CN110213144B - Redundant network system for train door - Google Patents
Redundant network system for train door Download PDFInfo
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- CN110213144B CN110213144B CN201910467509.XA CN201910467509A CN110213144B CN 110213144 B CN110213144 B CN 110213144B CN 201910467509 A CN201910467509 A CN 201910467509A CN 110213144 B CN110213144 B CN 110213144B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or vehicle train for signalling purposes ; On-board control or communication systems
- B61L15/0018—Communication with or on the vehicle or vehicle train
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40169—Flexible bus arrangements
- H04L12/40176—Flexible bus arrangements involving redundancy
- H04L12/40195—Flexible bus arrangements involving redundancy by using a plurality of nodes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L49/00—Packet switching elements
- H04L49/55—Prevention, detection or correction of errors
- H04L49/552—Prevention, detection or correction of errors by ensuring the integrity of packets received through redundant connections
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
Abstract
The invention discloses a redundant network system for train doors, which comprises a slave control unit group (consisting of a plurality of slave control units) and a first master control unit, wherein a first CAN communication module and a second CAN communication module in each slave control unit in the slave control unit group are sequentially connected through a first CAN bus and a second CAN bus respectively to form a first CAN subnet and a second CAN subnet; a first CAN communication module and a second CAN communication module in the first master control unit are respectively connected with a first CAN communication module and a second CAN communication module in a slave control unit at the first end of the slave control unit group; the first master control unit collects the car door information stored in all the slave control units, transmits the car door information to the train control and management system, receives TCMS data information sent by the train control and management system, and forwards the TCMS data information to all the slave control units through the first CAN subnet or the second CAN subnet. The invention can solve the problem that the network does not have redundant function, improve the safety and reliability of the train network and simultaneously reduce the manufacturing cost of the vehicle.
Description
Technical Field
The invention particularly relates to a redundant network system for train doors.
Background
Ethernet communication between an existing rail transit vehicle Door System and a Train Control and Management System (TCMS) mainly adopts a star topology structure, that is, all Door Control units (EDCUs) on a Train are connected to a switch through network cables, and data exchange with the Train Control and Management System is realized through the switch, which is specifically shown in fig. 1. Because the vehicle door control unit belongs to one of the devices with a large number in all the vehicle devices, if all the vehicle door control units are connected with the switches in a star shape, more switch ports are inevitably occupied, and the number of the switches is inevitably increased, so that the manufacturing cost of the vehicle is increased, and the vehicle door control unit is hardly received by a vehicle manufacturer; in addition, a star topology structure is adopted, wiring is required between each EDCU and the TCMS, and a large number of network cables are consumed; thirdly, with the star topology, since the network does not have a redundancy function, once a single cable is disconnected, a single EDCU loses the communication function with the TCMS. In case of failure of one of the switches, it is likely that all the EDCUs of one side door lose the communication function with the TCMS.
The MVB communication between the vehicle door system and the train control and management system is realized, and the vehicle door system needs to be provided with an MVB communication module. If every vehicle door system all equips MVB communication module, vehicle manufacturing cost is higher.
Disclosure of Invention
In order to solve the problems, the invention provides a redundant network system for train doors, which can solve the problem that the network does not have a redundant function and simultaneously achieve the purpose of reducing the manufacturing cost of the train.
The technical purpose is achieved, the technical effect is achieved, and the invention is realized through the following technical scheme:
a redundant network system for train doors comprising:
the first CAN communication module and the second CAN communication module in each slave control unit in the slave control unit group are sequentially connected through a first CAN bus and a second CAN bus respectively to form a first CAN subnet and a second CAN subnet;
the first CAN communication module and the second CAN communication module in the first master control unit are respectively connected with the first CAN communication module and the second CAN communication module in the slave control unit at the first end of the slave control unit group; the first master control unit collects the car door information stored in all the slave control units and transmits the car door information to the train control and management system; and the first master control unit receives TCMS data information sent by the train control and management system and forwards the TCMS data information to all slave control units through the first CAN subnet or the second CAN subnet.
Preferably, the first main control unit is connected with a train control and management system through an MVB bus;
setting the first CAN subnet or the second CAN subnet as a default CAN network, wherein the corresponding data is valid data, and the other CAN subnet is only used as a backup CAN network;
the first main control unit collects information of all doors in the effective CAN network, sends the information of all doors in the effective CAN network to the train control and management system through the MVB bus, and simultaneously distributes data of the vehicle network to each door through the CAN network.
Preferably, when the number of the slave control units is more than 4, the redundant network system for train doors further comprises a second master control unit;
the first CAN communication module and the second CAN communication module in the second master control unit are respectively connected with the first CAN communication module and the second CAN communication module in the slave control unit at the second end of the slave control unit group;
and setting the first CAN subnet or the second CAN subnet as a default CAN network, wherein the corresponding data is valid data, and the other CAN subnet is only used as a backup CAN network, and the data of the backup CAN network is valid only when the default CAN network fails.
Preferably, the first main control unit and the second main control unit are connected with a train control and management system through an MVB bus;
setting one of a first main control unit or a second main control unit as a default main vehicle door control unit, and the other one as a standby main vehicle door control unit, wherein the default main vehicle door control unit sends a round-robin command to acquire information of all doors in an effective CAN network, the standby main vehicle door control unit monitors and acquires the information of all doors in the effective CAN network, the first main control unit and the second main control unit both send the information of all doors in the network to a train control and management system through an MVB bus, meanwhile, the default main vehicle door control unit distributes data of the vehicle network to each door through the CAN network, the standby main vehicle door control unit works as a slave control unit in the network, and once the default main vehicle door control unit fails, the standby main vehicle door control unit takes over the main control right of the network and works as the main vehicle door control unit;
when a certain node in the CAN network is broken, the default main vehicle door control unit and the standby main vehicle door control unit are simultaneously used as main vehicle door control units to respectively control the vehicle doors on two sides of the break point.
Preferably, the redundant network system for train doors further comprises a first ethernet switch and a second ethernet switch;
one port of the first Ethernet switch is connected with a train control and management system, and the other port of the first Ethernet switch is connected with the first main control unit;
one port of the second Ethernet switch is connected with a train control and management system, and the other port of the second Ethernet switch is connected with the second main control unit.
Preferably, when the connection line of one of the master control units is broken or the ethernet switch fails, the other master control unit communicates with the train control and management system through the slave control units and the other ethernet switch.
Preferably, if a CAN bus between any slave control units is disconnected in the first CAN subnet or the second CAN subnet, the first master control unit and the second master control unit continue to be physically connected with the slave control units connected with the first master control unit and the second master control unit for communication, so that data of all the vehicle doors are not lost.
Preferably, the first master control unit or the second master control unit periodically transmits the vehicle door fault data, the vehicle door state information and the software version information stored in all the slave control units in a broadcasting mode, and transmits the vehicle door fault data, the vehicle door state information and the software version information to the train control and management system through an ethernet network of the rail train.
Preferably, the TCMS data information includes a control command, time information, and vehicle number information.
Preferably, the first master control unit collects the door failure data, the door state information and the software version information stored in all the slave control units.
The invention has the beneficial effects that:
according to the invention, a network topology networking with double CAN redundancies is arranged, the data of two CAN networks are completely consistent, and even if one CAN network fails, the main control unit CAN still use the backup redundant CAN network.
The invention CAN realize the redundancy of the Ethernet and CAN network connection structure, CAN ensure the data exchange between a main control unit (MDCU) and a Train Control and Management System (TCMS) if a single-point fault occurs, improves the safety and the reliability of the network, only has two Ethernet ports, saves the number of Ethernet switches, adopts CAN chain connection for each slave control unit (LDCU), saves a large amount of vehicle door network cables compared with star connection, greatly reduces the vehicle manufacturing cost, and has good application prospect.
Drawings
FIG. 1 is a block diagram of a prior art star Ethernet topology;
FIG. 2 is a system block diagram of embodiment 1 of the present invention;
FIG. 3 is a system block diagram of embodiment 2 of the present invention;
FIG. 4 is a system block diagram of embodiment 3 of the present invention;
fig. 5 is a schematic diagram of an abnormal ethernet line of the MDCU1 according to embodiment 4 of the present invention;
fig. 6 is a schematic diagram of a CAN network line disconnection according to embodiment 4 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following detailed description of the principles of the invention is provided in connection with the accompanying drawings.
Example 1
An embodiment of the present invention provides a redundant network system for train doors, which can be applied to each car on a train, as shown in fig. 2, specifically including:
the system comprises a slave control unit group, a plurality of slave control units and a controller, wherein each slave control unit corresponds to one vehicle door, namely LDCUn in fig. 2, and a first CAN communication module and a second CAN communication module in each slave control unit are sequentially connected through a first CAN bus and a second CAN bus respectively to form a first CAN subnet (namely CAN subnet 1 in fig. 2) and a second CAN subnet (namely CAN subnet 2 in fig. 2);
a first master control unit, i.e., the MDCU1 in fig. 2, in which a first CAN communication module and a second CAN communication module are connected to a first CAN communication module and a second CAN communication module in a slave control unit at a first end (i.e., a head end) of a slave control unit group, respectively; in a specific implementation manner of the embodiment of the present invention, the first main control unit is connected to a train control and management system through an MVB bus; the first main control unit corresponds to one vehicle door;
the first main control unit is connected with the Vehicle through an MVB (multifunction Vehicle bus) interface, and a daisy chain type sub-network is formed between the first main control unit and each slave control unit and between each slave control unit through 2 paths of CAN;
the first master control unit collects the car door information stored in all the slave control units and transmits the car door information to the train control and management system; and the first master control unit receives TCMS data information sent by the train control and management system at the same time and forwards the TCMS data information to all the slave control units through the first CAN subnet or the second CAN subnet. Preferably, the TCMS data information includes a control command, time information, and vehicle number information; the first master control unit collects the vehicle door fault data, the vehicle door state information and the software version information which are stored in all the slave control units.
Setting the first CAN subnet or the second CAN subnet as a default CAN network, wherein the corresponding data is valid data, and the other CAN subnet is only used as a backup CAN network;
the first main control unit collects information of all doors in the network, sends the information of all doors in the network to the train control and management system through the MVB bus, and distributes data of the vehicle network to each door through the CAN network.
The redundant network system in this embodiment is suitable for the case where the number of doors per car is less than or equal to 4.
Example 2
When the number of the slave control units is greater than 4, the embodiment of the invention provides another redundant network system for train doors, and based on embodiment 1, as shown in fig. 3, the redundant network system for train doors further includes a second master control unit;
the second master control unit, namely the MDCU2 in fig. 3, is connected to the first CAN communication module and the second CAN communication module in the slave control unit at the tail end of the slave control unit group respectively;
and setting the first CAN subnet or the second CAN subnet as a default CAN network, wherein the corresponding data is valid data, and the other CAN subnet is only used as a backup CAN network, and the data of the backup CAN network is valid only when the default CAN network fails.
In a specific implementation manner of the embodiment of the present invention, the first main control unit and the second main control unit are connected to the train control and management system through an MVB bus, that is, the first main control unit and the second main control unit are both configured with an MVB interface and 2 independent CAN interfaces; each slave control unit is provided with two CAN interfaces;
setting a first main control unit or a second main control unit as a default main vehicle door control unit, and setting the other main control unit as a standby main vehicle door control unit, wherein the default main vehicle door control unit sends a round-robin command to acquire information of all doors in a network, the standby main vehicle door control unit monitors and acquires the information of all doors in the network, the first main control unit and the second main control unit both send the information of all doors in the network to a train control and management system through an MVB bus, meanwhile, the default main vehicle door control unit distributes data of a vehicle network to each door through an effective CAN network, the standby main vehicle door control unit works as a slave control unit in the effective CAN network, and once the default main vehicle door control unit fails, the standby main vehicle door control unit takes over the main control right of the effective CAN network and works as the main vehicle door control unit;
when a certain node in the CAN network is broken, the default main vehicle door control unit and the standby main vehicle door control unit are simultaneously used as main vehicle door control units to respectively control the vehicle doors on two sides of the break point.
Example 3
When the number of the slave control units is greater than 4, another redundant network system for train doors is provided in the embodiment of the present invention, based on embodiment 1, as shown in fig. 4, the system further includes a second master control unit;
the second master control unit (MDCU2), the second control unit is respectively connected with the first CAN communication module and the second CAN communication module on the slave control unit at the tail end of the slave control unit group;
setting the first CAN subnet or the second CAN subnet as a default CAN network, wherein the corresponding data is valid data, and the other CAN network is only used as a backup CAN network;
the redundant network system for train doors further comprises a first Ethernet switch and a second Ethernet switch;
one port of the first Ethernet switch is used for being connected with a train control and management system, and the other port of the first Ethernet switch is connected with the first main control unit;
one port of the second Ethernet switch is used for being connected with a train control and management system, and the other port of the second Ethernet switch is connected with the second main control unit.
When the connecting line of one master vehicle door control unit is broken or the Ethernet switch is in failure, the other master vehicle door control unit can communicate with the train control and management system through each slave control unit and the other Ethernet switch.
If the CAN bus between any slave control units is disconnected in the first CAN subnet or the second CAN subnet, the first master control unit and the second master control unit continue to be physically connected with the slave control units connected with the first master control unit and the second master control unit for communication, so that data of all the vehicle doors are not lost.
The first master control unit or the second master control unit periodically sends the information in a broadcast mode, collects all vehicle door fault data, vehicle door states and software version information stored in the slave control units, and transmits the information to the train control and management system through the Ethernet network of the rail train.
Example 4
Based on embodiment 3, a specific redundant network system for train doors is described below by taking ten doors per train car as an example:
(1) two MDCU internal integration Ethernet communication modules, connected with vehicle Ethernet exchanger, and connected to rail train network; the other eight LDCUs are connected with two MDCUs, wherein the third LDCU is connected with the MDCU1, the fourth LDCU is connected with the MDCU2, and a CAN network connection structure is formed inside the four LDCUs;
when the Ethernet switch of the vehicle, the two MDCU and the line are all normal, the two MDCU collects the door fault data, the door state, the software version and other information of all the LDCU and the adjacent MDCU through the CAN network, and then transmits the information to the TCMS through the Ethernet network; under the condition that the vehicle Ethernet switch, the two MDCU and the line are normal, the two MDCU receive control commands, time information, vehicle numbers and other information sent by the TCMS through the Ethernet network and then forward the information to all LDCUs through the CAN network; when the Ethernet connecting line of one MDCU is broken or one vehicle Ethernet switch is in failure, the other MDCU can still normally communicate with other DCUs and continue to exchange data with the TCMS, so that the data of all the vehicle doors are not lost, and the Ethernet line redundancy function is realized; when the CAN line between any two DCUs is disconnected in the CAN network, for example, the LDCU9 and the LDCU10 are disconnected, the MDCU1 and the MDCU2 continue to communicate with the DCU on the side which still keeps physical connection, so that data of all doors are not lost, and the CAN network line redundancy function is realized.
CAN network connection mode: MDCU1 → LDCU3 → LDCU5 → LDCU7 → LDCU9 → LDCU10 → LDCU8 → LDCU6 → LDCU4 → MDCU2, as shown in fig. 4.
After receiving ethernet data (including information such as a control command, time information, and a vehicle number, the same applies hereinafter) of the TCMS, the MDCU1 periodically transmits the ethernet data to the MDCU2, the LDCU3, the LDCU4, the LDCU5, the LDCU6, the LDCU7, the LDCU8, the LDCU9, and the LDCU10 through the CAN network in a broadcast manner; after receiving the ethernet data of the TCMS, the MDCU2 periodically transmits the ethernet data to the MDCU1, the LDCU3, the LDCU4, the LDCU5, the LDCU6, the LDCU7, the LDCU8, the LDCU9, and the LDCU10 through the CAN network in a broadcast manner.
The information such as the status information, the failure information, and the software version of the MDCU1, the MDCU2, the LDCU3, the LDCU4, the LDCU5, the LDCU6, the LDCU7, the LDCU8, the LDCU9, and the LDCU10 is periodically transmitted to the CAN network in a broadcast manner. The MDCU1 and MDCU2 will read these information from the CAN network and send to the TCMS5 through the ethernet network; once an abnormality occurs in the ethernet line of the MDCU1 (including both vehicle ethernet switch failure and network outage between the switch and the MDCU), as shown in fig. 5, where X is the abnormality.
In this state, the ethernet data of the TCMS is transmitted from the MDCU2 to the MDCU1, the LDCU3, the LDCU4, the LDCU5, the LDCU6, the LDCU7, the LDCU8, the LDCU9, and the LDCU10 through the CAN network; all the information such as the state information, the fault information, the software version and the like of the EDCU are sent to the CAN network in a broadcasting mode, and the MDCU2 reads the information from the CAN and sends the information to the TCMS through the Ethernet network. And the Ethernet line of the MDCU2 is abnormal, and the redundant function is realized in the same way. Note: the invention only realizes the Ethernet line single-point fault redundancy function.
When the CAN line between LDCU9 and LDCU10 is disconnected in the CAN network, as shown in fig. 6:
the state information, fault information, software version and other information of the LDCU3, the LDCU5, the LDCU7 and the LDCU9 are periodically sent to the MDCU1 through the CAN network, and the Ethernet data of the TCMS received by the MDCU1 are periodically sent to the LDCU3, the LDCU5, the LDCU7 and the LDCU9 through the CAN network; information such as status information, failure information, and software version of the LDCUs 4, LDCUs 6, LDCUs 8, and LDCUs 10 is periodically transmitted to the MDCU2 through the CAN network. The ethernet data received by the MDCU2 from the TCMS is periodically sent to the LDCU4, LDCU6, LDCU8, and LDCU10 via the CAN network. And other CAN nodes are disconnected, and the redundancy function is realized in the same way.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A redundant network system for train doors comprising:
the first CAN communication module and the second CAN communication module in each slave control unit in the slave control unit group are sequentially connected through a first CAN bus and a second CAN bus respectively to form a first CAN subnet and a second CAN subnet;
the first CAN communication module and the second CAN communication module in the first master control unit are respectively connected with the first CAN communication module and the second CAN communication module in the slave control unit at the first end of the slave control unit group; the first master control unit collects the car door information stored in all the slave control units and transmits the car door information to the train control and management system; the first master control unit receives TCMS data information sent by the train control and management system and forwards the TCMS data information to all slave control units through the first CAN subnet or the second CAN subnet;
when the number of the slave control units is more than 4, the redundant network system for the train doors further comprises a second master control unit; the first CAN communication module and the second CAN communication module in the second master control unit are respectively connected with the first CAN communication module and the second CAN communication module in the slave control unit at the second end of the slave control unit group;
setting the first CAN subnet or the second CAN subnet as a default CAN network, wherein the corresponding data is valid data, and the other CAN subnet is only used as a backup CAN network;
the first main control unit and the second main control unit are connected with a train control and management system through an MVB bus;
setting one of a first main control unit or a second main control unit as a default main vehicle door control unit, and the other one as a standby main vehicle door control unit, wherein the default main vehicle door control unit sends a round-robin command to acquire information of all doors in an effective CAN network, the standby main vehicle door control unit monitors and acquires the information of all doors in the effective CAN network, the first main control unit and the second main control unit both send the information of all doors in the network to a train control and management system through an MVB bus, meanwhile, the default main vehicle door control unit distributes data of the vehicle network to each door through the CAN network, the standby main vehicle door control unit works as a slave control unit in the network, and once the default main vehicle door control unit fails, the standby main vehicle door control unit takes over the main control right of the network and works as the main vehicle door control unit;
when a certain node in the CAN network is broken, the default main vehicle door control unit and the standby main vehicle door control unit are simultaneously used as main vehicle door control units to respectively control the vehicle doors on two sides of the break point.
2. A redundant network system for train doors according to claim 1, wherein: the first main control unit is connected with a train control and management system through an MVB bus;
setting the first CAN subnet or the second CAN subnet as a default CAN network, wherein the corresponding data is valid data, and the other CAN subnet is only used as a backup CAN network;
the first main control unit collects information of all doors in the effective CAN network, sends the information of all doors in the effective CAN network to the train control and management system through the MVB bus, and simultaneously distributes data of the vehicle network to each door through the CAN network.
3. A redundant network system for train doors according to claim 1, wherein: the redundant network system for train doors further comprises a first Ethernet switch and a second Ethernet switch;
one port of the first Ethernet switch is connected with a train control and management system, and the other port of the first Ethernet switch is connected with the first main control unit;
one port of the second Ethernet switch is connected with a train control and management system, and the other port of the second Ethernet switch is connected with the second main control unit.
4. A redundant network system for train doors according to claim 3, wherein: when the connecting line of one main control unit is broken or the Ethernet switch is in fault, the other main control unit is communicated with the train control and management system through each slave control unit and the other Ethernet switch.
5. A redundant network system for train doors according to claim 1, wherein: if the CAN bus between any slave control units is disconnected in the first CAN subnet or the second CAN subnet, the first master control unit and the second master control unit continue to be physically connected with the slave control units connected with the first master control unit and the second master control unit for communication, so that data of all the vehicle doors are not lost.
6. A redundant network system for train doors according to claim 1, wherein: the first master control unit or the second master control unit periodically sends the information in a broadcast mode, collects all vehicle door fault data, vehicle door states and software version information stored in the slave control units, and transmits the information to the train control and management system through the Ethernet network of the rail train.
7. A redundant network system for train doors according to claim 1, wherein: the TCMS data information includes a control command, time information, and vehicle number information.
8. A redundant network system for train doors according to claim 1, wherein: the first master control unit collects the vehicle door fault data, the vehicle door state information and the software version information which are stored in all the slave control units.
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| CN110979393A (en) * | 2019-12-14 | 2020-04-10 | 中车大连电力牵引研发中心有限公司 | Programmable logic control system applied to subway train |
| IT202000004465A1 (en) * | 2020-03-03 | 2021-09-03 | Hitachi Rail S P A | COMMUNICATION NETWORK FOR TRAINS THAT REDUCES THE NUMBER OF ELEMENTARY WIRING |
| CN111891181B (en) * | 2020-06-23 | 2022-06-24 | 株洲中车时代电气股份有限公司 | Train network control system based on Ethernet |
| CN111717239A (en) * | 2020-07-06 | 2020-09-29 | 中车大连机车车辆有限公司 | Maglev train control and management system and communication method thereof |
| CN112901010B (en) * | 2021-03-17 | 2022-09-20 | 南京康尼电子科技有限公司 | Train door control network communication system |
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