CN110531682B - General traction control platform and method for railway vehicle - Google Patents
General traction control platform and method for railway vehicle Download PDFInfo
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- CN110531682B CN110531682B CN201910885917.7A CN201910885917A CN110531682B CN 110531682 B CN110531682 B CN 110531682B CN 201910885917 A CN201910885917 A CN 201910885917A CN 110531682 B CN110531682 B CN 110531682B
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
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Abstract
The invention relates to a general traction control platform and a general traction control method for a railway vehicle, wherein the traction control platform comprises a main processing unit, an inverter operation acquisition unit, a four-quadrant auxiliary operation acquisition unit, a network communication unit and a general IO acquisition unit, wherein the inverter operation acquisition unit and the four-quadrant auxiliary operation acquisition unit are connected with the main processing unit; the inverter operation acquisition unit is provided with an analog quantity data acquisition module I, a traction inverter control module for controlling the output voltage of the inverter and an anti-skid and anti-idle control module for controlling the torque of a traction motor; the four-quadrant auxiliary operation acquisition unit is provided with an analog quantity data acquisition module II, a four-quadrant rectification control module for controlling a phase-shifting angle and an auxiliary control module for controlling the output voltage and frequency of the inverter. The invention integrates traction control and auxiliary control, integrates operation and acquisition, has high reliability and simplifies the control flow.
Description
Technical Field
The invention belongs to the technical field of rail vehicle control, relates to a rail vehicle traction control technology, and particularly relates to a general traction control platform and method for a rail vehicle.
Background
The modern rail transit technology takes passenger transport high speed and freight transport heavy load as main marks, and a traction control system is a power source of a train, so that the technical difficulty is the greatest. The traction control unit is used as a main control unit of a traction control system, is used for realizing power control of traction and braking operation of the train, and has self-evident importance. The core technology of traction control is monopolized by rail traffic abroad for a long time, the research for developing related technologies in China is late, and at present, some manufacturers develop control equipment with independent intellectual property rights, such as: the Traction Control Unit (TCU) and the Auxiliary Control Unit (ACU) have main intellectual property rights and meet the application of the Chinese standard motor train unit with the speed of 350 kilometers per hour, and the traction control unit and the auxiliary control unit respectively control a traction control system, so that two sets of control systems are needed, the hardware structure and the control flow are complex, the reliability is relatively poor, the cost is high, and the design difficulty of a traction auxiliary converter is high.
Disclosure of Invention
Aiming at the problems of low reliability, complex control flow and the like of the conventional traction control system, the invention provides the general traction control platform and method for the railway vehicle, which have high reliability and simple control flow.
In order to achieve the above object, the present invention provides a general traction control platform for rail vehicles, which includes a main processing unit, an operation acquisition unit, a network communication unit and a general IO acquisition unit, wherein:
the main processing unit comprises a main processor, and the main processor is provided with a logic control module and is used for generating a control command according to the acquired data;
the network communication unit is respectively communicated with the main processor and the general IO acquisition unit and is used for forwarding the data acquired by the general IO acquisition unit to the main processor;
the operation acquisition unit comprises an inverter operation acquisition unit and a four-quadrant auxiliary operation acquisition unit which are respectively connected with the main processor;
the inverter operation acquisition unit is provided with an analog quantity data acquisition module I, a traction inverter control module and an anti-skid and anti-idle control module, wherein the analog quantity data acquisition module I is used for acquiring analog quantity data, the traction inverter control module is used for carrying out traction inverter control algorithm operation and controlling the output voltage of an inverter, and the anti-skid and anti-idle control module is used for carrying out anti-skid and anti-idle control algorithm operation and controlling the torque of a traction motor;
the four-quadrant auxiliary operation acquisition unit is provided with an analog quantity data acquisition module II, a four-quadrant rectification control module and an auxiliary control module, the analog quantity data acquisition module II is used for acquiring analog quantity data, the four-quadrant rectification control module is used for performing four-quadrant rectification control algorithm operation and controlling a phase shift angle, and the auxiliary control module is used for performing auxiliary control algorithm operation and controlling the output voltage and the frequency of the inverter.
The system further comprises a back plate provided with a PCI bus, wherein the main processing unit, the operation acquisition unit, the network communication unit and the general IO acquisition unit are all arranged on the back plate and are all connected with the PCI bus.
Preferably, the general IO acquisition unit includes a plurality of IO boards with the same backplane hardware interface, each IO board includes a plurality of hardware modules with the same function and IO board coding information, bottom-layer driving software of the IO board automatically identifies self coding information, the coding information is transmitted to the main processor through the network communication unit, and the main processor compares the coding information with IO configuration information in the main processor, so that the configuration of all the IO boards matches the IO configuration information in the main processor.
Preferably, the network communication unit is a network communication board card provided with a shared memory, and the main processor performs data interaction with the shared memory of the network communication board card.
The optical fiber interface board card is arranged on the back plate and is communicated with the operation acquisition unit; each optical fiber interface board card comprises a plurality of paths of hardware modules with the same function and optical fiber interface board card hardware coding information, and the optical fiber interface board card interface automatically identifies the hardware coding information to enable the optical fiber interface board card.
Further, the main processing unit further comprises a fault data recording module connected with the main processor, and when the main processor detects that a fault occurs, the fault data recording module is triggered to store fault information to the fault data recording module.
Preferably, the fault data recording module comprises a fast fault recording module, a logic fault recording module and a process data recording module, the fast fault recording module is used for recording faults generated in the algorithm operation control process, the logic fault recording module is used for recording faults generated in the logic control process, and the process data recording module is used for recording parameters and state information in the traction control system in real time.
Preferably, the main processor is provided with a communication control module, and the communication control module is seamlessly connected to a vehicle MVB bus and a train Ethernet bus.
Preferably, the logic control module includes a four-quadrant logic control module for generating a four-quadrant control command, an inverter logic control module for generating an inverter control instruction, a chopping logic control module for generating a chopping control instruction, an auxiliary inverter logic control module for generating an auxiliary control instruction, a system IO logic control module for generating an IO control instruction, and a fault handling logic control module for generating a fault handling instruction.
Preferably, the inverter operation acquisition unit is an inverter operation acquisition card installed on the back plate, and the inverter operation acquisition card comprises an FPGA I, a DSP I for data transmission with a shared memory of the FPGA I, a DSP II for data transmission with the shared memory of the FPGA I and an MCU I; the FPGA I is connected with the main processor through a PCI bus, and the analog quantity data acquisition module is arranged in the FPGA I; the traction inverter control module and the anti-skid and anti-idle control module are arranged in the DSP I and the DSP II respectively; and the MCU I is respectively connected with the FPGA I, the DSP I and the DSP II and is used for on-line updating and starting management of the FPGA I, the DSP I and the DSP II.
Furthermore, a rapid fault protection module for performing rapid fault protection and a pulse generation module for traction inversion pulse output and chopping control are further arranged in the FPGA I.
Preferably, the four-quadrant auxiliary operation acquisition unit is an auxiliary operation acquisition card mounted on the back plate, and the auxiliary operation acquisition card comprises an FPGA ii, a DSP iii for data transmission with a shared memory of the FPGA ii, a DSP iv for data transmission with a shared memory of the FPGA ii, and an MCU ii; the FPGA II is connected with the main processor through a PCI bus, and the analog quantity data acquisition module is arranged in the FPGA II; the four-quadrant rectification control module is arranged in the DSP III, and the auxiliary control module is arranged in the DSP IV; and the MCU II is respectively connected with the FPGA II, the DSP III and the DSP IV and is used for online updating and starting management of the FPGA II, the DSP III and the DSP IV.
Furthermore, a rapid fault protection module for performing rapid fault protection, a pulse generation module for assisting inversion, four-quadrant rectification pulse output and chopping control, a phase-locked loop control module for four-quadrant network voltage phase-locked loop control, a harmonic extraction module for extracting four-quadrant network current harmonic and a power calculation module for calculating active components and reactive components of the auxiliary contactor end are further arranged in the FPGA II.
The system further comprises a communication observation board card arranged on the back plate, wherein the communication observation board card is connected with an upper computer through a train Ethernet, the communication observation board card is connected with the main processor through a PCI bus, and the communication observation board card is connected with the FPGA I and the FPGA II through an observer line.
Further, still including installing the power integrated circuit board on the backplate, the power integrated circuit board is including being used for the system power integrated circuit board of traction control platform power supply, the sensor power integrated circuit board that is used for the sensor power supply and be used for the drive power integrated circuit board for the IGBT drive plate power supply of inverter among the traction control system.
The power supply state detection module is connected with the network communication unit, detects power supply states of the system power supply board card, the sensor power supply board card and the driving power supply board card, including an under-voltage state and a power supply output state, through the power supply state detection module, forwards power supply state information to the network communication unit, and then transmits the power supply state information to the main processor in real time.
In order to achieve the above object, the present invention further provides a general traction control method for rail vehicles, which adopts a general traction control platform for rail vehicles, and comprises the following specific steps:
the traction control platform is powered on, the general IO acquisition unit is communicated with the network communication unit, digital quantity data and analog quantity data acquired by the general IO acquisition unit are forwarded to the network communication unit, the network communication unit is communicated with the main processor, and the digital quantity data and the analog quantity data received by the general IO acquisition unit are forwarded to the main processor; the analog quantity data acquisition module I and the analog quantity data acquisition module II acquire analog quantity data and forward the acquired analog quantity data to the main processor;
the main processor carries out self-checking on the initialization state of the peripheral equipment, and the general IO acquisition unit and the operation acquisition unit carry out identification and judgment on respective bottom layer configuration information; meanwhile, a logic control module of the main processor judges network pressure and network flow; if the bottom layer configuration information fails, the main processor transmits the failure information to the finished automobile network TCMS and reports the offline failure of the traction control platform; if the bottom layer configuration information is correct, the communication control module receives train traction control instructions, brake control instructions and auxiliary control instructions of a finished train network TCMS and forwards the train traction control instructions, brake control instructions and auxiliary control instructions to the main processor and the operation acquisition unit, and the main processor generates four-quadrant rectification instructions, traction inversion control instructions and auxiliary control instructions through the logic control module by combining the received control instructions and acquired data;
after receiving the four-quadrant rectification command, the four-quadrant rectification control module rectifies alternating current input by the traction transformer into direct current, so that the phase angles of the double four quadrants are staggered;
after receiving a traction inversion control instruction, the traction inverter control module controls the inverter to invert and outputs voltage to the traction motor, so that the traction motor generates torque to drive the train to run;
and after the auxiliary inversion control module receives the auxiliary control instruction, the output voltage and frequency of the inverter are adjusted to perform current sharing.
Furthermore, the main processor combines the received control instruction and the collected data to generate an anti-skid and anti-idle-running instruction through the logic control module, the anti-skid and anti-idle-running control module controls the torque of the traction motor after receiving the anti-skid and anti-idle-running instruction, and the concrete steps of controlling the torque of the traction motor are as follows: and identifying the idling/sliding trend based on the creep speed and the acceleration of the wheel set, predicting the maximum adhesive force of the current working condition, reducing the torque of the traction motor by setting a slope after the idling/sliding is identified and the idling/sliding is confirmed, maintaining for a period of time until the wheel set is identified not to slide any more, and recovering the torque of the traction motor.
Preferably, the traction inversion control module controls the output voltage of the inverter by using a vector control method based on indirect magnetic field orientation, and the method comprises the following specific steps: setting a torque current control loop and an excitation current control loop, wherein the given value of the excitation current is obtained by calculating the rotating speed of a traction motor, the given value of the torque current is obtained by calculating the traction force distributed to a bogie shaft by a finished automobile network TCMS, the given value of the voltage is output by a PI regulator after the deviation of the torque current and the excitation current is respectively calculated with a feedback value, and the given value of the voltage is added with a decoupling component to be used as the expected output voltage; meanwhile, calculating a given slip angular velocity, adding the given slip angular velocity and a rotating speed signal fed back to the traction motor to obtain a synchronous angular velocity, and integrating the synchronous angular velocity to be used as an angle of an output voltage vector; the SVPWM modulator converts an expected output voltage vector into a pulse form to act on the inverter, outputs voltage with corresponding amplitude and frequency to the traction motor, and generates torque to drive the train to run.
Preferably, the communication adopts a secure communication protocol, and the secure communication protocol comprises a serial number, data, a secure code and shared memory read-write protection, and is used for assisting in performing timeout judgment and error checking on the message.
Compared with the prior art, the invention has the advantages and positive effects that:
(1) the invention integrates traction control and auxiliary control, integrates operation and acquisition into an operation acquisition unit, improves the integration level, reduces the cost, has high reliability and low power consumption, has very important significance for improving the market competitiveness of the train traction auxiliary converter, and has wide application range.
(2) The main processor of the invention is provided with a logic control module which comprises a four-quadrant logic control module, an inverter logic control module, a chopping logic control module, an auxiliary converter logic control module, a system IO logic control module and a fault processing logic control module, wherein each module completes the logic control function and exchanges information with each other to form an integral control logic, and the unified integrated logic control is realized through the main processor, thereby simplifying the control flow and improving the reliability of traction control.
(3) The operation acquisition unit integrates the hardware circuits of operation and acquisition into a whole, adopts a distributed algorithm framework, namely an FPGA + double DSP + MCU framework, not only reduces the cost, but also greatly improves the operation and processing performance and the data communication reliability, and further improves the reliability of traction control.
(4) Each board card is provided with own coding information, and the main processor can read the coding information of each board card in real time, so that each board card can be intelligently managed.
(5) The invention also has the functions of power state detection and fault recording, realizes signal tracing and control in the whole life cycle, and provides data support for health management and big data.
(6) The invention adopts a safe communication protocol, the communication protocol consists of a serial number, data, a safe code and shared memory read-write protection, and can assist in overtime judgment and error checking, thereby improving the reliability of internal data communication.
(7) The invention can also realize vehicle-level testing and diagnosis functions, such as traction testing, auxiliary short-circuit fault diagnosis and other processes, by logically cooperating with the TCMS of the whole train network, thereby realizing the intelligent diagnosis function of the train.
Drawings
FIG. 1 is a block diagram of a general traction control platform for a railway vehicle according to an embodiment of the present invention;
FIG. 2a is a block diagram of a hardware structure of an inverter operation acquisition unit according to an embodiment of the present invention;
FIG. 2b is a block diagram of a hardware structure of an auxiliary operation acquisition unit according to an embodiment of the present invention;
FIG. 3 is an IO dataflow graph according to an embodiment of the invention;
FIG. 4 is a flow chart of configuration of an IO board card according to an embodiment of the present invention;
FIG. 5 is a block diagram of a software module structure of a general traction control platform for a railway vehicle according to an embodiment of the present invention;
FIG. 6 is a control block diagram of a logic control module according to an embodiment of the present invention;
FIG. 7 is a control block diagram of a four-quadrant rectification control module according to an embodiment of the present invention;
FIG. 8 is a control block diagram of a traction inverter control module according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of an anti-slip and anti-idle control module according to an embodiment of the present invention;
FIG. 10 is a control block diagram of an auxiliary control module according to an embodiment of the present invention;
fig. 11 is a schematic block diagram of a fault data recording module according to an embodiment of the present invention.
Detailed Description
The invention is described in detail below by way of exemplary embodiments. It should be understood, however, that elements, structures and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.
Referring to fig. 1 and 5, an embodiment of the present invention provides a general traction control platform for a rail vehicle, including a main processing unit, an operation acquisition unit, a network communication unit, and a general IO acquisition unit, where:
the main processing unit comprises a main processor, and the main processor is provided with a logic control module and is used for generating a control command according to the acquired data;
the network communication unit is respectively communicated with the main processor and the general IO acquisition unit and is used for forwarding the data acquired by the general IO acquisition unit to the main processor;
the operation acquisition unit comprises an inverter operation acquisition unit and a four-quadrant auxiliary operation acquisition unit which are respectively connected with the main processor;
the inverter operation acquisition unit is provided with an analog quantity data acquisition module I, a traction inverter control module and an anti-skid and anti-idle control module, wherein the analog quantity data acquisition module I is used for acquiring analog quantity data, the traction inverter control module is used for carrying out traction inverter control algorithm operation and controlling the output voltage of an inverter, and the anti-skid and anti-idle control module is used for carrying out anti-skid and anti-idle control algorithm operation and controlling the torque of a traction motor;
the four-quadrant auxiliary operation acquisition unit is provided with an analog quantity data acquisition module II, a four-quadrant rectification control module and an auxiliary control module, the analog quantity data acquisition module II is used for acquiring analog quantity data, the four-quadrant rectification control module is used for performing four-quadrant rectification control algorithm operation and controlling a phase shift angle, and the auxiliary control module is used for performing auxiliary control algorithm operation and controlling the output voltage and the frequency of the inverter.
Specifically, with reference to fig. 1, the mobile terminal further includes a back plate provided with a PCI bus, the main processing unit, the operation acquisition unit, the network communication unit and the general IO acquisition unit are all installed on the back plate, and the main processing unit, the operation acquisition unit and the network communication unit are all connected to the PCI bus. The main processing unit, the operation acquisition unit, the network communication unit and the general IO acquisition unit are integrally mounted on the backboard, so that the operation and the control are convenient.
In the traction control platform, the main processor is provided with a communication control module, and the communication control module is seamlessly connected to a vehicle MVB bus and a train Ethernet bus. Specifically, the content of the Ethernet protocol control protocol is the same as that of the MVB control protocol, the realization function is the same, and the configuration can be changed through a traction control platform or a TCMS (train control system) of the whole vehicle network, so that the selection and the switching of the control mode are realized. The communication control module receives traction control signals, brake control signals and auxiliary control signals sent by the finished automobile network TCMS, transmits the traction control signals, the brake control signals and the auxiliary control signals to traction auxiliary control logic and algorithm control, performs logic and algorithm control by combining the received signals and information of the control and acquisition module, and provides state, diagnosis and data information of a traction control system generated in the control process to the finished automobile network TCMS to realize the traction auxiliary control function.
In the traction control platform, referring to fig. 6, the logic control module includes a four-quadrant logic control module for generating a four-quadrant control command, an inverter logic control module for generating an inverter control instruction, a chopping logic control module for generating a chopping control instruction, an auxiliary inverter logic control module for generating an auxiliary control instruction, a system IO logic control module for generating an IO control instruction, and a fault processing logic control module for generating a fault processing instruction. The logic control module runs in the main processor, unified logic processing and modular design are adopted, and each module has relative independence, so that the control flow is simplified, and the reliability of the traction control platform is improved.
Specifically, referring to fig. 2a, the inverter operation acquisition unit is an inverter operation acquisition card installed on the backplane, and the inverter operation acquisition card includes an FPGA i, a DSP i for data transmission with a shared memory of the FPGA i, a DSP ii for data transmission with a shared memory of the FPGA i, and an MCU i; the FPGA I is connected with the main processor through a PCI bus, and the analog quantity data acquisition module is arranged in the FPGA I; the traction inverter control module and the anti-skid and anti-idle control module are arranged in the DSP I and the DSP II respectively; and the MCU I is respectively connected with the FPGA I, the DSP I and the DSP II and is used for on-line updating and starting management of the FPGA I, the DSP I and the DSP II. As a preferred embodiment, a fast fault protection module for fast fault protection and a pulse generation module for traction inversion pulse output and chopping control are further arranged in the FPGA i. The FPGA I realizes analog quantity acquisition, speed acquisition, fault rapid processing, traction inversion pulse output and chopping control, the DSP I and the DSP II can realize the operation functions of a traction inverter control algorithm and an antiskid and anti-idle control algorithm, and the independent operation of two traction motors can be realized.
Specifically, referring to fig. 2b, the four-quadrant auxiliary operation acquisition unit is a four-quadrant auxiliary operation acquisition card installed on the back plate, and the four-quadrant auxiliary operation acquisition card includes an FPGA ii, a DSP iii performing data transmission with a shared memory of the FPGA ii, a DSP iv performing data transmission with a shared memory of the FPGA ii, and an MCU ii; the FPGA II is connected with the main processor through a PCI bus, and the analog quantity data acquisition module is arranged in the FPGA II; the four-quadrant rectification control module is arranged in the DSP III, and the auxiliary control module is arranged in the DSP IV; and the MCU II is respectively connected with the FPGA II, the DSP III and the DSP IV and is used for online updating and starting management of the FPGA II, the DSP III and the DSP IV. As a preferred embodiment, a fast fault protection module for fast fault protection, a pulse generation module for auxiliary inversion, four-quadrant rectification pulse output and chopper control, a phase-locked loop control module for four-quadrant network voltage phase-locked loop control, a harmonic extraction module for four-quadrant network current harmonic extraction, and a power calculation module for calculating active and reactive components of the auxiliary contactor end are further arranged in the FPGA ii. And the FPGA II realizes analog quantity acquisition, quick fault protection, pulse output, four-quadrant network voltage phase-locked loop control, network harmonic extraction and auxiliary contactor end active and reactive component calculation. One DSP realizes four-quadrant rectification algorithm control, and the other DSP realizes auxiliary algorithm control.
Specifically, the network communication unit is provided with a network communication board card sharing a memory, and the main processor performs data interaction with the shared memory of the network communication board card. The main processor directly reads data from the shared memory of the network communication board card, and the data transmission speed is high.
Specifically, with reference to fig. 1, the general IO acquisition unit includes a plurality of IO boards having the same backplane hardware interface, each IO board includes a plurality of paths of hardware modules having the same function and encoding information of the IO board, the bottom driver software of the IO board automatically identifies the encoding information of the IO board, the encoding information is transmitted to the main processor through the network communication unit, and the configuration information is compared with IO configuration information in the main processor, so that the configurations of all the IO boards are matched with the IO configuration information in the main processor. The IO board card automatically identifies the self coding information and compares the self coding information with the configuration information in the main processor, so that the configuration of all the IO board cards in the traction control platform is ensured to be correct, and the communication reliability and the configuration flexibility of the traction control platform are further improved. Furthermore, the IO board card can be flexibly configured, a user only needs to download a configuration file, the main processor configures the IO board card according to the configuration file, and the traction control platforms with different functions can be realized without changing a hardware back plate and any bottom layer driving software. Referring to fig. 3 for IO board data flow, referring to fig. 4 for a configuration process, specifically:
configuration information is sent to a main processor through an Ethernet by a traction control platform user configuration file through a PC upper computer, the main processor reads the configuration information, the analyzed configuration information including IO board card information, MVB port information and Ethernet information is written into an external memory through a peripheral management module of the main processor for storage, the analyzed IO board card information including each IO board card communication node information is sent to a shared memory inside a network communication unit, and the analyzed MVB port information is subjected to information interaction with a finished vehicle network TCMS through an MVB bus. The network communication unit reads out CAN communication node information in the shared memory, sequentially sends CAN communication nodes to the IO board cards through the CAN bus, polls all the IO board cards, and the IO board cards communicate with the sent CAN communication nodes according to self slot position information to complete interaction of information such as state, diagnosis and commands of the traction control platform.
After the IO board card is powered on, the bottom layer driving software of the IO board card automatically reads the coding information of the IO board card, the coding information is forwarded to the main processor through the network communication unit and is compared with the coding information configured by the IO board card in the main processor, if the coding information is not matched with the coding information, the bottom layer driving software of the IO board card can report a hardware fault, a corresponding LED fault indicator lamp can indicate the fault in hardware, if the coding information is matched with the coding information, the bottom layer driving software of the IO board card can read the IO board card coding information of the current slot position, and it is guaranteed that all IO board card configurations in the traction control platform.
Specifically, with reference to fig. 1, the traction control platform further includes a power board installed on the back plate, where the power board includes a system power board for supplying power to the traction control platform, a sensor power board for supplying power to the sensor, and a driving power board for supplying power to an IGBT drive plate of an inverter in the traction control system. And the system power supply board card supplies power to the traction control platform to enable the traction control platform to work. The sensors in the traction control system are powered through the sensor power supply board card, so that the sensors work and acquire related analog quantity data in the traction control system in real time. And the IGBT driving board in the inverter is powered by the driving power board card to drive the IGBT to work.
With continued reference to fig. 1, in a preferred embodiment, the general traction control platform further includes a plurality of optical fiber interface boards with the same backplane hardware interface, where the optical fiber interface boards are installed on the backplane, and the optical fiber interface boards are in communication with the operation acquisition unit; each optical fiber interface board card comprises a plurality of paths of hardware modules with the same function and optical fiber interface board card hardware coding information, and the optical fiber interface board card interface automatically identifies the hardware coding information to enable the optical fiber interface board card. Specifically, each optical fiber board card consists of a plurality of paths of photoelectric conversion units and an electro-optical conversion unit, wherein each photoelectric conversion unit comprises a multiplexer, a buffer and a photoelectric conversion circuit; the electro-optical conversion unit includes a multiplexer, a buffer, and an electro-optical conversion circuit. After the traction control platform is powered on, the optical fiber interface board card can automatically identify hardware coding information, and the optical fiber interface board card is enabled. In addition, the number of the optical fiber interface board cards can be flexibly configured according to the actual requirements of the project.
In order to solve various problems occurring in the operation process of the traction control system and ensure the safe, reliable and stable operation of the traction control system, various problems occurring in the traction control system need to be analyzed and judged, and then corresponding treatment is performed. According to voltage, current, temperature and speed signals acquired by the sensors, feedback signals of the state of the contactor and IGBT fault signals, faults can be divided into faults such as overvoltage, undervoltage, overcurrent, overload, short circuit, overtemperature and the like. In order to record data of the fault, in the traction control platform, as a preferred embodiment, the main processing unit further includes a fault data recording module connected to the main processor, and when the main processor detects that the fault occurs, the fault data recording module is triggered to store fault information in the fault data recording module. Wherein the stored fault information includes: fault code, time of occurrence of fault, and fault related variables. The technical personnel are assisted to carry out early-stage debugging, data sources are provided for on-site after-sales personnel to troubleshoot faults in a later operation stage, and the after-sales personnel are assisted to analyze and solve the faults.
Specifically, referring to fig. 11, the fault data recording module includes a fast fault recording module, a logic fault recording module and a process data recording module, the fast fault recording module is configured to record a fault generated in the algorithm operation control process, the logic fault recording module is configured to record a fault generated in the logic control process, and the process data recording module is configured to record each parameter and state information in the traction control system in real time. The main processor receives fault triggering conditions from the DSP and triggers storage conditions of fault data, wherein the faults comprise faults judged by a traction inverter control algorithm and logic, and serious faults such as overvoltage, overcurrent or IGBT (insulated gate bipolar translator) and the like are judged in the FPGA; the DSP writes the key data into the shared memory in real time, the main processor receives the fault record triggering condition, reads out the cache data from the shared memory, wherein the cache data comprises m packets of data before the fault occurrence time point and n packets of data after the fault occurrence time point, and then sequentially writes the cache data into the rapid fault recording module. The main processor receives the fault triggering condition of the traction control logic, the CPU caches the logic data, when the logic fails, the CPU reads the cached logic data which comprise m packets of data before the fault occurrence time point and n packets of data after the fault occurrence time point, and then the cached data are sequentially written into the logic fault recording module. The process data recording module is used for recording various parameters and state information in the traction control system in real time, recording a file by taking each half hour as a unit, storing data of a week, and deleting the earliest process data file in real time when the time is exceeded or the maximum capacity of the process data recording module is exceeded. In this embodiment, the main processor is a CPU, the fast failure recording module and the logic failure recording module are both disposed in the SATA disk, and the process data recording module is disposed in the CF card.
When the whole vehicle is debugged on site, the debugging equipment and the testing means are limited by site conditions and are both closed type chassis, so that the lead wires are not convenient to weld on the circuit board and the real-time signals are observed on equipment such as an oscilloscope or a data recorder and the like. With reference to fig. 1, in a preferred embodiment, the traction control platform further includes a communication observation board installed on the backplane, the communication observation board is connected to the upper computer through a train ethernet, the communication observation board is connected to the main processor through a PCI bus, and the communication observation board is connected to the FPGA i and the FPGA ii through an observer line. The traction control platform can conveniently observe some key data variables in real time according to control algorithm and logic requirements, the data variables observed in real time are uploaded to an upper computer through the communication observation board through the Ethernet, and the upper computer is used for drawing and displaying in real time, so that field workers can debug conveniently.
In a preferred embodiment, the traction control platform further includes a power state detection module installed on the backplane, the power state detection module is connected to the network communication unit, and the power state detection module detects power states of the system power board, the sensor power board and the driving power board, including an under-voltage state and a power output state, and forwards power state information to the network communication unit, and the network communication unit transmits the power state information to the main processor in real time. The power supply states of the system power supply board card, the sensor power supply board card and the driving power supply board card including an under-voltage state and a power supply output state are detected through the traction control platform, power supply state information is forwarded to the network communication unit, the network communication unit transmits the power supply state information to the main processor in real time, a power supply fails, and when the system works abnormally, a field worker can conveniently and quickly locate a fault point and maintain the system.
According to the traction control platform, the state, diagnosis and data information of the traction control system generated in the traction control process are provided for the TCMS of the whole vehicle network, so that auxiliary traction control is realized. The traction control platform integrates traction control and auxiliary control, integrates operation and acquisition, integrates logic control uniformly through the main processor, and is high in integration level, high in reliability and low in cost. The control of all IO interfaces of the traction converter, analog quantity acquisition, traction control, anti-skid and anti-idle control, four-quadrant rectification control, auxiliary control, pulse generation and feedback detection, network communication, logic control, monitoring maintenance, analysis debugging and the like can be realized. The software is modularly designed according to functions, functional modules are mutually independent, strict signal interface definitions are arranged among the modules, data interaction is carried out through standard buses (a PCI bus, a CAN bus, an MVB bus, an Ethernet bus and the like), and the reliability, the reality and the effectiveness of data are guaranteed.
The invention further provides a general traction control method for a railway vehicle, which adopts the general traction control platform for the railway vehicle and comprises the following specific steps:
s1, the traction control platform is powered on, the general IO acquisition unit is communicated with the network communication unit, the digital quantity data and the analog quantity data acquired by the general IO acquisition unit are forwarded to the network communication unit, the network communication unit is communicated with the main processor, and the digital quantity data and the analog quantity data received by the general IO acquisition unit are forwarded to the main processor; the analog quantity data acquisition module I and the analog quantity data acquisition module II acquire analog quantity data and forward the acquired analog quantity data to the main processor;
s2, the main processor performs self-checking on the initialization state of the peripheral, and the general IO acquisition unit and the operation acquisition unit recognize and judge respective bottom layer configuration information; meanwhile, a logic control module of the main processor judges network pressure and network flow; if the bottom layer configuration information fails, the main processor transmits the failure information to the finished automobile network TCMS and reports the offline failure of the traction control platform; if the bottom layer configuration information is correct, the communication control module receives train traction control instructions, brake control instructions and auxiliary control instructions of a finished train network TCMS and forwards the train traction control instructions, brake control instructions and auxiliary control instructions to the main processor and the operation acquisition unit, and the main processor generates four-quadrant rectification instructions, traction inversion control instructions and auxiliary control instructions through the logic control module by combining the received control instructions and acquired data;
s3, after receiving the four-quadrant rectification command, the four-quadrant rectification control module rectifies alternating current input by the traction transformer into direct current, and the phase angles of the two quadrants and the four quadrants are staggered;
s4, after receiving a traction inversion control instruction, the traction inverter control module controls the inverter to invert and outputs voltage to the traction motor, so that the traction motor generates torque to drive the train to run;
and S5, after the auxiliary inversion control module receives the auxiliary control instruction, adjusting the output voltage and frequency of the inverter and carrying out current sharing.
As a preferred embodiment of the above general traction control method, the method further includes the steps of: the main processor combines the received control command and the acquired data to generate an anti-skid and anti-idle-running command through the logic control module, and the anti-skid and anti-idle-running control module controls the torque of the traction motor after receiving the anti-skid and anti-idle-running command. This step may be after the above step S3, before step S4; after the above step S4, before step S5; and may also follow step S5 described above. Specifically, referring to fig. 9, the specific steps of controlling the torque of the traction motor are: and identifying the idling/sliding trend based on the creep speed (including the axle speed and the locomotive speed) and the acceleration of the wheel set, predicting the maximum adhesive force of the current working condition, reducing the torque of the traction motor by setting a slope after the idling/sliding is identified and the idling/sliding is confirmed, maintaining for a period of time until the wheel set is identified not to slide any more, and recovering the torque of the traction motor.
Specifically, in step S3 of the general traction control method, referring to fig. 7, the four-quadrant rectification control adopts a double closed-loop control method of outer loop voltage control and inner loop current control, which can ensure good control of the dc bus voltage in the steady-state and dynamic processes, and at the same time, make the power factor on the grid side approach 1, and ensure effective utilization of the electrical energy. All four-quadrant rectification of the whole vehicle is controlled by adopting coordinated carrier phase shift, and the control angle is set according to data issued by a finished vehicle network TCMS, so that higher harmonics are inhibited from entering a power grid, and the harmonics of current on the grid side meet the requirements of technical indexes. In the four-quadrant rectification control process, the FPGA is responsible for analog quantity acquisition, PWM pulse generation, fault rapid protection, network voltage digital phase locking and network flow harmonic extraction, and other control algorithms are responsible for execution by the DSP.
Specifically, in step S4 of the general traction control method, the traction inversion control module controls the output voltage of the inverter by using a vector control method based on indirect magnetic field orientation, and the method specifically includes: referring to fig. 8, two control loops, a torque current control loop and an excitation current control loop are provided, and the excitation current is set to a given value
Torque current set value obtained by calculating the speed of traction motor
The traction force distributed to a bogie shaft by a finished vehicle network TCMS is calculated to obtain the exciting current
And a feedback value isdAfter calculating the deviation, the given value u of the output voltage of the PI regulatorsdPlus a decoupling component usdcAs a desired output voltage
Torque current
And a feedback value isqAfter calculating the deviation, the given value u of the output voltage of the PI regulatorsqPlus a decoupling component usqcAs a desired output voltage
Simultaneously calculating given slip angular velocity omegas1Given slip angular velocity ωs1And feeding back the speed signal omega of the traction motorrAdding to obtain synchronous angular velocity omegaeThe synchronous angular velocity is integrated to be used as an angle theta of an output voltage vector; SVPWM modulator converts expected output voltage vector into pulse form to act on inversionAnd the device outputs voltage with corresponding amplitude and frequency to the traction motor to generate torque to drive the train to run. The vector control based on the rotor magnetic field orientation establishes an equivalent separately excited direct current motor model through coordinate transformation to perform decoupling control on magnetic flux and torque, and the dynamic performance and the static performance are good.
Specifically, in step S4 of the general traction control method, referring to fig. 10, the auxiliary control module adopts interconnection-line-free parallel control based on a double dq conversion phase-locked loop and an improved droop method, by detecting active and reactive components output by each inverter unit itself, and adjusting voltage and frequency output by each inverter unit itself through a control algorithm, each inverter capable of being connected in parallel only detects active power and reactive power output by the inverter unit, and adjusts output voltage and frequency of the inverter unit according to the algorithm in the auxiliary control module to implement current sharing. The main circuit topological structure applied by the auxiliary control module is an LC-T structure, namely an LC filter-transformer structure, each parallel-connected inverter has no interconnection line, passes through the LC filter and the transformer and is connected in parallel on an alternating current bus through an output contactor, and because the parallel-connected inverter system has no interconnection line, the auxiliary control module adjusts the output voltage and frequency of each inverter unit through a self-control algorithm by detecting the bus voltage and the output current of each parallel-connected inverter unit to perform current equalization; the collected current is two-phase load current of a parallel inverter before the output contactor; the collected voltage is two groups of bus line voltages. The parallel droop is to adjust output voltage and frequency according to the calculated active and reactive components; the phase locking link is to perform phase locking processing on the acquired data to form dq axis decoupling components, and the phase locking process is completed in the DSP; the FPGA collects analog quantity, generates PWM pulse, quickly protects faults and executes the calculation of active power and reactive power. The control algorithm has high real-time performance, exerts the advantage of parallel execution of the FPGA and lightens the calculation burden of the DSP.
Specifically, the communication in the general traction control method adopts a secure communication protocol, and the secure communication protocol includes a serial number, data, a secure code, and shared memory read-write protection, and is used to assist in performing timeout judgment and error checking on the packet. The sequence number refers to that a serial number is added to each message exchanged between the sending end and the receiving end so that the receiving end can check the sending sequence of the messages. The overtime judgment means that the receiving end can check whether the time interval between two messages exceeds the allowed maximum time, and if the time interval exceeds the allowed maximum time, the receiving end is regarded as an error. Security encoding refers to adding security process control to security-related information, such as: an added CRC check code.
The general traction control method adopts a distributed control algorithm structure, integrates traction control and auxiliary control, adopts unified integrated logic control, can realize four-quadrant rectification control, traction inversion control, anti-skid and anti-idle control and auxiliary inversion control, and controls the four controls by independent control modules through self control algorithms, simplifies the control flow and has high reliability.
The above-described embodiments are intended to illustrate rather than to limit the invention, and any modifications and variations of the present invention are possible within the spirit and scope of the claims.
Claims (19)
1. The utility model provides a general traction control platform of rail vehicle which characterized in that, includes main processing unit, operation acquisition unit, network communication unit and general IO acquisition unit, wherein:
the main processing unit comprises a main processor, and the main processor is provided with a logic control module and is used for generating a control command according to the acquired data;
the network communication unit is respectively communicated with the main processor and the general IO acquisition unit and is used for forwarding the data acquired by the general IO acquisition unit to the main processor;
the operation acquisition unit comprises an inverter operation acquisition unit and a four-quadrant auxiliary operation acquisition unit which are respectively connected with the main processor;
the inverter operation acquisition unit is provided with an analog quantity data acquisition module I, a traction inverter control module and an anti-skid and anti-idle control module, wherein the analog quantity data acquisition module I is used for acquiring analog quantity data, the traction inverter control module is used for carrying out traction inverter control algorithm operation and controlling the output voltage of an inverter, and the anti-skid and anti-idle control module is used for carrying out anti-skid and anti-idle control algorithm operation and controlling the torque of a traction motor;
the four-quadrant auxiliary operation acquisition unit is provided with an analog quantity data acquisition module II, a four-quadrant rectification control module and an auxiliary control module, the analog quantity data acquisition module II is used for acquiring analog quantity data, the four-quadrant rectification control module is used for performing four-quadrant rectification control algorithm operation and controlling a phase shift angle, and the auxiliary control module is used for performing auxiliary control algorithm operation and controlling the output voltage and the frequency of the inverter.
2. The rail vehicle universal traction control platform according to claim 1, further comprising a back plate provided with a PCI bus, wherein the main processing unit, the operation acquisition unit, the network communication unit and the universal IO acquisition unit are all mounted on the back plate, and the main processing unit, the operation acquisition unit and the network communication unit are all connected with the PCI bus.
3. The rail vehicle general traction control platform according to claim 2, wherein the general IO acquisition unit includes a plurality of IO boards having the same backplane hardware interface, each IO board includes a plurality of paths of hardware modules having the same function and IO board coding information, bottom driver software of the IO board automatically identifies its own coding information, transmits the coding information to the main processor through the network communication unit, and compares the coding information with IO configuration information provided in the main processor, so that configurations of all IO boards are matched with the IO configuration information provided in the main processor.
4. The rail vehicle universal traction control platform as claimed in claim 2, further comprising a plurality of optical fiber interface boards mounted on the backplane and having the same backplane hardware interface, the optical fiber interface boards being in communication with the arithmetic acquisition unit; each optical fiber interface board card comprises a plurality of paths of hardware modules with the same function and optical fiber interface board card hardware coding information, and the optical fiber interface board card interface automatically identifies the hardware coding information to enable the optical fiber interface board card.
5. The rail vehicle universal traction control platform of claim 2 wherein the primary processing unit further comprises a fault data logging module coupled to the primary processor, the fault data logging module being triggered to store fault information to the fault data logging module when the primary processor detects a fault.
6. The railway vehicle universal traction control platform as claimed in claim 5, wherein the fault data recording module comprises a fast fault recording module for recording faults generated during algorithm operation control, a logical fault recording module for recording faults generated during logical control, and a process data recording module for recording parameters and status information in the traction control system in real time.
7. The rail vehicle universal traction control platform of claim 6 wherein the master processor is provided with a communication control module, the communication control module accessing a vehicle MVB bus and a train Ethernet bus.
8. The rail vehicle universal traction control platform of claim 6 or 7, wherein the logic control module comprises a four quadrant logic control module for generating four quadrant control commands, an inverter logic control module for generating inverter control commands, a chopper logic control module for generating chopper control commands, an auxiliary inverter logic control module for generating auxiliary control commands, a system IO logic control module for generating IO control commands, and a fault handling logic control module for generating fault handling commands.
9. The rail vehicle universal traction control platform according to any one of claims 2 to 7, wherein the inverter operation acquisition unit is an inverter operation acquisition card mounted on the back plate, and the inverter operation acquisition card is provided with an FPGA I, a DSP I for data transmission with a shared memory of the FPGA I, a DSP II for data transmission with a shared memory of the FPGA I and an MCU I; the FPGA I is connected with the main processor through a PCI bus, and the analog quantity data acquisition module is arranged in the FPGA I; the traction inverter control module and the anti-skid and anti-idle control module are arranged in the DSP I and the DSP II respectively; and the MCU I is respectively connected with the FPGA I, the DSP I and the DSP II and is used for on-line updating and starting management of the FPGA I, the DSP I and the DSP II.
10. The railway vehicle universal traction control platform as claimed in claim 9, wherein a fast fault protection module for fast fault protection and a pulse generation module for traction inversion pulse output and chopper control are further provided in the FPGA i.
11. The rail vehicle universal traction control platform according to claim 9, wherein the four-quadrant auxiliary operation acquisition unit is a four-quadrant auxiliary operation acquisition card mounted on the back plate, and the four-quadrant auxiliary operation acquisition card comprises an FPGA ii, a DSP iii for data transmission with a shared memory of the FPGA ii, a DSP iv for data transmission with a shared memory of the FPGA ii, and an MCU ii; the FPGA II is connected with the main processor through a PCI bus, and the analog quantity data acquisition module is arranged in the FPGA II; the four-quadrant rectification control module is arranged in the DSP III, and the auxiliary control module is arranged in the DSP IV; and the MCU II is respectively connected with the FPGA II, the DSP III and the DSP IV and is used for online updating and starting management of the FPGA II, the DSP III and the DSP IV.
12. The railway vehicle universal traction control platform as claimed in claim 11, wherein the FPGA ii is further provided therein with a fast fault protection module for fast fault protection, a pulse generation module for auxiliary inversion, four-quadrant rectification pulse output and chopper control, a phase-locked loop control module for four-quadrant network voltage phase-locked loop control, a harmonic extraction module for four-quadrant network current harmonic extraction, and a power calculation module for calculating active and reactive components at the auxiliary contactor end.
13. The rail vehicle universal traction control platform as claimed in claim 11, further comprising a communication observation board mounted on the back plate, wherein the communication observation board is connected to an upper computer through a train ethernet, the communication observation board is connected to the main processor through a PCI bus, and the communication observation board is connected to the FPGA i and the FPGA ii through an observer line.
14. The rail vehicle universal traction control platform of claim 13 further comprising power boards mounted on the back plate, the power boards including a system power board for powering the traction control platform, a sensor power board for powering the sensor, and a drive power board for powering an IGBT drive plate of an inverter in the traction control system.
15. The rail vehicle universal traction control platform of claim 14, further comprising a power state detection module mounted on the backplane, wherein the power state detection module is connected to the network communication unit, and detects power states of the system power board, the sensor power board and the driving power board, including an undervoltage state and a power output state, through the power state detection module, and forwards power state information to the network communication unit, and the network communication unit transmits the power state information to the main processor in real time.
16. A general traction control method for a railway vehicle is characterized in that a general traction control platform for the railway vehicle is adopted, and the specific steps are as follows:
the traction control platform is powered on, the general IO acquisition unit is communicated with the network communication unit, digital quantity data and analog quantity data acquired by the general IO acquisition unit are forwarded to the network communication unit, the network communication unit is communicated with the main processor, and the digital quantity data and the analog quantity data received by the general IO acquisition unit are forwarded to the main processor; the analog quantity data acquisition module I and the analog quantity data acquisition module II acquire analog quantity data and forward the acquired analog quantity data to the main processor;
the main processor carries out self-checking on the initialization state of the peripheral equipment, and the general IO acquisition unit and the operation acquisition unit carry out identification and judgment on respective bottom layer configuration information; meanwhile, a logic control module of the main processor judges network pressure and network flow; if the bottom layer configuration information fails, the main processor transmits the failure information to the finished automobile network TCMS and reports the offline failure of the traction control platform; if the bottom layer configuration information is correct, the communication control module receives train traction control instructions, brake control instructions and auxiliary control instructions of a finished train network TCMS and forwards the train traction control instructions, brake control instructions and auxiliary control instructions to the main processor and the operation acquisition unit, and the main processor generates four-quadrant rectification instructions, traction inversion control instructions and auxiliary control instructions through the logic control module by combining the received control instructions and acquired data;
after receiving the four-quadrant rectification command, the four-quadrant rectification control module rectifies alternating current input by the traction transformer into direct current, so that the phase angles of the double four quadrants are staggered;
after receiving a traction inversion control instruction, the traction inverter control module controls the inverter to invert and outputs voltage to the traction motor, so that the traction motor generates torque to drive the train to run;
and after the auxiliary inversion control module receives the auxiliary control instruction, the output voltage and frequency of the inverter are adjusted to perform current sharing.
17. The rail vehicle universal traction control method according to claim 16, wherein the main processor further generates an anti-skid and anti-idle command through the logic control module in combination with the received control command and the collected data, and the anti-skid and anti-idle control module controls the torque of the traction motor after receiving the anti-skid and anti-idle command, wherein the specific steps of controlling the torque of the traction motor are as follows: and identifying the idling/sliding trend based on the creep speed and the acceleration of the wheel set, predicting the maximum adhesive force of the current working condition, reducing the torque of the traction motor by setting a slope after the idling/sliding is identified and the idling/sliding is confirmed, maintaining for a period of time until the wheel set is identified not to slide any more, and recovering the torque of the traction motor.
18. The rail vehicle general traction control method according to claim 16 or 17, wherein the traction inversion control module controls the inverter output voltage by using a vector control method based on indirect magnetic field orientation, and the method comprises the following specific steps: setting a torque current control loop and an excitation current control loop, wherein the given value of the excitation current is obtained by calculating the rotating speed of a traction motor, the given value of the torque current is obtained by calculating the traction force distributed to a bogie shaft by a finished automobile network TCMS, the given value of the voltage is output by a PI regulator after the deviation of the torque current and the excitation current is respectively calculated with a feedback value, and the given value of the voltage is added with a decoupling component to be used as the expected output voltage; meanwhile, calculating a given slip angular velocity, adding the given slip angular velocity and a rotating speed signal fed back to the traction motor to obtain a synchronous angular velocity, and integrating the synchronous angular velocity to be used as an angle of an output voltage vector; the SVPWM modulator converts an expected output voltage vector into a pulse form to act on the inverter, outputs voltage with corresponding amplitude and frequency to the traction motor, and generates torque to drive the train to run.
19. The rail vehicle universal traction control method according to claim 16 or 17, wherein the communication employs a secure communication protocol, and the secure communication protocol includes a serial number, data, a secure code, and a shared memory read-write protection, and is used to assist in performing timeout judgment and error checking on the message.
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