CN110562275B - Multichannel dual-redundancy rail transit vehicle reconnection system and method - Google Patents
Multichannel dual-redundancy rail transit vehicle reconnection system and method Download PDFInfo
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- CN110562275B CN110562275B CN201910866194.6A CN201910866194A CN110562275B CN 110562275 B CN110562275 B CN 110562275B CN 201910866194 A CN201910866194 A CN 201910866194A CN 110562275 B CN110562275 B CN 110562275B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40169—Flexible bus arrangements
- H04L12/40176—Flexible bus arrangements involving redundancy
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/66—Arrangements for connecting between networks having differing types of switching systems, e.g. gateways
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40293—Bus for use in transportation systems the transportation system being a train
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Abstract
The invention discloses a multichannel dual-redundancy rail transit vehicle reconnection system and a reconnection method, wherein the system comprises reconnection gateways, each train is provided with two cabs, and each cab is provided with one reconnection gateway; all internal subsystems of the train are respectively connected with the two reconnection gateways through an in-train CAN bus; all the subsystems are also connected with the two reconnection gateways through an in-vehicle Ethernet bus respectively; when two trains are reconnected, each reconnection gateway of any one train is connected with all reconnection gateways of the other train; when two gateways which do not belong to the same train are connected, the two gateways are connected by using a first CAN reconnection bus and a second CAN reconnection bus. The invention has the advantage of high reliability.
Description
Technical Field
The invention belongs to the technical field of vehicle-mounted network control, and particularly relates to a multichannel dual-redundancy rail transit vehicle reconnection system and a multichannel dual-redundancy rail transit vehicle reconnection method.
Background
The CAN bus is a serial communication network supporting distributed control and a real-time control system, has reliable real-time performance and flexibility, and is widely applied to the fields of industrial control, automobiles, rail transit and the like. The Ethernet has the characteristic of large communication data volume and is widely applied to a plurality of subsystems of rail transit vehicles. The electrical system of the rail transit vehicle is composed of a plurality of subsystems, such as a PIS system, a vehicle door system and the like, and the subsystems generally form a train-level bus of an ethernet + CAN bus (backup) for communication control. At present, when the 2-train rail transit vehicles are in reconnection, the reconnection gateways need to realize the mutual communication among the 2-train subsystems, such as a CAN-CAN gateway, and CAN bus data of one train is forwarded to a CAN bus of another train. In this way: 1. the reconnection bus has no backup connection, and communication interruption may be caused by poor contact of a connector when the vehicle is reconnected, so that communication cannot be performed; 2. the vehicle interior equipment generally uses the Ethernet as a main communication link, the CAN bus is a backup bus, and the vehicle reconnection gateway only forwards data of the CAN bus, and cannot use the existing Ethernet bus to transmit signals, so that the reliability is low. In addition, the vehicle reconnection identification needs the completion of the setting of a plurality of hard wires in the reconnection control box, and the identification of the master control vehicle is complex.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the problems of low reliability and the like of the existing equipment, the invention provides a multi-channel dual-redundancy rail transit vehicle reconnection system and a reconnection method.
The technical scheme is as follows: the invention provides a multichannel dual-redundancy rail transit vehicle reconnection system which comprises reconnection gateways, wherein each train is provided with two cabs, and each cab is provided with one reconnection gateway; all internal subsystems of the train are respectively connected with the two reconnection gateways through an in-train CAN bus; all the subsystems are also connected with the two reconnection gateways through an in-vehicle Ethernet bus respectively; when two trains are reconnected, each reconnection gateway of any one train is connected with all reconnection gateways of the other train; when two gateways which do not belong to the same train are connected, the two gateways are connected by using a first CAN reconnection bus and a second CAN reconnection bus.
Furthermore, the reconnection gateway adopts an STM32F105 chip, when the CAN bus in the vehicle is connected with the STM32F105 chip, a certain UART interface in the chip is expanded into the CAN interface, and the bus in the vehicle is connected with the expanded CAN interface.
When two trains are reconnected and the CAN buses in all the trains do not have faults, the reconnection gateways control the Ethernet to work, the CAN bus in each train respectively transmits the data of all the subsystems of the train to the two reconnection gateways of the train, the reconnection gateways add the identifiers of the train to the received data and package the data into new data frames, and the first CAN reconnection bus and the second CAN reconnection bus are used for respectively transmitting the new data frames to the two reconnection gateways of the other train at the same time; each reconnection gateway of the train judges the damage degree of the received multi-path data frames, selects the data frame of the path with the minimum damage degree and analyzes the data frame; thereby finishing the information interaction between the multi-connected trains;
when two trains are in reconnection, an in-train CAN bus in one train has a fault, and an in-train CAN bus in the other train has no fault, the two reconnection gateways of the train with the in-train CAN bus having the fault control the in-train Ethernet bus to work, the in-train Ethernet bus respectively transmits data information of a train subsystem to the two reconnection gateways, the reconnection gateways process the received information into data frames according with a CAN bus transmission mode, and respectively transmit the data frames to the two reconnection gateways of the other train through a first CAN reconnection bus and a second CAN reconnection bus; each reconnection gateway of the train judges the damage degree of the received multi-path data frames, selects the data frame of the path with the minimum damage degree, and analyzes the data frame so as to complete information interaction between the reconnection trains; the train without the failure of the CAN bus in the train still adopts the CAN bus in the train to acquire the data of the subsystem in the train;
when the CAN buses in the two coupled trains have faults, the coupling gateways control the Ethernet buses in the trains to work, and the Ethernet buses in the trains transmit the data of the train subsystems to the two coupling gateways of the trains respectively.
Further, the reconnection gateway processes the received data into a data frame conforming to a CAN bus transmission mode, and the specific method is as follows: and the reconnection gateway filters the information after receiving the data transmitted by the Ethernet in the train, adds the identifier of the train to the filtered data, analyzes the filtered data, and sequentially packages the analyzed data according to the priority to generate a data frame conforming to the CAN bus protocol.
Further, whether the CAN bus in the vehicle has a fault is judged by the reconnection gateway, specifically, when the reconnection gateway does not receive new data transmitted by the CAN bus within 128 × 3 milliseconds, the reconnection gateway judges that the CAN bus in the vehicle has a fault.
Further, the reconnection gateway adopts an STM32F105 chip, and determines a master control train according to the digital signal of the GPIO port of the STM32F105 chip, specifically: performing signal regulation on an output signal of an activation circuit of the train, converting the output signal into a digital signal, and transmitting the digital signal to a GPIO port of an STM32F105 chip; and if the GPIO port of a certain STM32F105 chip is in a high level, the train where the chip is located is a master control train.
Has the advantages that: the CAN reconnection buses are backed up, when one CAN reconnection bus fails, the other CAN reconnection bus CAN be used for communication, and the in-vehicle CAN bus connection is preferentially adopted when the internal subsystem communicates with the gateway, so that the communication reliability is improved.
Drawings
FIG. 1 is a system block diagram of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention.
As shown in fig. 1, the present embodiment provides a multi-channel dual-redundancy rail transit vehicle reconnection system, which includes: the system comprises double-heading gateways, wherein each train is provided with two cabs, and each cab is provided with one double-heading gateway; all internal subsystems of the train are respectively connected with the two reconnection gateways through an in-train CAN bus; all the subsystems are also connected with the two reconnection gateways through an in-vehicle Ethernet bus respectively; when two trains are reconnected, each reconnection gateway of any one train is connected with all reconnection gateways of the other train; when two gateways which do not belong to the same train are connected, the two gateways are connected by using a first CAN reconnection bus and a second CAN reconnection bus;
in this embodiment, the reconnection gateway adopts STM32F105, STM32F105 supports 2-way CAN and 5-way UART interfaces and 1 10/100M ethernet interface, and the UART interfaces CAN be used for extending the CAN interfaces.
The reconnection method of the multichannel dual-redundancy rail transit vehicle reconnection system provided by the embodiment comprises the following steps:
when two trains are reconnected and the reconnection gateway detects that the CAN bus in the train has no fault, the CAN bus in the train works: CAN bus → reconnect CAN bus, specifically
The method comprises the steps that the in-train CAN bus of each train respectively transmits data of all subsystems of the train to two reconnection gateways of the train, the reconnection gateways add identifiers to the received data, encapsulate the data into new data frames, and simultaneously transmit the new data frames to the two reconnection gateways of other trains by using a first CAN reconnection bus and a second CAN reconnection bus; each reconnection gateway of the other trains judges the damage degree of the received multi-path data frames, selects the data frame of the path with the minimum damage degree and analyzes the data frame; thereby finishing the information interaction between the multi-connected trains; when the received data frame is empty, the vehicle is not reconnected; pre-storing the data in a train number pre-stored list of the reconnection gateway according to the vehicle identifier in the data frame,
when two trains are reconnected, the CAN bus in one train has a fault, and the CAN bus in the other train has no fault, the Ethernet bus in the train → the reconnected CAN bus, the CAN bus in the train → the reconnected CAN bus, specifically:
the method comprises the steps that an in-train Ethernet bus of a train with a fault in an in-train CAN bus controls the in-train Ethernet bus of the train to work, the in-train Ethernet bus respectively transmits data information of a train subsystem to two in-train Ethernet gateways of the train, the in-train Ethernet data frames are large, the in-train Ethernet gateways filter the information after receiving the data transmitted by the in-train Ethernet, add identifiers to the filtered data, analyze the filtered data, sequentially package the analyzed data according to priorities to generate data frames conforming to a CAN bus protocol, and respectively transmit the data frames to the two in-train Ethernet gateways of the other train through a first CAN Ethernet bus and a second CAN Ethernet bus; each reconnection gateway of the train judges the damage degree of the received multi-path data frames, selects the data frame of the path with the minimum damage degree, analyzes the data frame to complete information interaction between the reconnection trains, and indicates that the vehicle is not reconnected when the received data frame is empty; pre-storing the data in a train number pre-storing list of the reconnection gateway according to the vehicle identifier in the data frame; the train without the failure of the CAN bus in the train still adopts the CAN bus in the train to acquire the data of the subsystem in the train;
when the CAN buses in the two coupled trains have faults, the Ethernet buses in the two trains respectively transmit the data of the train subsystems to the two coupled gateways of the train.
The GPIO port of each STM32F105 chip is connected with an activation circuit of the train through a signal regulating circuit (when a key is inserted into a key hole of the train and turns the key to start the train, or a driver starts a main control button of the train, the activation circuit is conducted); the signal regulating circuit converts the output signal of the activating circuit into a digital signal and transmits the digital signal to a GPIO port of an STM32F105 chip, and if the GPIO port of a certain STM32F105 chip is in a high level, the train where the chip is located is a master control train.
And judging whether the CAN bus in the vehicle has a fault by the reconnection gateway, specifically, judging the CAN bus in the vehicle has a fault by the reconnection gateway when the reconnection gateway does not receive new data transmitted by the CAN bus within 128 x 3 milliseconds.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
Claims (5)
1. A multi-channel dual-redundancy reconnection method for a rail transit vehicle reconnection system comprises reconnection gateways, wherein each train is provided with two cabs, and each cab is provided with one reconnection gateway; all internal subsystems of the train are respectively connected with the two reconnection gateways through an in-train CAN bus; all the subsystems are also connected with the two reconnection gateways through an in-vehicle Ethernet bus respectively; when two trains are reconnected, each reconnection gateway of any one train is connected with all reconnection gateways of the other train; when two gateways which do not belong to the same train are connected, the two gateways are connected by using a first CAN reconnection bus and a second CAN reconnection bus; the method is characterized in that when two trains are connected in series and the CAN buses in all the trains are not in fault, the Ethernet is controlled by the reconnection gateways to work, the CAN bus in each train transmits the data of all the subsystems of the train to the two reconnection gateways of the train respectively, the reconnection gateways add identifiers of the train to the received data and package the data into new data frames, and the first CAN reconnection bus and the second CAN reconnection bus are used for transmitting the new data frames to the two reconnection gateways of the other train simultaneously; each reconnection gateway of the train judges the damage degree of the received multi-path data frames, selects the data frame of the path with the minimum damage degree and analyzes the data frame; thereby finishing the information interaction between the multi-connected trains;
when two trains are in reconnection, an in-train CAN bus in one train has a fault, and an in-train CAN bus in the other train has no fault, the two reconnection gateways of the train with the in-train CAN bus having the fault control the in-train Ethernet bus to work, the in-train Ethernet bus respectively transmits data information of a train subsystem to the two reconnection gateways, the reconnection gateways process the received information into data frames according with a CAN bus transmission mode, and respectively transmit the data frames to the two reconnection gateways of the other train through a first CAN reconnection bus and a second CAN reconnection bus; each reconnection gateway of the train judges the damage degree of the received multi-path data frames, selects the data frame of the path with the minimum damage degree, and analyzes the data frame so as to complete information interaction between the reconnection trains; the train without the failure of the CAN bus in the train still adopts the CAN bus in the train to acquire the data of the subsystem in the train;
when the CAN buses in the two coupled trains have faults, the coupling gateways control the Ethernet buses in the trains to work, and the Ethernet buses in the trains transmit the data of the train subsystems to the two coupling gateways of the trains respectively.
2. The reconnection method for the multi-channel dual-redundancy rail transit vehicle reconnection system as claimed in claim 1, wherein the reconnection gateway adopts an STM32F105 chip, when the in-vehicle CAN bus is used for connection with the STM32F105 chip, a UART interface in the chip is expanded to be a CAN interface, and the in-vehicle bus is connected with the expanded CAN interface.
3. The method according to claim 1, wherein the reconnection gateway processes the received data into data frames conforming to a CAN bus transmission mode by: and the reconnection gateway filters the information after receiving the data transmitted by the Ethernet in the train, adds the identifier of the train to the filtered data, analyzes the filtered data, and sequentially packages the analyzed data according to the priority to generate a data frame conforming to the CAN bus protocol.
4. The method according to claim 1, wherein the reconnection gateway determines whether the in-vehicle CAN bus is faulty, and in particular, when the reconnection gateway does not receive new data transmitted by the CAN bus within 128 x 3 milliseconds, the reconnection gateway determines that the in-vehicle CAN bus is faulty.
5. The method according to claim 1, wherein the reconnection gateway adopts an STM32F105 chip, and determines the master control train according to a digital signal of a GPIO port of the STM32F105 chip, specifically: performing signal regulation on an output signal of an activation circuit of the train, converting the output signal into a digital signal, and transmitting the digital signal to a GPIO port of an STM32F105 chip; and if the GPIO port of a certain STM32F105 chip is in a high level, the train where the chip is located is a master control train.
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| CN111404799B (en) * | 2020-03-20 | 2021-12-10 | 青岛杰瑞工控技术有限公司 | Train fault positioning system and method based on CAN communication and LAN communication disconnection |
| CN113030752B (en) * | 2021-04-12 | 2024-03-29 | 安徽理工大学 | Online parameter identification and SOC joint estimation method based on variable forgetting factor |
| CN113147800B (en) * | 2021-05-19 | 2022-10-25 | 中车青岛四方机车车辆股份有限公司 | Activation circuit and train |
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| CN102156409B (en) * | 2010-12-21 | 2012-08-15 | 中国北车集团大连机车车辆有限公司 | Method for controlling multi-locomotive reconnection computer of railway locomotive |
| CN202163460U (en) * | 2011-08-04 | 2012-03-14 | 中国北车股份有限公司大连电力牵引研发中心 | Re-connection light rail vehicle based on field bus |
| CN104683226B (en) * | 2013-11-28 | 2018-01-05 | 中车大连电力牵引研发中心有限公司 | Locomotive double heading gateway based on Ethernet ETH |
| CN104908779B (en) * | 2015-05-05 | 2017-11-14 | 南车株洲电力机车研究所有限公司 | One kind marshalling joins data flow redundancy approach and system again |
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| CN108008639A (en) * | 2016-10-31 | 2018-05-08 | 中车大同电力机车有限公司 | The system digitalized emulation platform of electric locomotive microcomputer network control based on Life cycle |
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