CN110843857A - Fault detection and switching system for dual-machine hot standby ATO equipment - Google Patents
Fault detection and switching system for dual-machine hot standby ATO equipment Download PDFInfo
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- CN110843857A CN110843857A CN201911148734.3A CN201911148734A CN110843857A CN 110843857 A CN110843857 A CN 110843857A CN 201911148734 A CN201911148734 A CN 201911148734A CN 110843857 A CN110843857 A CN 110843857A
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- 238000001514 detection method Methods 0.000 title claims description 12
- 230000001360 synchronised effect Effects 0.000 claims description 25
- 238000004891 communication Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims 1
- 238000005476 soldering Methods 0.000 claims 1
- 230000002159 abnormal effect Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000003466 welding Methods 0.000 description 3
- 102100029368 Cytochrome P450 2C18 Human genes 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0063—Multiple on-board control systems, e.g. "2 out of 3"-systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0081—On-board diagnosis or maintenance
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Abstract
The invention discloses a system for detecting and switching faults of dual-computer hot standby ATO equipment, which comprises a host computer and a standby computer, wherein the host computer and the standby computer respectively comprise a main control unit, an input unit and an output unit, the host computer and the standby computer are communicated in real time through a network, the states of the host computer and the standby computer are judged through heartbeat, the standby computer realizes the learning of host computer data per cycle, the host computer and the standby computer are communicated through a hard wire, when the host computer works, an effective signal is output, and the standby computer collects the signal and judges the state of the host computer. The invention can realize seamless switching between the main and the standby in a short time without double main conditions.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a system for detecting and switching faults of dual-machine hot standby ATO equipment.
Background
The Automatic Train Operation (ATO) is a vehicle-mounted signal device of urban rail transit subways, safe automatic operation such as data acquisition, target curve and control instruction calculation, control instruction output and the like of mobile authorization and the like is realized under the protection of an automatic train protection system (ATP), along with the development of urban rail transit, the reliability requirement on the ATO device is higher and higher, and single-system ATO devices cannot meet the improvement of safety factors, so that an ATO dual-machine hot standby design scheme with redundant functions is provided.
The ATO needs to realize high-precision vehicle control and has accurate synchronization with a vehicle-mounted ATP (including a speed and distance measuring unit), and the ATO main/standby switching needs to be completed in a short time.
In the existing dual-host hot standby technical scheme, heartbeat communication is mostly carried out between the host and the standby, hot standby detection and switching are carried out on the host and the standby through software, and when the heartbeat is wrong, a dual-host state may occur, so that a system error is caused.
The invention introduces a hard wire signal as one of the conditions for judging the fault of the host, thereby avoiding the occurrence of double masters. However, the hard-line signal is prone to failure, which results in the acquisition of long high level or low level, and causes a judgment error.
When the standby machine detects the failure of the host machine, the host machine needs to be seamlessly raised, so that better synchronization between the host machine and the standby machine is needed. The host machine and the standby machine simultaneously receive the synchronous pulse signals sent by the ATP to realize synchronization. The ATP synchronization pulse has a burr or loss condition, so that synchronization errors occur and abnormity occurs during switching.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a system for detecting and switching the faults of dual-machine hot standby ATO equipment, which can realize seamless switching between a main machine and a standby machine within a short time and can not generate dual-main condition.
The purpose of the invention is realized by the following technical scheme.
The utility model provides a two machines are hot to be equipped with ATO equipment fault detection and switching system, includes host computer and standby machine, host computer and standby machine contain main control unit, input unit, output unit respectively, carry out real-time communication through the network between host computer and the standby machine, judge the state of activestandby through the heartbeat, and the standby machine realizes the study to the host computer data per cycle, still realize communication through the hard wire between host computer and the standby machine, the host computer during operation, output valid signal, this signal is gathered to the standby machine, judges the host computer state.
Adopt interlock circuit between host computer and the spare machine, the spare machine does not export external signal when the host computer output, host computer output signal adopts dynamic pulse signal, and this signal is gathered to the spare machine, carries out rationality detection to pulse signal simultaneously in real time.
The system comprises a main control unit, an input board, a main control unit, a standby unit, an input unit and an output unit, wherein the main control unit is used for reading input board information and judging a default main/standby state, and the main control unit is used for reading different input information and setting the default main/standby state in the input unit through a selective welding resistor.
The host outputs a dynamic pulse signal and sends a network heartbeat signal to the standby machine, the standby machine does not acquire the heartbeat, the dynamic pulse signal is checked, if the standby machine has the pulse state signal, the communication fault between the host and the standby machine is considered, the standby machine does not lift the host, otherwise, the standby machine lifts the host.
The ATO equipment collects speed and distance measuring information collected by the vehicle-mounted ATP in real time, high-precision vehicle control is carried out according to the current train speed, position and target position, the vehicle-mounted ATP sends synchronous signals to the main ATO and the standby ATO at the same time, and synchronization with the ATO and the vehicle-mounted ATP and synchronization between the main engine and the standby engine are achieved.
And the ATO equipment receives the ATP synchronous signal, detects the synchronous signal, judges the validity and avoids the loss of the burr signal or the synchronous signal. If the signal is continuously lost, the synchronous signal is judged to be in fault, and the machine is reduced to a standby machine.
If the ATP synchronous signal is lost, the ATO generates a synchronous signal and outputs the synchronous signal to the standby machine, output interlocking is performed between the host machine and the standby machine, and only the host machine outputs the synchronous signal to the standby machine at the moment.
Compared with the prior art, the invention has the advantages that: the invention can realize seamless switching between the main and the standby in a short time without double main conditions.
Drawings
FIG. 1 is a schematic diagram of the backup system of the present invention detecting the main system fault through the network and dynamic pulse.
Fig. 2 is a schematic diagram of primary/standby synchronization processing according to the present invention.
Detailed Description
The invention is described in detail below with reference to the drawings and specific examples.
As shown in fig. 1 and 2, a primary/secondary detection and switching system for an ATO device with a dual-device hot-standby structure includes a primary device (primary system) and a secondary device (secondary system), where each primary and secondary system includes a main control unit, an input unit, and an output unit. And the main machine input unit and the standby machine input unit are selectively welded with different resistors.
The main control unit of the host computer is connected with the input and output unit through a CPCI bus, and the main control unit of the standby computer is connected with the input and output unit through the CPCI bus.
The main system and the standby system are communicated in real time through a network (Ethernet), and the main machine outputs a level signal through the output unit and is connected to the input unit of the standby machine. The standby machine outputs level signals and is connected to the input unit of the host machine. The states of the main system and the standby system are judged through heartbeat, and the standby system realizes the learning of the main system data per period.
The main system and the standby system of the system are communicated through hard wires, when the main system works, effective signals are output, and the standby system collects the signals and judges the state of the main system. Particularly, an interlocking circuit is adopted between the main system and the standby system, and the standby system does not output external signals when the main system outputs. The main system output signal adopts a dynamic pulse signal, the standby system collects the signal, and simultaneously carries out rationality detection on the pulse signal in real time, thereby avoiding the abnormal influence of a level signal and greatly improving the usability of a hard wire signal.
The default main/standby state is judged between the main/standby systems of the system by reading the information of the input board. In the input unit, the main control unit reads different input information and sets default main and standby through the selective welding resistor.
The system main system outputs dynamic pulse signals and sends network heartbeat signals to the standby system. If the standby system does not acquire the heartbeat, the dynamic pulse signal is checked, if the pulse state signal exists, the communication fault of the main and standby systems is considered, and the main system is not upgraded. Particularly, under the condition that the standby system and the main system are synchronous, the main system fault is checked in a network and hard line mode, the time for the main and standby network fault can be shortened, the fault detection time is shortened, the standby system can be started in a short time, and vehicle control is achieved.
The method comprises the steps that ATO collects speed and distance measuring information collected by vehicle-mounted ATP in real time, high-precision vehicle control is conducted according to the current train speed, position and target position, seamless switching needs to be achieved if main and standby faults occur, and therefore accurate synchronization with the vehicle-mounted ATP is needed. In addition, precise synchronization is also required between the main and standby systems. If a soft synchronization mode is adopted, a high-precision synchronization function cannot be realized under the condition of network failure; therefore, the invention proposes to adopt a hard synchronization mode. The vehicle-mounted ATP sends synchronous signals to the main and standby ATOs at the same time, so that the synchronization with the ATOs and the vehicle-mounted ATP and the synchronization between the main and standby systems are realized. If the main system fails, the standby system still acquires data according to the vehicle-mounted ATP synchronous signal, and seamless processing of input data can be realized.
And the ATO receives the ATP synchronous signal, detects the synchronous signal, judges the validity and avoids the loss of the glitch signal or the synchronous signal. If the signal is continuously lost, the synchronization signal is judged to be faulty and is reduced to the backup system.
Specifically, if the ATP sync signal is lost, the ATO generates a sync signal and outputs the sync signal to the backup. The master system and the slave system are interlocked in output, and only the master system outputs a synchronous signal to the slave system.
By dynamically monitoring the ATP synchronous signals and sending the synchronous signals to the standby ATO by the main ATO under the fault condition, high-precision synchronization between the main ATO and the standby ATO and between the ATP can be realized.
After the system main system is in failure, the main-standby switching can be applied to the standby system, and the standby system is immediately upgraded to the main system after checking the signal.
After the system main system is powered off due to fault, the standby system does not detect heartbeat, and the main system does not have a dynamic pulse state signal, so that the standby system is upgraded to be the main system.
Examples
The host and the standby machine and the vehicle-mounted ATP are connected into the ATO host and the standby machine through hardware signals. The ATP period sends a synchronous pulse to the ATO, and the ATO detects the pulse and then serves as period starting, so that the synchronization of the ATP and the ATO and the synchronization between the main and standby ATOs are realized.
And the ATO detects the ATP synchronous pulse signal in real time through a pulse checking circuit, performs filtering processing on smaller burrs and judges whether the synchronous signal is lost. If the loss of the synchronous pulse is detected, the main system generates a synchronous signal within the allowed loss times as the start of the next period and simultaneously outputs the signal to the standby system, thereby realizing the synchronization between the main system and the standby system.
After the system is powered on, the two-system ATO sets a default main standby state through collecting the selective welding resistance state in the input unit.
And in the system operation process, the heartbeat information exchange is carried out between the main and standby ATOs in real time. When the main system cycle operation is finished, the key data of the cycle is sent to the standby system, and the standby system carries out the next cycle operation processing according to the key data.
The main system sends the ID number of the received external message to the standby system, and the standby system judges the validity of the received message according to the ID number, so that the repeatability of the message is avoided.
When the system is in normal operation, the main system outputs data to the outside, controls the interlocking circuit, and operates the backup system, but does not output data to the outside. And the standby system is upgraded to the main system and then the data is output externally.
When detecting self faults, such as hardware faults, application overtime and the like, the main system sends a switching request to the standby system and reduces the switching request to the standby system, and the standby system is upgraded to the main system after receiving the switching request.
If the application detects that the application is abnormal in operation, the application can apply for main-standby switching to the platform, the main system immediately sends a switching request to the standby system, the main system is lowered into the standby system, and the standby system is upgraded to the main system after receiving the request.
The main system outputs state pulse to the standby system when running, the standby system collects the state through the input unit and checks the validity through the pulse checking circuit.
The standby system continuously does not detect the heartbeat of the main system, detects the received main system state pulse signal, if the state signal is abnormal, the main system is considered to be in failure, and the standby system is raised to be the main system. If the received master system state is detected to be a normal signal, the backup system is regarded as abnormal with the master system network, and the original state is maintained.
Claims (7)
1. The utility model provides a two machines are hot to be equipped with ATO equipment fault detection and switching system, includes host computer and standby machine, host computer and standby machine contain main control unit, input unit, output unit respectively, carry out real-time communication through the network between host computer and the standby machine, judge the state of activestandby through the heartbeat, and the standby machine realizes the study to the host computer data per cycle, its characterized in that still realize the communication through the hard line between host computer and the standby machine, and the host computer during operation exports effective signal, and the standby machine gathers this signal, judges the host computer state.
2. The dual-computer hot-standby ATO equipment fault detection and switching system according to claim 1, characterized in that an interlock circuit is adopted between said host computer and the standby computer, the standby computer does not output external signals when the host computer outputs, said host computer output signal adopts dynamic pulse signal, the standby computer collects this signal, and at the same time, the pulse signal is detected in real time for rationality.
3. The dual-computer hot-standby ATO device fault detection and switching system as claimed in claim 1, wherein the default main/standby state is determined by reading input board information between the system main computer and the standby computer, and the default main/standby state is set by the main control unit reading different input information through the selective soldering resistor in the input unit.
4. The system according to claim 1, wherein the host outputs a dynamic pulse signal and sends a network heartbeat signal to the standby device, the standby device checks the dynamic pulse signal if the heartbeat signal is not collected, and if there is a pulse status signal, it is determined that the host and the standby device are in communication failure, the standby device does not power up the host, otherwise, the standby device powers up the host.
5. The dual-computer hot standby ATO device fault detection and switching system as claimed in claim 1, wherein the ATO device collects speed and distance measurement information collected by a vehicle-mounted ATP in real time, and performs high-precision train control according to a current train speed, position and target position, and the vehicle-mounted ATP sends a synchronization signal to the primary and standby ATO simultaneously, so as to achieve synchronization with the ATO and the vehicle-mounted ATP and synchronization between the primary and standby computers.
6. The dual-computer hot-standby ATO device fault detecting and switching system of claim 5, wherein said ATO device receives ATP synchronization signal, and detects the synchronization signal, determining validity, avoiding loss of glitch signal or synchronization signal. If the signal is continuously lost, the synchronous signal is judged to be in fault, and the machine is reduced to a standby machine.
7. The system of claim 2, wherein if the ATP sync signal is lost, the ATO generates a sync signal and outputs the sync signal to the standby device, and the host and the standby device are interlocked, and only the host outputs the sync signal to the standby device.
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| CN201911148734.3A CN110843857A (en) | 2019-11-21 | 2019-11-21 | Fault detection and switching system for dual-machine hot standby ATO equipment |
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| CN201911148734.3A CN110843857A (en) | 2019-11-21 | 2019-11-21 | Fault detection and switching system for dual-machine hot standby ATO equipment |
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Cited By (7)
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| CN111845867A (en) * | 2020-07-16 | 2020-10-30 | 中车青岛四方车辆研究所有限公司 | Data safety redundancy method of central control unit of train network control system |
| CN112698991A (en) * | 2021-01-20 | 2021-04-23 | 北京锐马视讯科技有限公司 | Dual-computer hot standby system and method based on 1 to 1 heartbeat |
| CN113726573A (en) * | 2021-08-31 | 2021-11-30 | 通号城市轨道交通技术有限公司 | Redundant network communication method, device, electronic equipment and storage medium |
| CN113848950A (en) * | 2021-10-21 | 2021-12-28 | 广州文远知行科技有限公司 | Controller control method and device, vehicle and storage medium |
| CN114844807A (en) * | 2022-03-29 | 2022-08-02 | 阿波罗智能技术(北京)有限公司 | System detection method, device, equipment, storage medium, vehicle and cloud control platform |
| CN114978873A (en) * | 2022-04-22 | 2022-08-30 | 南京地铁集团有限公司 | Monitoring method, system, device, electronic equipment and storage medium |
| CN116500886A (en) * | 2023-06-28 | 2023-07-28 | 中国船舶集团有限公司第七〇七研究所 | Multi-machine hot standby control method |
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| CN116500886A (en) * | 2023-06-28 | 2023-07-28 | 中国船舶集团有限公司第七〇七研究所 | Multi-machine hot standby control method |
| CN116500886B (en) * | 2023-06-28 | 2023-09-08 | 中国船舶集团有限公司第七〇七研究所 | Multi-machine hot standby control method |
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