CN110531682A - The general traction control platform of rail vehicle and method - Google Patents
The general traction control platform of rail vehicle and method Download PDFInfo
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- CN110531682A CN110531682A CN201910885917.7A CN201910885917A CN110531682A CN 110531682 A CN110531682 A CN 110531682A CN 201910885917 A CN201910885917 A CN 201910885917A CN 110531682 A CN110531682 A CN 110531682A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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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
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
The present invention relates to a kind of general traction control platform of rail vehicle and methods, the traction control platform includes Main Processor Unit, the inverter operation acquisition unit connecting with primary processor and four-quadrant auxiliary operation acquisition unit, network communication unit and general purpose I/O acquisition unit, Main Processor Unit includes the primary processor equipped with Logic control module, and network communication unit is communicated with primary processor and general purpose I/O acquisition unit respectively；Inverter operation acquisition unit is equipped with Analog Data Acquistion Module I, the traction invertor control module for controlling inverter output voltage and the anti-skidding slide system control module for controlling traction motor torque；Four-quadrant auxiliary operation acquisition unit is equipped with Analog Data Acquistion Module II, the four-quadrant for controlling phase shift angle rectifies control module and the secondary control module for controlling inverter output voltage and frequency.The present invention merges traction control and auxiliary control, and operation and acquisition are merged, and high reliablity simplifies control flow.
Description
Technical field
The invention belongs to rail vehicle control technology fields, are related to rail vehicle traction control technology, specifically, being related to
A kind of general traction control platform of rail vehicle and method.
Background technique
For modern railway transportation technology using passenger traffic high speed, shipping heavy duty as outstanding feature, pull-in control system is train dynamics
Source, technical difficulty are maximum.For traction control unit as pull-in control system main logic unit, effect is to realize that train is led
Draw, the dynamic Control of running under braking, importance is self-evident.The core technology of traction control is huge by external rail traffic for a long time
Head monopolization, the research that the country carries out the relevant technologies are started late, and existing part manufacturer, which has developed, at present has independent knowledge production
The control equipment of power, such as: the traction control for meeting the application of 350 kilometers of Chinese Industrial Standards (CIS) EMU of speed per hour with main intellectual property
Unit (referred to as: TCU) and Auxiliary Control Element (referred to as: ACU), traction control unit and Auxiliary Control Element respectively control traction
System processed is controlled, and therefore, it is necessary to two sets of control systems, hardware configuration and control flow are complicated, and reliability is relatively poor, and
At high cost, the design difficulty for drawing AuCT is big.
Summary of the invention
The present invention is provided for the above problems such as reliability is low, control flow is complicated existing for existing pull-in control system
A kind of high reliablity, the simple rail vehicle of control flow general traction control platform and method.
In order to achieve the above object, the present invention provides a kind of general traction control platforms of rail vehicle, including main process task
Unit, operation acquisition unit, network communication unit and general purpose I/O acquisition unit, in which:
The Main Processor Unit includes primary processor, and the primary processor is equipped with Logic control module, for according to acquisition
Data generate control command；
The network communication unit is communicated with the primary processor and general purpose I/O acquisition unit respectively, and being used for will be general
The data forwarding of IO acquisition unit acquisition is to the primary processor；
The operation acquisition unit includes the inverter operation acquisition unit and four-quadrant connecting respectively with the primary processor
Limit auxiliary operation acquisition unit；
The inverter operation acquisition unit is equipped with Analog Data Acquistion Module I, traction invertor control module and prevents
Sliding slide system control module, the Analog Data Acquistion Module I is for acquiring analog data, the traction invertor control
Module controls the output voltage of inverter, the anti-skidding slide system controls mould for carrying out traction invertor control algolithm operation
Block controls traction motor torque for carrying out anti-skidding slide system control algolithm operation；
The four-quadrant auxiliary operation acquisition unit is equipped with Analog Data Acquistion Module II, four-quadrant rectifies control module
And secondary control module, the Analog Data Acquistion Module II is for acquiring analog data, the four-quadrant rectification control
Module controls phase shift angle, the secondary control module is for being assisted for carrying out four-quadrant rectification control algolithm operation
Control algolithm operation controls the output voltage and frequency of inverter.
It further, further include the backboard equipped with pci bus, the Main Processor Unit, operation acquisition unit, network communication
Unit and general purpose I/O acquisition unit are mounted on backboard, and the Main Processor Unit, operation acquisition unit, network communication unit are equal
It is connect with pci bus.
Preferably, the general purpose I/O acquisition unit includes the identical I O board card of multiple backboard hardware interfaces, each I O board card
It include the hardware module and I O board card encoded information of multichannel identical function, the bottom layer driving software automatic identification itself of I O board card
Encoded information passes to the primary processor by network communication unit, with the IO configuration information being set in the primary processor
It compares, matches the configuration of all I O board cards with the IO configuration information in primary processor.
Preferably, the network communication unit is the network communication board equipped with shared drive, the primary processor and institute
The shared drive for stating network communication board carries out data interaction.
It further, further include the identical optical fiber interface board of multiple backboard hardware interfaces being installed on the backboard,
The optical fiber interface board is communicated with operation acquisition unit；Each optical fiber interface board includes the hard of multichannel identical function
Part module and optical fiber interface board hardware encoding information, optical fiber interface board interface automatic identification hardware encoding information enable light
Fine interface board.
Further, the Main Processor Unit further includes the fault data recorder module connecting with the primary processor, when
When primary processor detects that failure occurs, fault data recorder module is triggered, fault message is stored to fault data recorder mould
Block.
Preferably, the fault data recorder module includes fast failure logging modle, logic fault logging modle and mistake
Journey data recordin module, the fast failure logging modle is used to record the failure generated during algorithm operation control, described
Logic fault logging modle is used to record the failure generated during logic control, and the process data recording module is for real-time
Record each parameter and status information in pull-in control system.
Preferably, the primary processor is equipped with communication control module, and the communication control module seamless access vehicle MVB is total
Line and train industry ethernet.
Preferably, the Logic control module includes the four-quadrant logic control mould for generating four-quadrant control command
Block, the inverter Logic control module for generating inverter control instruction, the copped wave logic for generating chop control instruction
Control module, the subordinate inverter Logic control module for generating auxiliary control instruction are for generate IO control instruction
System I/O logic control module and the fault handling logic control module instructed for generating troubleshooting.
Preferably, the inverter operation acquisition unit is the inverter operation capture card being installed on the backboard, institute
State the DSP I carried out data transmission and the institute of the shared drive that inverter operation capture card includes FPGA I and the FPGA I
State the DSP II carried out data transmission and MCU I of the shared drive of FPGA I；The FPGA I by pci bus with it is described
Primary processor connection, the Analog Data Acquistion Module are set in the FPGA I；In the DSP I and DSP II
Equipped with the traction invertor control module and the anti-skidding slide system control module；The MCU I respectively with the FPGA I,
DSP I and DSP II connection, for FPGA I, the online updating of DSP I and DSP II and starting management.
Further, be additionally provided in the FPGA I for carry out fast failure protective module that failure is quickly protected and
For drawing the pulse generating module of inversion pulse output and chop control.
Preferably, the four-quadrant auxiliary operation acquisition unit is the auxiliary operation capture card being installed on the backboard,
The auxiliary operation capture card include FPGA II, with the DSP III of the shared drive of the FPGA II carried out data transmission,
With the DSP IV carried out data transmission and MCU II of the shared drive of the FPGA II；The FPGA II is total by PCI
Line is connect with the primary processor, and the Analog Data Acquistion Module is set in the FPGA II；The four-quadrant rectification control
Molding block is set in the DSP III, and the secondary control module is set in the DSP IV；The MCU II respectively with it is described
FPGA II, DSP III and the connection of DSP IV, for FPGA II, the online updating of DSP III and DSP IV and starting management.
Further, it is additionally provided in the FPGA II for carrying out fast failure protective module, the use that failure is quickly protected
In auxiliary inversion, the pulse generating module of the output of four-quadrant commutating pulse and chop control, for the phaselocked loop control of four-quadrant network pressure
The PLL control module of system, for four-quadrant net stream harmonic wave extract harmonic wave extraction module and for calculating auxiliary contactor
Hold the power computation module of active component and reactive component.
Further, further include be installed on backboard communication observation board, the communication observation board card pass through train with
Too net is connect with host computer, and the communication observation board card is connect by pci bus with the primary processor, the communication observation board
Card is connect by Observe line with the FPGA I and FPGA II.
It further, further include the power supply media board being installed on backboard, the power supply media board includes for being the traction
The system power supply board of control platform power supply, the probe power board for powering for sensor and for for traction control
The driving power board of the IGBT driving board power supply of inverter in system.
Further, further include the power state detection module being installed on backboard, the power state detection module with
The network communication unit connection, by power state detection module to system power supply board, probe power board and driving
The power supply status of power supply media board includes that under-voltage condition and power supply output state are detected, and power state information is forwarded to network
Communication unit, network communication unit is again by power state information real-time Transmission to primary processor.
In order to achieve the above object, the present invention separately provides a kind of general traction control method of rail vehicle, using track
Automotive universal traction control platform, the specific steps are that:
Traction control platform powers on, and general purpose I/O acquisition unit is communicated with network communication unit, the number acquired
Amount data and analog data are forwarded to network communication unit, and network communication unit is communicated with primary processor, will be received in
The digital data and analog data of general purpose I/O acquisition unit are forwarded to primary processor；Analog Data Acquistion Module I and mould
Analog quantity data acquisition module II is acquired analog data, and the analog data of acquisition is forwarded to primary processor；
Primary processor carries out self-test to peripheral hardware init state, and general purpose I/O acquisition unit and operation acquisition unit are to respective
Bottom configuration information carries out identification judgement；The Logic control module of primary processor judges network pressure, net stream simultaneously；If bottom matches confidence
Breath breaks down, then fault message is passed to vehicle network TCMS by primary processor, quotes traction control platform offline failure；If
Bottom configuration information is correct, communication control module receives the train traction control instruction of vehicle network TCMS, control for brake instructs,
Control instruction is assisted, primary processor and operation acquisition unit are forwarded to, primary processor combines the control instruction and acquisition received
Data generate four-quadrant rectification instruction, the instruction of traction inversion control and auxiliary control instruction by Logic control module；
After four-quadrant rectification control module receives four-quadrant rectification instruction, by the AC rectification of tractive transformer input
For direct current, mutually stagger the phase angle of double four-quadrant；
After traction invertor control module receives traction inversion control instruction, inverter inversion is controlled, output voltage is given
Traction motor makes traction motor generate torque actuated train operation；
After auxiliary inversion control module receives auxiliary control instruction, the output voltage and frequency of inverter are adjusted, is carried out
Flow.
Further, primary processor combines the data of the control instruction and acquisition that receive also to generate by Logic control module
Anti-skidding slide system instruction controls the torque of traction motor after anti-skidding slide system control module receives anti-skidding slide system instruction,
The specific steps of its torque for controlling traction motor are as follows: creep speed, acceleration carries out the trend that dallies/slide based on wheel
Identification, predicts the maximum adhesion strength of current working ,/slide and confirm and dally/is dallied when identifying after sliding, then oblique by setting
Rate cuts down the torque of traction motor, maintains a period of time until recognizing wheel to no longer sliding, restores turning for traction motor
Square.
Preferably, the traction inversion control module controls inversion using the vector control method based on indirect field_oriented control
Device output voltage, the specific steps are that: setting torque current control ring and excitation current control ring, exciting current given value is by leading
The revolving speed for drawing motor, which calculates, to be obtained, and torque current given value is distributed to the tractive force size of bogie axle by vehicle network TCMS
It is calculated, torque current and exciting current calculate after deviation with value of feedback respectively through pi regulator output voltage given value, add
Upper decoupling component is as desired output voltage；Given slip angular velocity is calculated simultaneously, gives slip angular velocity and feedback traction
The tach signal of motor obtains synchronous angular velocity after being added, the angle after synchronous angular velocity integral as output voltage vector；
Desired output voltage vector is converted to impulse form and acts on inverter by SVPWM modulator, exports respective magnitudes and frequency
Voltage to traction motor, generate torque actuated train operation.
Preferably, communication uses secure communication protocols, and the secure communication protocols include sequence number, data, safe coding
With shared drive read-write protection, overtime judgement and check errors are carried out to message for assisting.
Compared with prior art, the advantages and positive effects of the present invention are:
(1) present invention merges traction control and auxiliary control, and operation and acquisition are fused into operation acquisition unit,
Integrated level improves, and reduces cost, and high reliablity is low in energy consumption, has to competitiveness of the train traction AuCT in market is improved
It is of great significance, has a wide range of application.
(2) primary processor of the present invention is equipped with Logic control module, which includes four-quadrant Logic control module, inverter
Logic control module, copped wave Logic control module, AuCT Logic control module, system I/O logic control module and event
Barrier processing Logic control module, each module complete its logic control function, and are exchanged with each other information and constitute whole control logic, lead to
It crosses primary processor and realizes unified integrated logic control, simplified control process improves the reliability of traction control.
(3) hardware circuit of operation, acquisition is combined into one by operation acquisition unit of the present invention, using the frame of distributed algorithm
Structure uses FPGA+ two CSTR+MCU framework, not only reduces cost, operation, process performance and data communication reliability also obtain
It is significantly promoted, further increases the reliability of traction control.
(4) each board of the present invention is equipped with the encoded information of oneself, and primary processor can read the coding of each board in real time
Information is convenient for each board of intelligent management.
(5) present invention also has the function of power state detection, fault logging function, realizes the signal retrospect of Life cycle
And control, data supporting is provided for health control and big data.
(6) present invention uses secure communication protocols, and communication protocol is read by sequence number, data, safe coding and shared drive
Write-protect composition can assist time-out judgement and check errors, improve the reliability of internal data communication.
(7) present invention can also cooperate vehicle network TCMS to realize vehicle grade test and diagnostic function by logic, such as
The processes such as tractive force test, auxiliary short fault diagnosis realize train Intelligence Diagnosis function.
Detailed description of the invention
Fig. 1 is the structural block diagram of the general traction control platform of rail vehicle of the embodiment of the present invention；
Fig. 2 a is the hardware block diagram of inverter of embodiment of the present invention operation acquisition unit；
Fig. 2 b is the hardware block diagram of auxiliary operation of embodiment of the present invention acquisition unit；
Fig. 3 is I/O data of embodiment of the present invention flow graph；
Fig. 4 is the configuration flow figure of I O board of embodiment of the present invention card；
Fig. 5 is the software module structure block diagram of the general traction control platform of rail vehicle of the embodiment of the present invention；
Fig. 6 is Logic control module of embodiment of the present invention control block diagram；
Fig. 7 is that four-quadrant of the embodiment of the present invention rectifies control module control block diagram；
Fig. 8 is traction invertor of embodiment of the present invention control module control block diagram；
Fig. 9 is the anti-skidding slide system schematic diagram of the anti-skidding slide system control module of the embodiment of the present invention；
Figure 10 is secondary control module of embodiment of the present invention control block diagram；
Figure 11 is fault data recorder of embodiment of the present invention module principle block diagram.
Specific embodiment
In the following, the present invention is specifically described by illustrative embodiment.It should be appreciated, however, that not into one
In the case where step narration, element, structure and features in an embodiment can also be advantageously incorporated into other embodiments
In.
Referring to Fig. 1, Fig. 5, one embodiment of the invention provides a kind of general traction control platform of rail vehicle, including main place
Manage unit, operation acquisition unit, network communication unit and general purpose I/O acquisition unit, in which:
The Main Processor Unit includes primary processor, and the primary processor is equipped with Logic control module, for according to acquisition
Data generate control command；
The network communication unit is communicated with the primary processor and general purpose I/O acquisition unit respectively, and being used for will be general
The data forwarding of IO acquisition unit acquisition is to the primary processor；
The operation acquisition unit includes the inverter operation acquisition unit and four-quadrant connecting respectively with the primary processor
Limit auxiliary operation acquisition unit；
The inverter operation acquisition unit is equipped with Analog Data Acquistion Module I, traction invertor control module and prevents
Sliding slide system control module, the Analog Data Acquistion Module I is for acquiring analog data, the traction invertor control
Module controls the output voltage of inverter, the anti-skidding slide system controls mould for carrying out traction invertor control algolithm operation
Block controls traction motor torque for carrying out anti-skidding slide system control algolithm operation；
The four-quadrant auxiliary operation acquisition unit is equipped with Analog Data Acquistion Module II, four-quadrant rectifies control module
And secondary control module, the Analog Data Acquistion Module II is for acquiring analog data, the four-quadrant rectification control
Module controls phase shift angle, the secondary control module is for being assisted for carrying out four-quadrant rectification control algolithm operation
Control algolithm operation controls the output voltage and frequency of inverter.
It specifically, further include the backboard equipped with pci bus with continued reference to Fig. 1, the Main Processor Unit, operation acquisition are single
Member, network communication unit and general purpose I/O acquisition unit are mounted on backboard, the Main Processor Unit, operation acquisition unit, net
Network communication unit is connect with pci bus.Main Processor Unit, operation acquisition unit, network communication unit and general purpose I/O are acquired
Unit integrated installation convenient for operation and is controlled on backboard.
In above-mentioned traction control platform, the primary processor is equipped with communication control module, and the communication control module is seamless
Access vehicle MVB bus and train industry ethernet.Specifically, in Ethernet protocol control protocol content and MVB control protocol
Hold it is identical, realize function it is identical, can by traction control platform change configuration or vehicle network TCMS change configuration, realize control
The selection and switching of mode.Communication control module receive vehicle network TCMS send traction control signal, brake control signal,
Auxiliary control signal passes to traction auxiliary control logic and algorithm control, in conjunction with the signal received and itself control, adopts
The information for collecting module carries out logic and algorithm control, by the state of the pull-in control system generated in control process, diagnosis and number
It is believed that breath is supplied to vehicle network TCMS, the control function of traction auxiliary is realized.
In above-mentioned traction control platform, referring to Fig. 6, the Logic control module includes for generating four-quadrant control command
Four-quadrant Logic control module, for generate inverter control instruction inverter Logic control module, for generating copped wave
The copped wave Logic control module of control instruction, is used for the subordinate inverter Logic control module for generating auxiliary control instruction
Generate the system I/O logic control module of IO control instruction and the fault handling logic control for generating troubleshooting instruction
Module.Logic control module runs on primary processor, is handled using uniform logical, modularized design, and modules have opposite
Independence simplifies control flow, improves the reliability of traction control platform.
Specifically, a, the inverter operation acquisition unit are the inverter operation being installed on the backboard referring to fig. 2
Capture card, the inverter operation capture card include carrying out data transmission for the shared drive of FPGA I and the FPGA I
DSP I, the DSP II carried out data transmission and MCU I with the shared drive of the FPGA I；The FPGA I passes through PCI
Bus is connect with the primary processor, and the Analog Data Acquistion Module is set in the FPGA I；The DSP I and described
The traction invertor control module and the anti-skidding slide system control module are equipped in DSP II；The MCU I respectively with
The FPGA I, DSP I and the connection of DSP II, for FPGA I, the online updating of DSP I and DSP II and starting management.Make
For preferred embodiment, it is additionally provided in the FPGA I for carrying out the fast failure protective module and use that failure is quickly protected
In the pulse generating module of traction inversion pulse output and chop control.FPGA I realizes analog acquisition, speed acquisition, failure
Quickly processing, traction inversion pulse output and chop control, DSP I and DSP II can be realized traction invertor control and calculate
Method, anti-skidding slide system control algolithm calculation function, it can be achieved that two traction motors operation independent.
Specifically, b, the four-quadrant auxiliary operation acquisition unit are the four-quadrant being installed on the backboard referring to fig. 2
Auxiliary operation capture card, the four-quadrant auxiliary operation capture card include FPGA II, the shared drive with the FPGA II
DSP III, the DSP IV carried out data transmission and MCU II with the shared drive of the FPGA II carried out data transmission；
The FPGA II is connect by pci bus with the primary processor, and the Analog Data Acquistion Module is set to the FPGA
In II；The four-quadrant rectification control module is set in the DSP III, and the secondary control module is set in the DSP IV；
The MCU II is connect with the FPGA II, DSP III and DSP IV respectively, is existed for FPGA II, DSP III and DSP IV
Line updates and starting management.Preferably, be additionally provided in the FPGA II for carry out failure quickly protect it is fast
Fast failure protection module, for auxiliary inversion, four-quadrant commutating pulse output and chop control pulse generating module, be used for four
The PLL control module of quadrant network pressure phase lock control, for four-quadrant net stream harmonic wave extract harmonic wave extraction module and use
In the power computation module for calculating auxiliary contactor end active component and reactive component.FPGA II realizes analog acquisition, failure
Quick protection, pulse output, four-quadrant network pressure phase lock control, network harmonic extracts and auxiliary contactor end active reactive component
It calculates.One DSP realizes four-quadrant rectification algorithm control, and a DSP realizes aided algorithm control.
Specifically, the network communication unit be equipped with shared drive network communication board, the primary processor with it is described
The shared drive of network communication board carries out data interaction.Primary processor is directly read from the shared drive of network communication board
Data, data transmission bauds are fast.
Specifically, with continued reference to Fig. 1, the general purpose I/O acquisition unit includes the identical I O board of multiple backboard hardware interfaces
Card, each I O board card include multichannel identical function hardware module and I O board card encoded information, the bottom layer driving of I O board card it is soft
Itself encoded information of part automatic identification passes to the primary processor by network communication unit, be set to the primary processor
Interior IO configuration information compares, and matches the configuration of all I O board cards with the IO configuration information in primary processor.I O board card
It is compared by the configuration information in automatic identification itself encoded information, with primary processor, guarantees the above-mentioned traction control of the present invention
All I O board card configurations are all the communication reliability for correctly further improving traction control platform, configuration spirit in platform processed
Activity.Further, I O board card flexibly configurable, user only need download configuration file, and primary processor is right according to configuration file
I O board card is configured, and without changing hardware backboard and any bottom layer driving software, the different traction control of function can be realized
Platform.I O board card data flow referring to Fig. 3, configuration process referring to fig. 4, specifically:
Configuration information is sent to main process task by Ethernet by PC host computer by traction control platform user configuration file
Device, primary processor read configuration information, and include I O board by the configuration information after parsing by the peripheral equipment management module of its own
It is stored in card information, MVB port information and Ethernet information write-in external memory, by the I O board card information packet after parsing
It includes each I O board cartoon letters nodal information and send shared drive to network communication unit, by the MVB port information after parsing
Information exchange is carried out by MVB bus and vehicle network TCMS.Network communication unit reads the CAN communication node in shared drive
Information, by CAN bus successively to I O board card periodicity sending CAN communication node, all I O board cards of poll, I O board card is according to certainly
Body slot position information is communicated with the CAN communication node of transmission, completes the information such as state, diagnosis and the order of traction control platform
Interaction.
After I O board card powers on, the bottom layer driving software of I O board card reads itself encoded information of I O board card automatically, passes through network
Communication unit is transmitted to primary processor, compares with the encoded information of the I O board card configuration in primary processor, if the two is not
To match, the bottom layer driving software of I O board card can quote hardware fault, corresponding LED failure indicator light instruction failure is had in hardware,
If the two matches, the bottom layer driving software of I O board card can read the I O board card encoded information of current slot position, guarantee that traction control is flat
All I O board card configurations are all correct in platform.
Specifically, with continued reference to Fig. 1, above-mentioned traction control platform further includes the power supply media board being installed on backboard, described
Power supply media board includes for the system power supply board for the traction control platform power, the sensor for powering for sensor
Power supply media board and the driving power board powered for the IGBT driving board for inverter in pull-in control system.Pass through system
Power supply media board gives traction control platform power, makes traction control working platform.Traction control system is given by probe power board
Sensor power supply in system, makes working sensor, acquires the relevant mode analog quantity data in pull-in control system in real time.Pass through driving
Power supply media board is powered to the IGBT driving board in inverter, driving IGBT work.
With continued reference to Fig. 1, in a preferred embodiment, above-mentioned general traction control platform further includes being installed on the back
The identical optical fiber interface board of multiple backboard hardware interfaces on plate, the optical fiber interface board are led to operation acquisition unit
Letter；Each optical fiber interface board includes the hardware module and optical fiber interface board hardware encoding information of multichannel identical function, light
Fine interface board card interface automatic identification hardware encoding information enables optical fiber interface board.Specifically, each optical fiber board is by more
Road photoelectric conversion unit and electrooptic switching element composition, photoelectric conversion unit includes multiple selector, buffer and photoelectric conversion
Circuit；Electrooptic switching element includes multiple selector, buffer and electro-optical conversion circuit.After traction control platform powers on, light
Fine interface board can automatic identification hardware encoding information, enable optical fiber interface board.In addition, can be according to project actual demand, spirit
The quantity of configuration optical fiber interface board living.
In order to cope with the various problems occurred in above-mentioned pull-in control system operational process, guarantee pull-in control system peace
Entirely, reliably, stable operation, need that various problems occur to pull-in control system to analyze and determine, then make corresponding place
Reason.According to the voltage of sensor acquisition, electric current, temperature, speed signal, feedback signal and IGBT the failure letter of contactor state
Number, failure can be divided into the failures such as over-voltage, under-voltage, overcurrent, overload, short circuit, overtemperature.In order to carry out data note to above-mentioned failure
It records, in above-mentioned traction control platform, preferably, the Main Processor Unit further includes connecting with the primary processor
Fault data recorder module, when primary processor detect failure occur when, trigger fault data recorder module, by fault message
It stores to fault data recorder module.Wherein, the fault message of storage includes: fault code, time of failure and failure phase
The variable of pass.Support technician carries out debugging early period, checks failure in operation stage in later period for live after-sales staff and provides number
According to source, assists after-sales staff analysis and solve failure.
Specifically, referring to Figure 11, the fault data recorder module includes fast failure logging modle, logic fault record
Module and process data recording module, the fast failure logging modle are used to record the event generated during algorithm operation control
Barrier, the logic fault logging modle are used to record the failure generated during logic control, the process data recording module
For recording each parameter and status information in pull-in control system in real time.Primary processor receives the fault triggering condition from DSP,
The storage condition of fault data is triggered, failure includes traction invertor control algolithm and the failure that logic judgment has among these,
The catastrophe failures such as over-voltage, overcurrent or IGBT occur for FPGA internal judgment；Critical data is written in shared drive in real time by DSP,
Primary processor receives failure logging trigger condition, and data cached, including m before time of failure point is read from shared drive
Then the data of caching are sequentially written in fast failure logging modle by the n bag data after bag data and time of failure point
In.Primary processor receives the fault triggering condition of traction control logic, and CPU caches logical data, and logic breaks down
At the moment, CPU reads the logical data of caching, including m bag data before time of failure point and the n packet after time of failure point
Then the data of caching are sequentially written in logic fault logging modle by data.Process data recording module for remembering in real time
Each parameter and status information in pull-in control system are recorded, per half an hour is that unit records a file, one week data is saved,
More than time or process data recording module maximum capacity, earliest process data file is deleted in real time.In the present embodiment, main place
Reason device is CPU, and fast failure logging modle and logic fault logging modle are set in SATA disk, and process data recording module is set
In in CF card.
When due to the debugging of live vehicle, commissioning device and means of testing are limited by field condition, and are all closed machines
Case, it has not been convenient to face welding lead on circuit boards, to the equipment such as oscillograph or data logger on observe live signal.Continue
Referring to Fig. 1, in a preferred embodiment, above-mentioned traction control platform further includes the communication observation board being installed on backboard,
The communication observation board card is connect by train Ethernet with host computer, the communication observation board card pass through pci bus with it is described
Primary processor connection, the communication observation board card are connect by Observe line with FPGA I and FPGA II.Traction control platform
Some critical data variables very easily can be observed according to control algolithm and logic requirement in real time, it will be real by communication observation board
When the data variable observed host computer is uploaded to by Ethernet, by host computer real-time drawing function and display, be convenient for work on the spot
Personnel's debugging.
In a preferred embodiment, above-mentioned traction control platform further includes the power state detection mould being installed on backboard
Block, the power state detection module is connect with the network communication unit, by power state detection module to system power supply
The power supply status of board, probe power board and driving power board includes that under-voltage condition and power supply output state are examined
It surveys, power state information is forwarded to network communication unit, network communication unit is again by power state information real-time Transmission to master
Processor.By traction control platform to the power supply status of system power supply board, probe power board and driving power board
It is detected including under-voltage condition and power supply output state, power state information is forwarded to network communication unit, network communication
For unit again by power state information real-time Transmission to primary processor, power failure facilitates scene when system work is abnormal
The quick fault point of staff, and repair.
The above-mentioned traction control platform of the present invention, pull-in control system state, diagnosis and the number generated in traction control process
It is believed that breath is supplied to vehicle network TCMS, traction auxiliary control is realized.The above-mentioned traction control platform of the present invention, by traction control and
Auxiliary control fusion, operation and acquisition is merged, and traction control platform uniformly integrates logic control by primary processor, is integrated
Degree is high, and high reliablity is at low cost.It can be realized all I/O interface controls, analog acquisition, the traction control to traction convertor
System, the control of anti-skidding slide system, four-quadrant rectification control, auxiliary control, pulse generates and feedback detection, network communication, logic control
System, monitoring maintenance and analysis debugging etc..Each software carries out modularized design according to function, and each functional module has mutually indepedent
Property, while having stringent signaling interface definition between module, pass through STD bus (pci bus, CAN bus, MVB bus, ether
Network bus etc.) data interaction is carried out, guarantee that data are reliable, true, effective.
Another embodiment of the present invention provides a kind of general traction control method of rail vehicle, using above-mentioned rail vehicle
General traction control platform, the specific steps are that:
S1, traction control platform power on, and general purpose I/O acquisition unit is communicated with network communication unit, the number acquired
Word amount data and analog data are forwarded to network communication unit, and network communication unit is communicated with primary processor, will receive
Primary processor is forwarded in the digital data and analog data of general purpose I/O acquisition unit；I He of Analog Data Acquistion Module
Analog Data Acquistion Module II is acquired analog data, and the analog data of acquisition is forwarded to primary processor；
S2, primary processor carry out self-test to peripheral hardware init state, and general purpose I/O acquisition unit and operation acquisition unit are to each
From bottom configuration information carry out identification judgement；The Logic control module of primary processor judges network pressure, net stream simultaneously；If bottom is matched
Confidence breath breaks down, then fault message is passed to vehicle network TCMS by primary processor, quotes the event of traction control platform offline
Barrier；If bottom configuration information is correct, communication control module receives the train traction control instruction of vehicle network TCMS, control for brake
Instruction, auxiliary control instruction, are forwarded to primary processor and operation acquisition unit, and primary processor combines the control instruction received and adopts
The data of collection generate four-quadrant rectification instruction, the instruction of traction inversion control and auxiliary control instruction by Logic control module；
After S3, four-quadrant rectification control module receive four-quadrant rectification instruction, by the alternating current of tractive transformer input
It is rectified into direct current, mutually staggers the phase angle of double four-quadrant；
After S4, traction invertor control module receive traction inversion control instruction, inverter inversion, output voltage are controlled
To traction motor, traction motor is made to generate torque actuated train operation；
After S5, auxiliary inversion control module receive auxiliary control instruction, the output voltage and frequency of inverter are adjusted, into
Row flows.
Further comprising the steps of as a preferred embodiment of above-mentioned general traction control method: primary processor combines
The data of the control instruction and acquisition that receive also generate anti-skidding slide system instruction, anti-skidding slide system control by Logic control module
After module receives anti-skidding slide system instruction, the torque of traction motor is controlled.The step can walk after above-mentioned steps S3
Before rapid S4；It can also be after above-mentioned steps S4, before step S5；After can be with above-mentioned steps S5.Specifically, referring to Fig. 9,
Control the specific steps of the torque of traction motor are as follows: based on wheel to creep speed (including axle speed and locomotive speed), acceleration
To dally/trend of sliding identifies, predict the maximum adhesion strength of current working, when identify dally/slide and confirm idle running/
After sliding, then cut down by setting slope the torque of traction motor, maintain a period of time until recognizing wheel to no longer sliding,
Restore the torque of traction motor.
Specifically, referring to Fig. 7, four-quadrant rectification control is using outer ring electricity in above-mentioned general traction control method step S3
Voltage-controlled system, the double-closed-loop control method of inner ring current control, it is ensured that DC bus-bar voltage in stable state and dynamic process
Good control, while making the power factor of grid side close to 1, guarantee the effective use of electric energy.The rectification of vehicle whole four-quadrant
It being controlled using the phase-shifting carrier wave of collaboration, control angle is set according to the data of the vehicle network TCMS data distributing issued,
To inhibit higher hamonic wave to enter power grid, the harmonic wave of current on line side is made to meet technical requirement.Four-quadrant rectifies control process
In, FPGA is responsible for analog acquisition, pwm pulse generates, failure is quickly protected, execute network pressure digital servo-control and net stream harmonic wave extracts
Function, other control algolithms are responsible for execution by DSP.
Specifically, in above-mentioned general traction control method step S4, the traction inversion control module is used based on indirect
The vector control method of field orientation controls inverter output voltage, the specific steps are that: referring to Fig. 8, torque current control is set
Two control rings of ring and excitation current control ring processed, exciting current given valueIt is calculated and is obtained by the revolving speed of traction motor, turned
Square given value of current valueIt is calculated by the tractive force size that vehicle network TCMS distributes to bogie axle, exciting currentWith it is anti-
Feedback value isdThrough pi regulator output voltage given value u after calculating deviationsd, in addition decoupling component usdcAs desired output voltageTorque currentWith value of feedback isqThrough pi regulator output voltage given value u after calculating deviationsq, in addition decoupling component usqc
As desired output voltageGiven slip angular velocity ω is calculated simultaneouslys1, give slip angular velocity ωs1With feedback traction electricity
The tach signal ω of motivationrSynchronous angular velocity ω is obtained after additione, angle as output voltage vector after synchronous angular velocity integral
Spend θ；Desired output voltage vector is converted to impulse form and acts on inverter by SVPWM modulator, output respective magnitudes and
The voltage of frequency generates torque actuated train operation to traction motor.Pass through seat based on rotor field-oriented vector controlled
The decoupling control that equivalent DC motor with separate excitation model carries out magnetic flux and torque, dynamic property and static properties are established in mark transformation
It is good.
Specifically, in above-mentioned general traction control method step S4, referring to Figure 10, the secondary control module is used and is based on
Dual d-q transformation phaselocked loop and the arcless breaking control for improving droop method, by detecting having for each inverter unit itself output
Function and reactive component adjust the voltage and frequency of each inverter unit itself output by control algolithm, each can parallel inverter
Device only detects the active power and reactive power of this inverter unit output, adjusts this inversion by the algorithm in secondary control module
Output voltage and the frequency realization of device unit are flowed.The main circuit topological structure of secondary control module application is LC-T structure,
That is LC filter-transformer device structure, each parallel connection can not have interconnection line between shunt chopper, by LC filter, transformation
Device is connected in parallel on ac bus by output contactor, and since parallelly connected reverse converter system does not have interconnection line, secondary control module is logical
Cross detection busbar voltage and it is each can shunt chopper output electric current, adjust each inverter device unit by itself control algolithm
Output voltage and frequency, flowed；The electric current of acquisition be output contactor before can shunt chopper two phase loads
Electric current；The voltage of acquisition is two groups of bus line voltages.Sagging parallel connection is to adjust output according to the active and reactive component being calculated
Voltage and frequency；Phase-locked loop is that the data of acquisition are done to locking phase processing, forms dq decoupler shaft component, completes in dsp；FPGA
Analog quantity is acquired, pwm pulse is generated, failure is quickly protected, and the calculating of active power and reactive power is executed.Control algolithm is real-time
Property it is high, played the advantage that FPGA is executed parallel, alleviated the computation burden of DSP.
Specifically, the communication in above-mentioned general traction control method uses secure communication protocols, the secure communication protocols
Including sequence number, data, safe coding and shared drive read-write protection, for assisting carrying out message overtime judgement and verify wrong
Accidentally.Wherein, sequence number, which refers to, increases a serial number in each message of transmitting terminal and receiving end exchange so as to receiving end school
Test the transmission sequence of message.Time-out judgement refers to whether the time interval between receiving end can verify two messages is more than permission
Maximum time is considered as mistake if being more than.Safe coding, which refers to, increases security procedure control for safety-related information, such as:
Increased cyclic redundancy check.
The above-mentioned general traction control method of the present invention uses distributed AC servo system algorithm structure, and traction control and auxiliary are controlled
It is merged, using unified integrated logic control, can be realized four-quadrant rectification control, traction inversion control, anti-skidding air defense
Turn control, auxiliary inversion control and above-mentioned four kinds of control to be controlled by individual control module by the control algolithm of itself respectively
System, simplified control process, high reliablity.
Above-described embodiment is used to explain the present invention, rather than limits the invention, in spirit and right of the invention
It is required that protection scope in, to any modifications and changes for making of the present invention, both fall within protection scope of the present invention.
Claims (19)
1. a kind of general traction control platform of rail vehicle, which is characterized in that including Main Processor Unit, operation acquisition unit, net
Network communication unit and general purpose I/O acquisition unit, in which:
The Main Processor Unit includes primary processor, and the primary processor is equipped with Logic control module, for the number according to acquisition
According to generation control command；
The network communication unit is communicated with the primary processor and general purpose I/O acquisition unit respectively, for adopting general purpose I/O
Collect the data forwarding of unit acquisition to the primary processor；
The operation acquisition unit includes that the inverter operation acquisition unit connecting respectively with the primary processor and four-quadrant are auxiliary
Help operation acquisition unit；
The inverter operation acquisition unit is equipped with Analog Data Acquistion Module I, traction invertor control module and anti-skidding anti-
Slip control module, the Analog Data Acquistion Module I is for acquiring analog data, the traction invertor control module
For carrying out traction invertor control algolithm operation, the output voltage of inverter is controlled, the anti-skidding slide system control module is used
In carrying out anti-skidding slide system control algolithm operation, traction motor torque is controlled；
The four-quadrant auxiliary operation acquisition unit is equipped with Analog Data Acquistion Module II, four-quadrant rectifies control module and auxiliary
Control module is helped, the Analog Data Acquistion Module II rectifies control module for acquiring analog data, the four-quadrant
For carrying out four-quadrant rectification control algolithm operation, phase shift angle is controlled, the secondary control module is for carrying out auxiliary control
Algorithm operation controls the output voltage and frequency of inverter.
2. the general traction control platform of rail vehicle as described in claim 1, which is characterized in that further include being equipped with pci bus
Backboard, the Main Processor Unit, operation acquisition unit, network communication unit and general purpose I/O acquisition unit are mounted on backboard
On, the Main Processor Unit, operation acquisition unit, network communication unit are connect with pci bus.
3. the general traction control platform of rail vehicle as claimed in claim 2, which is characterized in that the general purpose I/O acquisition unit
Including the identical I O board card of multiple backboard hardware interfaces, each I O board card includes the hardware module and I O board of multichannel identical function
Card encoded information, bottom layer driving software automatic identification itself encoded information of I O board card, passes to institute by network communication unit
Primary processor is stated, is compared with the IO configuration information being set in the primary processor, makes the configuration of all I O board cards and main place
Manage the IO configuration information matching in device.
4. the general traction control platform of rail vehicle as claimed in claim 2, which is characterized in that further include being installed on the back
The identical optical fiber interface board of multiple backboard hardware interfaces on plate, the optical fiber interface board are led to operation acquisition unit
Letter；Each optical fiber interface board includes the hardware module and optical fiber interface board hardware encoding information of multichannel identical function, light
Fine interface board card interface automatic identification hardware encoding information enables optical fiber interface board.
5. the general traction control platform of rail vehicle as claimed in claim 2, which is characterized in that the Main Processor Unit also wraps
The fault data recorder module connecting with the primary processor is included, when primary processor detects that failure occurs, triggers number of faults
According to logging modle, fault message is stored to fault data recorder module.
6. the general traction control platform of rail vehicle as claimed in claim 5, which is characterized in that the fault data recorder mould
Block includes fast failure logging modle, logic fault logging modle and process data recording module, and the fast failure records mould
Block is used to record the failure generated during algorithm operation control, and the logic fault logging modle is for recording logic control
The failure generated in journey, the process data recording module for recording each parameter and state letter in pull-in control system in real time
Breath.
7. the general traction control platform of rail vehicle as claimed in claim 6, which is characterized in that the primary processor is equipped with logical
Believe control module, the communication control module access vehicle MVB bus and train industry ethernet.
8. the general traction control platform of rail vehicle as claimed in claims 6 or 7, which is characterized in that the logic control mould
Block includes the inversion for generating the four-quadrant Logic control module of four-quadrant control command, for generating inverter control instruction
Device Logic control module, the copped wave Logic control module for generating chop control instruction assist control instruction for generating
Subordinate inverter Logic control module, the system I/O logic control module for generating IO control instruction and for generating failure
The fault handling logic control module of process instruction.
9. the general traction control platform of rail vehicle as described in claim 2 to 7 any one, which is characterized in that described inverse
Become device operation acquisition unit as the inverter operation capture card that is installed on the backboard, is set on the inverter operation capture card
There are FPGA I, the progress with the shared drive of the DSP I of the shared drive of the FPGA I the carried out data transmission and FPGA I
The DSP II and MCU I of data transmission；The FPGA I is connect by pci bus with the primary processor, the analog data
Acquisition module is set in the FPGA I；The traction invertor control module and institute are equipped in the DSP I and DSP II
State anti-skidding slide system control module；The MCU I is connect with the FPGA I, DSP I and DSP II respectively, is used for FPGA I, I and of DSP
The online updating of DSP II and starting management.
10. the general traction control platform of rail vehicle as claimed in claim 9, which is characterized in that be additionally provided in the FPGA I
For carrying out the fast failure protective module that failure is quickly protected and the arteries and veins for drawing inversion pulse output and chop control
Module occurs for punching.
11. the general traction control platform of rail vehicle as claimed in claim 9, which is characterized in that the four-quadrant auxiliary fortune
Calculating acquisition unit is the four-quadrant auxiliary operation capture card being installed on the backboard, the four-quadrant auxiliary operation capture card packet
Include the shared drive of the DSP III carried out data transmission and the FPGA II of the shared drive of FPGA II and the FPGA II
The DSP IV and MCU II carried out data transmission；The FPGA II is connect by pci bus with the primary processor, the simulation
Data acquisition module is measured to be set in the FPGA II；The four-quadrant rectification control module is set in the DSP III, the auxiliary
Control module is set in the DSP IV；The MCU II is connect with the FPGA II, DSP III and DSP IV respectively, is used for FPGA
II, the online updating of DSP III and DSP IV and starting management.
12. the general traction control platform of rail vehicle as claimed in claim 11, which is characterized in that also set in the FPGA II
Have for carrying out fast failure protective module that failure quickly protects, for auxiliary inversion, the output of four-quadrant commutating pulse and cut
Wave control pulse generating module, for four-quadrant network pressure phase lock control PLL control module, be used for four-quadrant net stream
The harmonic wave extraction module that harmonic wave extracts and the power calculation mould for calculating auxiliary contactor end active component and reactive component
Block.
13. the general traction control platform of rail vehicle as claimed in claim 11, which is characterized in that further include being installed on backboard
On communication observe board, the communication observation board card is connect by train Ethernet with host computer, the communication observation board
It is connect by pci bus with the primary processor, the communication observation board card passes through Observe line and the FPGA I and FPGA
II connection.
14. the general traction control platform of rail vehicle as claimed in claim 13, which is characterized in that further include being installed on backboard
On power supply media board, the power supply media board include for for the traction control platform power system power supply board, for for
The probe power board of sensor power supply and the drive powered for the IGBT driving board for inverter in pull-in control system
Dynamic power supply media board.
15. the general traction control platform of rail vehicle as claimed in claim 14, which is characterized in that further include being installed on backboard
On power state detection module, the power state detection module connect with the network communication unit, passes through power supply status
Detection module includes under-voltage condition and electricity to the power supply status of system power supply board, probe power board and driving power board
Source output state is detected, and power state information is forwarded to network communication unit, network communication unit is again by power supply status
Information real-time Transmission is to primary processor.
16. a kind of general traction control method of rail vehicle, which is characterized in that the general traction control platform of rail vehicle is used,
The specific steps are that:
Traction control platform powers on, and general purpose I/O acquisition unit is communicated with network communication unit, the digital quantity number acquired
It is forwarded to network communication unit according to analog data, network communication unit is communicated with primary processor, will be received in general
The digital data and analog data of IO acquisition unit are forwarded to primary processor；Analog Data Acquistion Module I and analog quantity
Data acquisition module II is acquired analog data, and the analog data of acquisition is forwarded to primary processor；
Primary processor carries out self-test to peripheral hardware init state, and general purpose I/O acquisition unit and operation acquisition unit are to respective bottom
Configuration information carries out identification judgement；The Logic control module of primary processor judges network pressure, net stream simultaneously；If bottom configuration information goes out
Existing failure, then fault message is passed to vehicle network TCMS by primary processor, quotes traction control platform offline failure；If bottom
Configuration information is correct, and communication control module receives the train traction control instruction of vehicle network TCMS, control for brake instruction, auxiliary
Control instruction, is forwarded to primary processor and operation acquisition unit, and primary processor combines the data of the control instruction and acquisition that receive
Four-quadrant rectification instruction, the instruction of traction inversion control and auxiliary control instruction are generated by Logic control module；
After four-quadrant rectification control module receives four-quadrant rectification instruction, the AC rectification that tractive transformer is inputted is straight
Galvanic electricity mutually staggers the phase angle of double four-quadrant；
After traction invertor control module receives traction inversion control instruction, inverter inversion is controlled, output voltage is to traction
Motor makes traction motor generate torque actuated train operation；
After auxiliary inversion control module receives auxiliary control instruction, the output voltage and frequency of inverter are adjusted, is flowed.
17. the general traction control method of rail vehicle as claimed in claim 16, which is characterized in that primary processor is combined and received
Control instruction and the data of acquisition the instruction of anti-skidding slide system, anti-skidding slide system control module are also generated by Logic control module
After receiving anti-skidding slide system instruction, the torque of traction motor is controlled, the specific steps of the torque of traction motor are controlled
Are as follows: based on wheel to creep speed, acceleration to dally/trend of sliding identifies, predict the maximum adhesion strength of current working, when
Identify and dally that/slide and confirm and dally/after sliding, then by the torque of setting slope abatement traction motor, maintains one section
Time takes turns until recognizing to no longer sliding, and restores the torque of traction motor.
18. the general traction control method of rail vehicle as described in claim 16 or 17, which is characterized in that the traction inversion
Control module controls inverter output voltage using the vector control method based on indirect field_oriented control, the specific steps are that: it sets
Torque current control ring and excitation current control ring are set, exciting current given value is calculated by the revolving speed of traction motor and obtained, turned
Square given value of current value is calculated by the tractive force size that vehicle network TCMS distributes to bogie axle, torque current and excitation electricity
It flows through pi regulator output voltage given value after calculating deviation with value of feedback respectively, in addition decoupling component is as desired output electricity
Pressure；Given slip angular velocity is calculated simultaneously, and given slip angular velocity obtains after being added with the tach signal for feeding back traction motor
Synchronous angular velocity, angle as output voltage vector after synchronous angular velocity integral；SVPWM modulator is by desired output voltage
Vector median filters are that impulse form acts on inverter, export the voltage of respective magnitudes and frequency to traction motor, generate torque
Drive train operation.
19. the general traction control method of rail vehicle as described in claim 16 or 17, which is characterized in that communication is using safety
Communication protocol, the secure communication protocols include sequence number, data, safe coding and shared drive read-write protection, for assisting
Overtime judgement and check errors are carried out to message.
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| CN112918518A (en) * | 2021-03-19 | 2021-06-08 | 中车青岛四方车辆研究所有限公司 | Vehicle-mounted lumped electronic control platform |
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| CN115685864B (en) * | 2022-09-15 | 2023-08-25 | 江苏亚威机床股份有限公司 | Bending machine control method |
| CN115416697A (en) * | 2022-09-30 | 2022-12-02 | 中车青岛四方车辆研究所有限公司 | Train single-plate controller |
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