CN110488597A - Locomotive Main Processor Unit dual redundant control method - Google Patents
Locomotive Main Processor Unit dual redundant control method Download PDFInfo
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- CN110488597A CN110488597A CN201910761422.3A CN201910761422A CN110488597A CN 110488597 A CN110488597 A CN 110488597A CN 201910761422 A CN201910761422 A CN 201910761422A CN 110488597 A CN110488597 A CN 110488597A
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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
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
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- General Physics & Mathematics (AREA)
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- Safety Devices In Control Systems (AREA)
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Abstract
The present invention relates to the Redundant Controls of locomotive Main Processor Unit MPU, specially locomotive Main Processor Unit dual redundant control method.Solve the problems, such as that redundancy switching malfunction easily occurs for existing locomotive Main Processor Unit dual redundant control method.The control method is that hardware configuration identical master control MPU and redundancy MPU is articulated on double-unit traction controller；Local area network CAN bus is connected between master control MPU and redundancy MPU；Master control MPU is periodically detected the machine operating status, operating status and heartbeat signal are sent to CAN bus, master control MPU sends life signal to MVB bus simultaneously, and the life signal in operating status and heartbeat signal and MVB bus in comprehensive CAN bus judges whether that redundancy is needed to switch.The present invention realizes the Redundant Control of MPU using MVB bus+CAN bus dual redundant control mode, can correctly identify master control MPU failure, improves the stability and accuracy of the switching of MPU redundancy.
Description
Technical field
The present invention relates to the Redundant Control of locomotive Main Processor Unit MPU, specially locomotive Main Processor Unit dual redundant is controlled
Method.
Background technique
In recent years, with the fast development of global economy, railway transportation demand also in sharp increase, pacifies the operation of locomotive
Full property and efficiency of operation propose more harsh requirement.Locomotive Main Processor Unit MPU runs control as vehicle and network is logical
The core component for believing bus management is the key point that locomotive operates normally.In order to guarantee motorcycle safety, steadily and on schedule
Operation, locomotive Main Processor Unit MPU are designed using dual redundant, to avoid MPU failure and fault condition under intensive work environment
When, redundancy MPU can activate incision control locomotive to work on, and improve locomotive operation timeliness.
Existing dual redundant control method is will to pass through multifunctional vehicle bus between two identical MPU of hardware
The connection of MVB bus cable, each MPU configures specific MVB source port and egress mouth, for sending life signal and reception
The life signal of other side, master control MPU send 0xAA, and redundancy MPU sends 0x55.When redundancy MPU is not received by the life of master control MPU
When ordering signal 0xAA, it is believed that master control MPU failure, redundancy MPU take over master control MPU commitment main control task automatically.It is existing double
Though MPU redundancy feature may be implemented in redundancy control method, can it only pass through the life that receive master control MPU in MVB bus
Signal 0xAA carries out the switching control of MPU redundancy as condition, once contact is caused not by electromagnetic interference or MVB bus loosening
When good, there is the MVB life signal frame losing phenomenon of master control MPU, easily causes the switching malfunction of MPU redundancy, MPU is caused frequently to cut
It changes and other failures is caused to occur, influence traffic safety.
Summary of the invention
The present invention solves the problems, such as that redundancy switching malfunction easily occurs for existing locomotive Main Processor Unit dual redundant control method,
A kind of locomotive Main Processor Unit dual redundant control method is provided.This method can accurately detect master control MPU failure and in not shadow
The redundancy handoff functionality for realizing MPU under the premise of vehicle operates normally rapidly is rung, easily causes MPU redundancy to solve the prior art
Switch the deficiency of malfunction.
The present invention is achieved by the following technical scheme: locomotive Main Processor Unit dual redundant control method, hardware configuration
Identical master control MPU and redundancy MPU, is articulated on double-unit traction controller, for network data synchronizing and work shape
State monitoring；Local area network CAN bus is connected between master control MPU and redundancy MPU；Master control MPU is periodically detected the machine operation shape
State sends operating status and heartbeat signal to CAN bus, and master control MPU sends life signal to MVB bus simultaneously；Dual redundant control
System includes following situation:
1) master control MPU heartbeat signal and operating status are normal in CAN bus, while master control MPU life signal is positive in MVB bus
Often, the MVB data that redundancy MPU is sent still in redundant state, synchronous reception master control MPU at this time；
2) master control MPU life signal is abnormal in MVB bus, but master control MPU heartbeat signal and operating status are normal in CAN bus,
Caused by judging that the transmission of MVB bus data is interfered, redundancy MPU is without carrying out redundancy switching, when the phenomenon is recurred more than 3
When the second, redundancy MPU activation, and it is switched to master control MPU；
3) master control MPU heartbeat signal is normal in CAN bus, but in CAN bus master control MPU operating status be failure, at this time no matter
Whether master control MPU life signal is normal in MVB bus, and master control MPU will restart, redundancy MPU activation, and is switched to master control
MPU, while heartbeat signal and self-operating state are sent to CAN bus, life signal is sent to MVB bus, former master control MPU is opened
Oneself is set after dynamic for redundancy MPU；
4) master control MPU heartbeat signal is abnormal in CAN bus, at this time if the life signal of master control MPU is normal in MVB bus,
Judge that master control MPU is in normal condition, is judged as CAN bus failure, redundancy MPU is without carrying out redundancy switching；If MVB bus
The life signal of upper master control MPU is abnormal, then is judged as master control MPU failure, and redundancy MPU is activated at this time, and switches to master control MPU.
The present invention realizes the Redundant Control of MPU, Neng Gouzheng using MVB bus+CAN bus dual redundant control mode
Really identification master control MPU failure improves the stability and accuracy of the switching of MPU redundancy.It is superfluous in MPU to efficiently solve the prior art
The defect malfunctioned when remaining switching control, can be used in engineering practice.
Detailed description of the invention
Fig. 1 is circuit connection schematic illustration of the invention.
Specific embodiment
Locomotive Main Processor Unit dual redundant control method, hardware configuration identical master control MPU and redundancy MPU, mounting
On double-unit traction controller, it to be used for network data synchronizing and working state monitoring；It is connected between master control MPU and redundancy MPU
There is local area network CAN bus；After system electrification starting, two MPU initialize MVB function first, initialize CAN function, and read
The configuration information of two MPU is taken, and master control MPU and redundancy MPU are determined according to configuration information；Master control MPU is after the delay of 200ms
Whether detection CAN bus has the heartbeat signal of master control MPU；Redundancy MPU then detects whether CAN bus has master after the delay of 30s
The heartbeat signal for controlling MPU is arranged oneself as redundancy MPU, is otherwise delayed after 5ms if detecting that heartbeat signal is normal, setting
Oneself it is redundancy MPU, and detects CAN bus after the 1s-10 s that is delayed and whether there is the heartbeat signal of master control MPU (with this, really
Protect the reliable starting of master control MPU), if any oneself being arranged then as redundancy MPU, it is total otherwise to detect CAN again after the delay of 200ms
Line whether there is the heartbeat signal (with this, again ensuring that the reliable starting of master control MPU) of master control MPU, be if any oneself is then arranged
Otherwise oneself is arranged for master control MPU, to complete to initialize, into working condition in redundancy MPU.Master control MPU is periodically detected this
Machine operating status sends operating status and heartbeat signal to CAN bus, and master control MPU sends life signal to MVB bus simultaneously；
Dual redundant control includes following situation:
1) master control MPU heartbeat signal and operating status are normal in CAN bus, while master control MPU life signal is positive in MVB bus
Often, the MVB data that redundancy MPU is sent still in redundant state, synchronous reception master control MPU at this time；
2) master control MPU life signal is abnormal in MVB bus, but master control MPU heartbeat signal and operating status are normal in CAN bus,
Caused by judging that the transmission of MVB bus data is interfered, redundancy MPU is without carrying out redundancy switching, when the phenomenon is recurred more than 3
When the second, redundancy MPU activation, and it is switched to master control MPU；
3) master control MPU heartbeat signal is normal in CAN bus, but in CAN bus master control MPU operating status be failure, at this time no matter
Whether master control MPU life signal is normal in MVB bus, and master control MPU will restart, redundancy MPU activation, and is switched to master control
MPU, while heartbeat signal and self-operating state are sent to CAN bus, life signal is sent to MVB bus, former master control MPU is opened
Oneself is set after dynamic for redundancy MPU；
4) master control MPU heartbeat signal is abnormal in CAN bus, at this time if the life signal of master control MPU is normal in MVB bus,
Judge that master control MPU is in normal condition, is judged as CAN bus failure, redundancy MPU is without carrying out redundancy switching；If MVB bus
The life signal of upper master control MPU is abnormal, then is judged as master control MPU failure, and redundancy MPU is activated at this time, and switches to master control MPU.
When it is implemented, heartbeat signal uses the pulse rate of 0~255 integer circulation change；Life signal uses 0~255
The life signal value of integer circulation change.Heartbeat signal includes that no pulse rate, pulse rate be constant, pulse rate is non-effective extremely
Value etc., life signal include that no life signal value, life signal value be constant, life signal value is insignificant values etc. extremely.
Claims (9)
1. a kind of locomotive Main Processor Unit dual redundant control method, hardware configuration identical master control MPU and redundancy MPU are hung
It connects on double-unit traction controller；It is characterized in that, being connected with local area network CAN bus between master control MPU and redundancy MPU；
Master control MPU is periodically detected the machine operating status, sends operating status and heartbeat signal to CAN bus, master control MPU simultaneously to
MVB bus sends life signal；Dual redundant control includes following situation:
1) master control MPU heartbeat signal and operating status are normal in CAN bus, while master control MPU life signal is positive in MVB bus
Often, the MVB data that redundancy MPU is sent still in redundant state, synchronous reception master control MPU at this time；
2) master control MPU life signal is abnormal in MVB bus, but master control MPU heartbeat signal and operating status are normal in CAN bus,
Caused by judging that the transmission of MVB bus data is interfered, redundancy MPU is without carrying out redundancy switching, when the phenomenon is recurred more than 3
When the second, redundancy MPU activation, and it is switched to master control MPU；
3) master control MPU heartbeat signal is normal in CAN bus, but in CAN bus master control MPU operating status be failure, at this time no matter
Whether master control MPU life signal is normal in MVB bus, and master control MPU will restart, redundancy MPU activation, and is switched to master control
MPU；
4) master control MPU heartbeat signal is abnormal in CAN bus, at this time if the life signal of master control MPU is normal in MVB bus,
Judge that master control MPU is in normal condition, is judged as CAN bus failure, redundancy MPU is without carrying out redundancy switching；If MVB bus
The life signal of upper master control MPU is abnormal, then is judged as master control MPU failure, and redundancy MPU is activated at this time, and switches to master control MPU.
2. locomotive Main Processor Unit dual redundant control method according to claim 1, which is characterized in that swash in redundancy MPU
Heartbeat signal and self-operating state are sent to CAN bus while living, and switch to master control MPU, sends life to MVB bus
Oneself is arranged after former master control MPU starting as redundancy MPU in signal.
3. locomotive Main Processor Unit dual redundant control method according to claim 1 or 2, which is characterized in that system electrification
After starting, two MPU initialize MVB function first, initialize CAN function, and read the configuration information of two MPU, and according to
Configuration information determines master control MPU and redundancy MPU；Master control MPU detects whether CAN bus has master control MPU's after the delay of 200ms
Heartbeat signal；Redundancy MPU then detects whether CAN bus has the heartbeat signal of master control MPU after the delay of 30s, if detected
Heartbeat signal is normal, then oneself is arranged as redundancy MPU, is otherwise delayed after 5ms, oneself is arranged as redundancy MPU, and the 1s- that is delayed
CAN bus is detected after 10 s whether there is the heartbeat signal of master control MPU, if any oneself being arranged then as redundancy MPU, otherwise exist
Detecting CAN bus after the delay of 200ms again whether there is the heartbeat signal of master control MPU, oneself be redundancy if any being then arranged
Otherwise oneself is arranged for master control MPU, to complete to initialize, into working condition in MPU.
4. locomotive Main Processor Unit dual redundant control method according to claim 1 or 2, which is characterized in that heartbeat signal
Using the pulse rate of 0~255 integer circulation change.
5. locomotive Main Processor Unit dual redundant control method according to claim 3, which is characterized in that heartbeat signal uses
The pulse rate of 0~255 integer circulation change.
6. locomotive Main Processor Unit dual redundant control method according to claim 1 or 2, which is characterized in that life signal
Using the life signal value of 0~255 integer circulation change.
7. locomotive Main Processor Unit dual redundant control method according to claim 3, which is characterized in that life signal uses
The life signal value of 0~255 integer circulation change.
8. locomotive Main Processor Unit dual redundant control method according to claim 4, which is characterized in that life signal uses
The life signal value of 0~255 integer circulation change.
9. locomotive Main Processor Unit dual redundant control method according to claim 5, which is characterized in that life signal uses
The life signal value of 0~255 integer circulation change.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910761422.3A CN110488597B (en) | 2019-08-18 | 2019-08-18 | Dual-redundancy control method for main processing unit of locomotive |
| PCT/CN2020/098014 WO2021031692A1 (en) | 2019-08-18 | 2020-06-24 | Dual-redundancy control method for main processing unit of locomotive |
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| CN201910761422.3A CN110488597B (en) | 2019-08-18 | 2019-08-18 | Dual-redundancy control method for main processing unit of locomotive |
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| WO2021031692A1 (en) * | 2019-08-18 | 2021-02-25 | 中车永济电机有限公司 | Dual-redundancy control method for main processing unit of locomotive |
| CN114326368A (en) * | 2021-12-16 | 2022-04-12 | 三一汽车制造有限公司 | Pump truck control method and system and pump truck |
| CN114844807A (en) * | 2022-03-29 | 2022-08-02 | 阿波罗智能技术(北京)有限公司 | System detection method, device, equipment, storage medium, vehicle and cloud control platform |
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| CN114844807A (en) * | 2022-03-29 | 2022-08-02 | 阿波罗智能技术(北京)有限公司 | System detection method, device, equipment, storage medium, vehicle and cloud control platform |
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| CN110488597B (en) | 2021-06-22 |
| WO2021031692A1 (en) | 2021-02-25 |
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