstract
A locomotive sequence control system and method, the system includes: an engine unit; a storage unit; and the execution unit is used for acquiring a next state machine to be transferred by the current state machine according to the input event provided by the engine unit and the node state tree stored in the storage unit, updating the current state of the finite state machine according to the acquired next state machine, and generating and outputting a corresponding locomotive control signal according to the updated current state of the finite state machine. The system can divide the complex control logic of the locomotive into whole parts, simplifies the locomotive control method, realizes independent control of each function logic, can judge the system state by recording the node number value, analyzing the node number value and the node number jump action and matching with the preset logic, and can diagnose the control system state jump reason, thereby positioning the fault occurrence point.
Description
Technical Field
The invention relates to the technical field of locomotive control, in particular to a locomotive sequence control system and a locomotive sequence control method.
Background
The existing locomotive generally uses a network control system as a control system of the whole locomotive, and is completed by the network control system of the locomotive from main circuit control to auxiliary system configuration, from control of traction system force to intervention of a brake system gas circuit, from single machine to reconnection, and from fault diagnosis to fault recording. The network control system is very complicated in function, so that a set of control method with clear logic, stable performance and easy maintenance has very important significance for reliable operation of the locomotive.
Some existing locomotive network control systems adopt function division, are classified according to function categories, and respectively design function logics so as to realize control; control is also achieved by dividing the device into sub-components and designing the logic separately according to the device classification of the sub-components. In any mode, the whole vehicle control method is realized through multifunctional integration or multi-device integration, while the existing integration mode is direct coupling association, and the direct coupling association mode is difficult to clearly divide functional logic. The more functions, the stronger coupling and the poorer independence easily cause the control logic of the locomotive network control system to be criss-cross, complicated, difficult to comb, difficult to maintain and difficult to diagnose faults.
Disclosure of Invention
To solve the above problems, the present invention provides a locomotive sequence control system, comprising:
an engine unit for receiving an input event as a trigger event of a finite state machine;
the storage unit is used for storing the current state of the finite state machine and the node state tree;
the execution unit is used for acquiring the current state of the finite-state machine from the storage unit, acquiring a next state machine to be transferred of the current state machine according to the input event provided by the engine unit and the node state tree stored in the storage unit, updating the current state of the finite-state machine according to the acquired next state machine, and generating and outputting a corresponding locomotive control signal according to the updated current state of the finite-state machine; wherein the content of the first and second substances,
the node state tree comprises N node groups, each node group comprises a plurality of nodes, each node is hung with corresponding locomotive control logic and has a preset node value, each node group comprises a normal stable node, and a normal stable node in a normal node group jumps to a normal stable node of the next node group through normal jumping.
According to one embodiment of the present invention, the node state tree includes an initial node having a minimum preset node value, and the stability of the nodes in the node state tree decreases as the preset node value increases.
According to one embodiment of the invention, the node state tree comprises a basic failure node, and all nodes except the initial node in the node state tree can jump to the basic failure node through corresponding protection jumps.
According to an embodiment of the present invention, each node in the node state tree jumps to other nodes in a corresponding preset jump manner based on the control logic execution result.
According to an embodiment of the present invention, the preset skip mode includes:
normal jump, fault jump, protection jump, and recovery jump.
In accordance with one embodiment of the present invention,
when executing the normal control logic and obtaining a normal result, the finite state machine is configured to jump from the current node to the normal steady-state node of the next node group in a normal jump mode;
when the normal control logic is executed and an abnormal result is obtained, the finite state machine is configured to jump from the current node to the previous node of the current node in a fault jump mode;
when the system has a fault and needs to perform function protection, the finite state machine is configured to jump from a current node to other specific nodes with a node value smaller than that of the current node in a protection jump mode;
when the protection action and the fault are relieved, the finite-state machine is configured to jump from the current node to other specific nodes with node values larger than the current node in the node group to which the current node belongs in a recovery jump mode.
The invention also provides a locomotive sequence control method, which comprises the following steps:
step one, receiving an input event as a trigger event of a finite state machine;
step two, acquiring the current state of the finite-state machine, and acquiring a next state machine to be transferred by the current state machine according to the input event and a node state tree, wherein the node state tree comprises N node groups, each node group comprises a plurality of nodes, each node is hung with corresponding locomotive control logic and has a preset node value, each node group comprises a normal stable node, and a normal stable node in a normal node group is transferred to a normal stable node of the next node group through normal transfer;
and step three, updating the current state of the finite state machine according to the jumped state machine, and generating and outputting a corresponding locomotive control signal according to the updated current state of the finite state machine.
According to one embodiment of the present invention, the node state tree includes an initial node having a minimum preset node value, and the stability of the nodes in the node state tree decreases as the preset node value increases.
According to an embodiment of the present invention, each node in the node state tree jumps to other nodes in a corresponding preset jump manner based on the control logic execution result.
According to an embodiment of the present invention, the preset skip mode includes: normal jump, fault jump, protection jump and recovery jump; wherein the content of the first and second substances,
when executing the normal control logic and obtaining a normal result, the finite state machine is configured to jump from the current node to the normal steady-state node of the next node group in a normal jump mode;
when the normal control logic is executed and an abnormal result is obtained, the finite state machine is configured to jump from the current node to the previous node of the current node in a fault jump mode;
when the system has a fault and needs to perform function protection, the finite state machine is configured to jump from a current node to other specific nodes with a node value smaller than that of the current node in a protection jump mode;
when the protection action and the fault are relieved, the finite-state machine is configured to jump from the current node to other specific nodes with node values larger than the current node in the node group to which the current node belongs in a recovery jump mode.
The locomotive sequence control system and the locomotive sequence control method provided by the invention can divide the functional logic of the locomotive into a specific number of different locomotive states according to the logic execution sequence preset by a designer, and the states are respectively marked by a string of node values from small to large, so that a limited node state tree is formed. The system and the method utilize the jumping characteristic of a state machine, the logic functions to be realized are sequentially mounted on a node state tree according to the designed logic execution sequence and the stability of the node number and the corresponding precedence relationship of the logic, the node number jumps to a large node number from a small node number according to the designed jumping condition, and therefore the logical division sequence management of the locomotive control system is realized.
Compared with the prior art, the system and the method provided by the invention can break the complex control logic of the locomotive into whole parts, simplify the control method of the locomotive and realize independent control of each function logic. In software programming, codes can be respectively and independently realized, logic order is clear, and software maintenance and management are easy. Meanwhile, the system and the method can judge the system state by recording the node number value, analyzing the node number value and the node number jump action and matching with the preset logic, and can also diagnose and control the system state jump reason so as to locate the fault occurrence point.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required in the description of the embodiments or the prior art:
FIG. 1 is a schematic block diagram of a locomotive control system according to one embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating an implementation of a locomotive control method according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of a node state tree, according to one embodiment of the present invention;
FIG. 4 is a schematic illustration of an operational sequence during normal operation of a locomotive according to one embodiment of the present invention;
FIG. 5 is a schematic diagram of a node transfer in a locomotive control system according to one embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details or with other methods described herein.
Additionally, the steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions and, although a logical order is illustrated in the flow charts, in some cases, the steps illustrated or described may be performed in an order different than here.
At present, the sequence control method of the locomotive control system generally comprises the following steps: and sequentially judging whether the execution conditions are met, and then sequentially executing the relevant control logic according to the judgment result. The control logics are coupled with the state of the locomotive through logic input and output signals, so that an intricate and complex control system is formed. The existing locomotive sequence control method has strong coupling, cannot well divide locomotive control logics, is difficult to card the relation among the control logics, and is difficult to increase or delete the control logics.
For example, in the prior art, there is an execution system and an execution method of a finite-state machine, which provide a nested, bottom-to-top inherited mode of the state machine. The method provides an N-layer state machine which only executes relevant signals, and irrelevant signals are transmitted to an upper layer for processing. The upper and lower layer state machines directly have inheritance relations, and finally pass signals to the state machine directly related to the upper layer for processing by continuously passing the signals to the upper layer. The state machine used by the method has inheritance directly, the signal transmission needs to be returned step by step, the requirement of flexible jumping among control logics of the locomotive sequence control system cannot be met, and the efficiency and the real-time performance of the locomotive sequence control system are difficult to ensure by the mode of returning the signal step by step.
In view of the above problems in the prior art, the present invention provides a new sequential locomotive execution system, which logically divides the locomotive functions into a specific number of different locomotive states, and marks the locomotive states with a string of node values that are reached from time to time, thereby forming a finite node state tree. And then, by utilizing the jumping characteristic of the state machine, logic functions to be realized are sequentially mounted on the node state tree according to a set logic execution sequence and the corresponding precedence relationship of node stability and logic, and the node values jump from small to large node values according to a set jumping condition, so that the logical division sequence management of the locomotive control system is realized.
Fig. 1 shows a schematic structural diagram of a locomotive sequence control system provided by the present embodiment, fig. 2 shows a schematic implementation flow diagram of a locomotive sequence control method provided by the present embodiment, and details of the locomotive sequence control system and the method provided by the present embodiment are described below with reference to fig. 1 and fig. 2.
As shown in fig. 1, the locomotive sequence control system provided by the present embodiment preferably includes: an engine unit 101, a storage unit 102, and an execution unit 103. The engine unit 101 is configured to receive an input event in step S201, and use the input event as a trigger event of the finite state machine, and the storage unit 102 is configured to store a current state of the finite state machine and a node state tree.
The execution unit 103 is connected to the engine unit 101 and the storage unit 102, and is configured to obtain a current state of the finite state machine from the storage unit 102 in step S202, and obtain a next state machine to be transferred by the current state machine according to the input event provided by the engine unit 101 and the node state tree stored in the storage unit 102. Subsequently, in step S203, the execution unit 103 updates the current state of the finite state machine according to the skipped next state machine, and generates and outputs a corresponding locomotive control signal according to the updated current state of the finite state machine.
Fig. 3 shows a structural diagram of the node state tree provided in this embodiment. As shown in FIG. 3, the node state tree used by the present system preferably includes N node groups, each node group including a plurality of nodes. For example, each node group includes N nodes, and the node state tree forms an N × N structure. Each node in the node state tree has a corresponding preset node value, and the finite state machine represents the state of the finite state machine by using the node value.
For example, the first node group includes n nodes, where the node values of the node 1-1, the node 1-2, and the node 1-n are 1000, 1100, …, and 1000+ (n-1) × 100, respectively. The second node group also includes n nodes, wherein the node values of the node 2-1, the node 2-2 and the node 2-n are 2000, 2100, … and 2000+ (n-1) × 100, respectively. The nth node group also includes N nodes, wherein node values from node N-1, node N-2 to node N-N are N × 1000, N × 1000+100, …, and N × 1000+ (N-1) × 100, respectively.
After that, in different embodiments of the present invention, the number of nodes in each node group may be equal or unequal according to actual needs, and the present invention does not limit the specific number of nodes in each node group. In addition, the specific value of the node value of each node in this embodiment is only used to better understand the structure of the node state tree, and in other embodiments of the present invention, the specific value of each node value may also be configured to be other reasonable values according to actual needs, which is not limited to this.
In this embodiment, the node state tree specifies all possible tracks of node jump, and node numbers (e.g., node values) of the node state tree sequentially increase from bottom to top. The node numbers are divided into different groups according to the relevance of the control logic. Each node represents a state of the system, which includes two parts: the first time output end of the control logic is associated with a control logic to be executed; the other is that the input end is associated with a plurality of executing control logics. The execution unit 103 determines the next node to which the current node needs to jump according to the execution results of the control logics. In this way, the execution unit 103 combines the respective logics of the locomotive, and sequentially executes the respective logic controls in order of the node values.
As shown in fig. 3, in this embodiment, the node state tree further includes an initial node. Wherein the node value of the initial node is the smallest among all nodes in the node state tree. Specifically, as shown in fig. 3, in the present embodiment, the node value of the initial node is preferably 500. In this embodiment, the system is based on a state machine sequential control principle, and relatively independent control logic is mounted on nodes of different node groups through input signals, node values of the nodes of different groups have large differences, and the nodes are far apart from each other on a node state tree. The control logic with strong correlation can be mounted in the same node group, and the smaller the difference between the node values of the two nodes is, the closer the two nodes are in the node state tree.
For example, the first node group and the second node group are relatively independent control logic, and the node value of each node in the first node group is greatly different from the node value of each node in the second node group. The node values of the 1-1 node and the 1-2 node in the first node group are different by 100, and the node values of the 1-1 node and the 1-3 node are different by 200, then it is obvious that the node 101 and the 1-2 node are closer to the node 1-3 on the node tree than to the node 1-2 node.
In this embodiment, the jumping between nodes in the node tree may adopt a plurality of different jumping modes according to the system design of practical application. The more the skip modes are, the more accurate the system state analysis and fault diagnosis are, and the more complex the system is.
Each node in the node state tree can jump to other nodes by adopting a corresponding preset node jumping mode based on a preset execution result. In this embodiment, the preset skipping manner preferably includes: normal jump, fault jump, protection jump, and recovery jump.
When executing the normal control logic and obtaining a normal result, the current node is configured to jump to a normal steady-state node of the next node group in a normal jump mode; when the normal control logic is executed but an abnormal result is obtained, the current node is configured to jump to the previous node of the current node in a fault jumping mode; when the system has a fault and needs to carry out function protection, the current node is configured to jump to other specific nodes with a node value smaller than that of the current node in a protection jump mode; when the protection action and the fault are relieved, the current node is configured to jump to other specific nodes with node values larger than that of the current node in the node group to which the current node belongs by adopting a recovery jumping mode.
In this embodiment, the node with the smallest node value in the first node group (i.e., node 1-1) is used as the most stable node (i.e., the basic failure node). The normal jump does not jump to the node 1-1. Nodes on the upper layer of the node state tree (namely nodes with the node values larger than those of the nodes 1-1) can jump to the nodes 1-1 through protection jumping. When the fault is relieved, the node 1-1 can jump to the node 1-2 through recovery jumping or directly jump to the node (namely the node 1-n) with the maximum node value in the node group by judging the fault contact condition.
In this embodiment, each node group includes a normal steady-state node, where the normal steady-state node is preferably a node in the node group with the largest node value. For example, for the first node group, its normal steady state nodes are 1-n; for the Nth node group, the normal steady state nodes are N-N. The normal steady-state nodes in the normal node group can jump to the normal steady-state nodes of the next node group through normal jumping.
For each node group, the previous node of the normal steady-state node is a normal steady-state transition node, such as the 1- (N-1) node in the first node group, the 2- (N-1) node in the second node group, …, and the N- (N-1) node in the N node group.
In some embodiments of the present invention, when the system is operating normally and the next control logic needs to be executed, the finite state machine will jump from the current normal steady-state node (e.g., node 1-n) to the next normal steady-state transition node (e.g., node 2- (n-1)), and then the system executes the new logic control and enters the new normal steady-state node (e.g., node 2-n) after completing the new logic control. When the locomotive breaks down or is protected, the finite state machine can jump from the normal steady-state node to other nodes, and the condition that the current normal steady-state node still jumps to the normal steady-state node or the normal steady-state transition node in the next node group when the locomotive breaks down or is protected does not exist.
In this embodiment, the execution unit 103 preferably determines the jump mode and the next node to jump to according to the current node input signal. The finite state machine will output a unique output signal before the jump is performed and a new output signal after the jump is performed. The execution unit 103 determines the associated logic corresponding to the output end of the node tree according to the output signal output by the finite state machine, so as to generate and output a corresponding locomotive control signal.
In this embodiment, the node value of each node in the node tree can reflect the operation state of the locomotive, so that the state data (including the node value of the finite state machine and the node jump mode) of the node tree generated by the system during the operation process can also represent various states of the locomotive during the operation process.
To more clearly illustrate the operation of the locomotive sequence control system provided by the present embodiment, the system is further described below by taking the sequential operation of the locomotive during normal operation as an example.
Fig. 4 is a schematic diagram showing an operation sequence during normal operation of the locomotive in the embodiment. As shown in fig. 4, in this embodiment, the operation sequence of the locomotive during normal operation is as follows: locomotive occupancy-pantograph up-main breaker closed-providing tractive/braking force or other more complex operations.
To ensure that the driver's operation sequence is strictly in the above sequence, the locomotive sequence control system requires the control logic that the previous operation must be executed before the next operation is allowed to be executed, which is well ensured by the state machine-based locomotive sequence control method provided by the embodiment. Since the execution process of the control method is the same from locomotive occupation to tractive force supply, but the node state jumps differently, the implementation process of the locomotive sequence control system and the locomotive sequence control method adopted by the system provided by the embodiment is described below by taking the locomotive master-slave closed node as an example.
As shown in fig. 5, the locomotive finishes occupying and the pantograph is raised, and the node value of the current node of the finite state machine after the pantograph is raised is 2900. At the moment, the control system detects whether the current node is 2900, and if not, other node judgment logic is executed; if yes, the decision logic of node 2900 is executed.
In this embodiment, the judgment logic of the node whose node value is 2900 includes: and judging whether occupation protection and pantograph protection exist at present. The system first determines whether there is occupancy protection currently. If occupancy protection is currently present, this indicates that the locomotive is currently out of control, at which point the finite state machine jumps from a node with a node value of 2900 to an occupancy protection node (e.g., a node with a node value of 1100).
And if the occupancy protection does not exist currently, the system indicates that the locomotive can be controlled currently, and at the moment, the system further judges whether the pantograph protection exists currently. Wherein if the pantograph protection currently exists, it indicates that the pantograph cannot be raised currently, and at this time, the finite state machine jumps from the node with the node value of 2900 to the pantograph protection node (for example, the node with the node value of 2100).
And if the pantograph lowering protection does not exist currently, the pantograph can be raised currently, and at the moment, the system can further judge whether a main switch-off closing instruction is received or not. Wherein, if a master break close instruction is received, the finite state machine jumps from a node with a node value of 2900 to a node allowing master break close (for example, a node with a node value of 3800).
The system stores a node having a node value of 3800 in a storage unit and transmits an updated node value of 3800 to an output unit. The matching node value of the output unit is 3800, and a master break closing allowing signal is output to the master break control logic according to the node value, so that node skipping in one period is completed.
And after receiving the master break allowing signal of closing the master break by the node, the master break control logic executes master break closing action. At this time, the system performs the node jump of the main break and close state again, and the logic is walked again, except that the node value is updated from 2900 to 3800.
Based on the control method, the locomotive sequence control system strings independent control logics such as train occupation, pantograph rising, master closing, traction giving and the like together, detects the execution states of the control logics one by one, jumps the node states according to a set node state tree, and manages the execution sequence of the control logics by the method.
It can be seen from the above description that the present invention provides a locomotive sequence control system and method, which can divide the functional logic of the locomotive into a specific number of different locomotive states according to the logic execution sequence preset by the designer, and mark the states with a string of node values from small to large, thereby forming a finite node state tree. The system and the method utilize the jumping characteristic of a state machine, the logic functions to be realized are sequentially mounted on a node state tree according to the designed logic execution sequence and the stability of the node number and the corresponding precedence relationship of the logic, the node number jumps to a large node number from a small node number according to the designed jumping condition, and therefore the logical division sequence management of the locomotive control system is realized.
Compared with the prior art, the system and the method provided by the invention can break the complex control logic of the locomotive into whole parts, simplify the control method of the locomotive and realize independent control of each function logic. In software programming, codes can be respectively and independently realized, logic order is clear, and software maintenance and management are easy. Meanwhile, the system and the method can judge the system state by recording the node number value, analyzing the node number value and the node number jump action and matching with the preset logic, and can also diagnose and control the system state jump reason so as to locate the fault occurrence point.
It is to be understood that the disclosed embodiments of the invention are not limited to the particular structures or process steps disclosed herein, but extend to equivalents thereof as would be understood by those skilled in the relevant art. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.
Reference in the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Thus, the appearances of the phrase "one embodiment" or "an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment.
While the above examples are illustrative of the principles of the present invention in one or more applications, it will be apparent to those of ordinary skill in the art that various changes in form, usage and details of implementation can be made without departing from the principles and concepts of the invention. Accordingly, the invention is defined by the appended claims.
Claims (8)
1. A locomotive sequence control system, said system comprising:
an engine unit for receiving an input event as a trigger event of a finite state machine;
the storage unit is used for storing the current state of the finite state machine and the node state tree;
the execution unit is used for acquiring the current state of the finite-state machine from the storage unit, acquiring a next state machine to be transferred of the current state machine according to the input event provided by the engine unit and the node state tree stored in the storage unit, updating the current state of the finite-state machine according to the acquired next state machine, and generating and outputting a corresponding locomotive control signal according to the updated current state of the finite-state machine; wherein the content of the first and second substances,
the node state tree includes N node groups, each node group includes a plurality of nodes, each node is loaded with a corresponding locomotive control logic and has a preset node value, each node group includes a normal steady-state node, the normal steady-state node in a normal node group jumps to the normal steady-state node of the next node group through normal jump,
wherein the node state tree includes an initial node having a minimum preset node value, and the stability of nodes in the node state tree decreases as the preset node value increases,
the method comprises the steps of dividing locomotive function logic into a specific number of different locomotive states according to a logic execution sequence preset by a designer, marking the states by a string of node values from small to large respectively to form a limited node state tree, utilizing the jump characteristic of a state machine, sequentially mounting logic functions to be realized on the node state tree according to the designed logic execution sequence according to the stability of node numbers and the sequence relation of the logic, and realizing the jump to the large node numbers according to the designed jump conditions from small node numbers.
2. The system of claim 1, wherein the node state tree includes a base failure node to which nodes other than the initial node in the node state tree may each jump via a corresponding protection jump.
3. The system according to any one of claims 1-2, wherein each node in the node state tree jumps to other nodes in a corresponding preset jump manner based on a control logic execution result.
4. The system of claim 3, wherein the predetermined hopping pattern comprises:
normal jump, fault jump, protection jump, and recovery jump.
5. The system of claim 4,
when executing the normal control logic and obtaining a normal result, the finite state machine is configured to jump from the current node to the normal steady-state node of the next node group in a normal jump mode;
when the normal control logic is executed and an abnormal result is obtained, the finite state machine is configured to jump from the current node to the previous node of the current node in a fault jump mode;
when the system has a fault and needs to perform function protection, the finite state machine is configured to jump from a current node to other specific nodes with a node value smaller than that of the current node in a protection jump mode;
when the protection action and the fault are relieved, the finite-state machine is configured to jump from the current node to other specific nodes with node values larger than the current node in the node group to which the current node belongs in a recovery jump mode.
6. A method for controlling a sequence of a locomotive, the method comprising:
step one, receiving an input event as a trigger event of a finite state machine;
step two, acquiring the current state of the finite-state machine, and acquiring a next state machine to be transferred by the current state machine according to the input event and a node state tree, wherein the node state tree comprises N node groups, each node group comprises a plurality of nodes, each node is hung with corresponding locomotive control logic and has a preset node value, each node group comprises a normal steady-state node, and the normal steady-state node in one normal node group is transferred to the normal steady-state node of the next node group through normal transfer;
step three, updating the current state of the finite state machine according to the jumped state machine, generating and outputting a corresponding locomotive control signal according to the updated current state of the finite state machine,
wherein the node state tree includes an initial node having a minimum preset node value, and the stability of nodes in the node state tree decreases as the preset node value increases,
the method comprises the steps of dividing locomotive function logic into a specific number of different locomotive states according to a logic execution sequence preset by a designer, marking the states by a string of node values from small to large respectively to form a limited node state tree, utilizing the jump characteristic of a state machine, sequentially mounting logic functions to be realized on the node state tree according to the designed logic execution sequence according to the stability of node numbers and the sequence relation of the logic, and realizing the jump to the large node numbers according to the designed jump conditions from small node numbers.
7. The method as claimed in claim 6, wherein each node in the node state tree jumps to other nodes in a corresponding preset jump manner based on a control logic execution result.
8. The method of claim 7, wherein the preset hopping pattern comprises: normal jump, fault jump, protection jump and recovery jump; wherein the content of the first and second substances,
when executing the normal control logic and obtaining a normal result, the finite state machine is configured to jump from the current node to the normal steady-state node of the next node group in a normal jump mode;
when the normal control logic is executed and an abnormal result is obtained, the finite state machine is configured to jump from the current node to the previous node of the current node in a fault jump mode;
when the system has a fault and needs to perform function protection, the finite state machine is configured to jump from a current node to other specific nodes with a node value smaller than that of the current node in a protection jump mode;
when the protection action and the fault are relieved, the finite-state machine is configured to jump from the current node to other specific nodes with node values larger than the current node in the node group to which the current node belongs in a recovery jump mode.
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