CN110979393A - Programmable logic control system applied to subway train - Google Patents
Programmable logic control system applied to subway train Download PDFInfo
- Publication number
- CN110979393A CN110979393A CN201911290786.4A CN201911290786A CN110979393A CN 110979393 A CN110979393 A CN 110979393A CN 201911290786 A CN201911290786 A CN 201911290786A CN 110979393 A CN110979393 A CN 110979393A
- Authority
- CN
- China
- Prior art keywords
- board card
- programmable logic
- board
- logic control
- main control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 claims abstract description 62
- 238000012545 processing Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 description 19
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000004092 self-diagnosis Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B61L15/0018—Communication with or on the vehicle or train
- B61L15/0036—Conductor-based, e.g. using CAN-Bus, train-line or optical fibres
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Programmable Controllers (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a programmable logic control system applied to a subway train, which comprises: the programmable logic control unit runs an embedded real-time operation module, a graphical programming module and a storage recording module, and the periphery of the main control chip is connected with a communication interface circuit; the programmable logic control unit at least comprises a power supply board card, a gateway board card with a recording function and multiple communication interfaces, two redundant main control board cards, a large bypass board card with four independent CAN communication paths, multiple groups of redundant digital input/output board cards, an interface board card and a back board for external connection, wherein the main control board card is used for controlling input and output of digital signals and controlling redundant switching of fault board cards, the gateway board card is in data communication with external equipment, and the digital input/output board cards are used for collecting and driving data signals.
Description
Technical Field
The invention relates to the field of low-voltage control circuits of rail transit vehicles, in particular to a programmable logic control system applied to a subway train.
Background
The low-voltage control loop of the subway train is a complex and important subsystem in the whole train electrical system, wherein the most important and most numerous electric devices are relays. The signal transmission and logic control of subway trains are mostly completed by relays, about 200 relays can be used by a single train, and most of signals controlled by the relays are related to key signals and logic of the train. Because the space of the screen cabinet of the subway train is limited, the relay is generally installed in a close fit manner, so that the heat dissipation is not facilitated, the service life is long, and dust is easy to deposit; the action of part of the relays is frequent, the maximum time can reach 200 times per day, or the coil is electrified for a long time, and the longest time for keeping the coil electrified is 16 hours, so that the fault rate of the relays begins to increase after the relays are used for about 3 years. The detection means is limited in the using process, the running fault of the train is directly influenced, and great difficulty is caused to operation and maintenance.
The LCU is a contactless control circuit formed by modern power electronic technology and microcomputer technology, and can replace low-voltage electric appliances such as original time relay and intermediate relay and a large number of circuitous circuits on the train. In the prior art, the input/output unit generally adopts a non-redundant structure, has no operating system, and is low in real-time switching and response speed, so that the requirement of timely switching a redundant board card under the condition of a single LCU board card fault cannot be met, and the driven contactor cannot generate misoperation.
Disclosure of Invention
According to the problems existing in the prior art, the invention discloses a programmable logic control system applied to a subway train, which specifically comprises the following steps:
the programmable logic control unit runs an embedded real-time operation module, a graphical programming module and a storage recording module, and the periphery of the main control chip is connected with a communication interface circuit;
the programmable logic control unit at least comprises a power supply board card, a gateway board card with a recording function and multiple communication interfaces, two redundant main control board cards, a large bypass board card with four independent CAN communication paths, a plurality of redundant digital input/output board cards, an interface board card and a back board for external connection, wherein the main control board card is used for controlling input and output of digital signals and controlling redundant switching of fault board cards, the gateway board card is in data communication with external equipment, and the digital input/output board cards are used for collecting and driving data signals.
Furthermore, the programmable logic control unit adopts a main control board with the model number of STM32F407, and the main control board and the back board carry out two-way redundant CAN data communication.
Furthermore, a FreeRTOS embedded real-time operating system is transplanted on the programmable logic control unit, controlbuilt graphical programming software is operated, and graphical control logic is designed on the controlbuilt software.
Further, the gateway board card supports an MVB communication protocol, an RS485 communication protocol, an ethernet communication protocol, and a CAN communication protocol.
Further, an output channel of the digital input/output board card is provided with an overcurrent protection module, when a single channel is in overcurrent, the overcurrent protection module automatically cuts off the channel, a short-circuit signal is sent to the main control board card for processing, and the main control board card performs redundancy switching.
Due to the adoption of the technical scheme, the programmable logic control system applied to the subway train has the advantages of flexible control mode, redundant control, convenience in programming, visual wiring and clear maintenance arrangement, and simultaneously solves the problem of unreliability of the original system of the train in a strong vibration environment by adopting a non-contact output control mode.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a functional block diagram of the present system;
FIG. 2 is a topological diagram of LCUs distributed on a subway train, and a network with different functions is formed by utilizing various communication interfaces;
fig. 3 is a schematic diagram of LCU chassis backplane communications.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:
the programmable logic control system applied to the subway train shown in fig. 1 comprises a programmable logic control unit, wherein an embedded real-time operation module, a graphical programming module and a storage recording module run on the programmable logic control unit, and the periphery of a main control chip is connected with a communication interface circuit. The programmable logic control unit adopts an ARM core chip with the model number of STM32F407, the embedded real-time operating module runs a FreeRTOS embedded real-time operating system, the graphical programming module runs controlbuilt graphical programming software, and the graphical control logic is designed on the controlbuilt software.
Furthermore, the STM32F407 chip realizes all control functions of the main control board card, a FreeRTOS embedded real-time operating system is transplanted to the STM32F407 chip, Controlbuild graphical programming software CAN be operated, and graphical control logic design is performed on the Controlbuild software, so that communication between the STM32F407 chip and the backboard double-channel CAN communication module TJA1050T is realized, and control of the main control board to other board cards or redundant switching of the failed board card is realized by utilizing backboard CAN communication.
Furthermore, an STM32F407 chip realizes all control functions of the gateway board card, a FreeRTOS embedded real-time operating system is transplanted to the STM32F407 chip, a file system CAN be operated and stored in a NAND FLASH core memory chip based on GLS85VM1016B, MVB communication data, RS485 communication data, Ethernet communication data and CAN communication data of gateway communication are subjected to data recording and generated into a file through C language programming, and the file is subjected to LCU state and fault analysis by using ground diagnosis software; and generating a configuration file through an upper computer, downloading the configuration file to a file system of the gateway board card, and configuring the MVB communication address of the front panel of the gateway and the IP address of Ethernet communication. Therefore, the communication function of the STM32F407 chip and the front panel redundant MVB communication module MAX3292D, the communication function of the front panel RS485 communication module MAX485 and the communication function of the front panel Ethernet communication module DP83848 are realized, and the LCU can communicate with a train network control system or other sub-equipment.
Furthermore, the redundant power supply board card is used for supplying power to two groups of mutually redundant main control boards, digital quantity input and output board cards and the gateway board card, and the external data communication and data recording functions are completed through the gateway board card; and the input and output control of the digital quantity input and output board card and the redundancy switching of the fault board card are completed through the main control board card. The acquisition and the driving of the digital quantity are finished through a digital quantity input and output board card and an interface board card; through two paths of redundant CAN communication of the backboard, the gateway board card, the master control board card and the digital input/output board card complete data communication and control functions.
Example (b):
suppose the train is in a 4-node marshalling mode and a 2-action 2-drag marshalling mode. Wherein M is a motor car without a driver cab, Tcp is a trailer with the driver cab. The first car is provided with 2 cascaded 3U LCU cases, the middle car is provided with 1 independent LCU case, and the whole car is provided with 6 3U LCU cases. The LCUs are mutually independent in function, and respective logic control functions are realized. Each LCU CAN communicate with a train network control system through a train network bus MVB interface, the state data and the fault information of the LCU are reported, and the LCUs CAN communicate with each other through a CAN. The LCU is adjusted according to different projects and different train marshalling forms, and is suitable for trains in all marshalling forms.
Preferably, the method comprises the following steps: as shown in fig. 2, the LCU chassis is configured with a set of redundant power boards (a/B) to supply power to the set a or the set B of function boards in the chassis, A, B sets of external power input buses of the power boards are completely independent from each other, and an independent control switch (such as an idle switch) is arranged at a remote end. The power panel has the functions of output under-voltage detection and short-circuit protection.
Preferably, the method comprises the following steps: fig. 2 and fig. 3 show the implementation forms of power supply and communication of each functional board. The LCU board cards are connected through a backboard by adopting a redundant dual-channel CAN bus design. Each group of LCU systems is provided with a CAN bus redundancy control mechanism, so that when a certain communication bus fails, the LCU systems CAN be started and operated normally. When a certain CAN bus CAN not receive and transmit data, LCU group switching is not carried out, and single CAN operation is maintained. And the CAN driving output ends of all the board cards are provided with anti-interference circuits so as to ensure EMC performance.
Preferably, the method comprises the following steps: the 1 LCU case comprises 2 redundant power supply board cards, 1 gateway board card with a recording function and multiple communication interfaces, 2 redundant main control board cards, 1 large bypass board card with four paths of independent CAN communication, a plurality of redundant digital quantity input and output board cards, 3 interface board cards for external connection and 1 backboard.
The gateway board card supports an MVB communication protocol, an RS485 communication protocol, an Ethernet communication protocol and a CAN communication protocol, and is taken as an optimal mode: the communication function of the MVB communication module MAX3292D, the communication function of the front panel RS485 communication module MAX485 and the communication function of the front panel Ethernet communication module DP83848 can realize the communication between the LCU and a train network control system or other sub-equipment; data interaction is carried out between the back plate double-path CAN communication module TJA1050T and the main control board card, the LCU unit is defined to be positioned in the carriage of the subway train through a dial switch of the front panel, and therefore the IP addresses and the MVB communication addresses of the gateway board card and the main control board card are automatically distributed.
Preferably, the digital input board card occasionally has a high voltage input channel due to various conditions that may occur during the operation of the train. When high voltage is connected in series into a channel, input channel elements are often burnt, so that input channel failure is caused to cause faults. In order to avoid the faults caused by the above conditions, a diagnosis circuit is adopted to carry out self-check on the board card besides taking a measure for strengthening high voltage resistance in an input channel. The self-checking circuit adopts two working modes of periodic self-checking and triggered self-checking. The redundant two digital quantity input board cards simultaneously acquire the same input channel, and the main control board card judges the input state according to the channel acquisition result and the self-checking result.
The digital quantity input board card adopts photoelectric isolation for each input channel, has anti-interference capability and can accurately and quickly receive input electric signal instructions. The input signal voltage 0-30V is defined as "0"; the input signal voltage 77-137.5V is defined as "1". Each switching value input is provided with a corresponding indicator light, and the light is green when the input is available.
According to the digital output board card, a drive circuit is based on a MOSFET chip IRFP4332PbF as a core, a non-contact control circuit is formed, the switching function of the circuit is realized, and the problems of aging and poor contact of a mechanical contact of a traditional relay are fundamentally avoided. Each path can drive a load 2A with a peak on-current of up to 15A. The power consumption is low, the switching speed is high, the circuit is simple, the cost is low, and the like.
The output channel of the digital output board card adopts 2500VAC/1min electrical isolation and has a short-circuit protection function. Each switching value output is provided with a corresponding indicator light, and when the output is available, the light is green. When a load of a certain path is short-circuited, the LCU automatically disconnects the output of the path and prompts the output, the output can be recovered after the short circuit disappears, meanwhile, the control module or the plug-in can detect the working state of the control module or the plug-in, and the indication can be realized by flashing an indicator lamp and reporting the bus when the abnormal condition occurs.
Each input board card and each output board card of the digital quantity input and output board cards form a laminated board form to form an input and output module only occupying 4TE board positions, and each input and output module is integrated with 14 input channels and 10 output channels.
The interface board card and the digital input/output channel are externally connected through the interface board, the branching processing is carried out on the back board, and the digital quantity is respectively branched to the redundant digital input board card for digital quantity acquisition and digital output driving. The problem of complex wiring mode of external branching of the case is solved.
The invention discloses a programmable logic control system (LCU) applied to a subway train, which has self-diagnosis capability, and a case is provided with a state indicator lamp which can visually display the running state and channel state of the LCU, such as input/output, power supply, fault, running, communication, switching and other indications. The LCU running state and the channel state are transmitted to the TCMS through the MVB network in real time and can be displayed on an HMI of the TCMS.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (5)
1. The utility model provides a be applied to subway train's programmable logic control system which characterized in that includes: the programmable logic control unit runs an embedded real-time operation module, a graphical programming module and a storage recording module, and the periphery of the main control chip is connected with a communication interface circuit;
the programmable logic control unit at least comprises a power supply board card, a gateway board card with a recording function and multiple communication interfaces, two redundant main control board cards, a large bypass board card with four independent CAN communication paths, multiple groups of redundant digital input/output board cards, an interface board card and a back board for external connection, wherein the main control board card is used for controlling input and output of digital signals and controlling redundant switching of fault board cards, the gateway board card is in data communication with external equipment, and the digital input/output board cards are used for collecting and driving data signals.
2. The programmable logic control system applied to a subway train as claimed in claim 1, further characterized in that: the programmable logic control unit adopts a main control board with the model number of STM32F407, and the main control board and the back board carry out two-way redundant CAN data communication.
3. The programmable logic control system applied to a subway train as claimed in claim 2, further characterized in that: and a FreeRTOS embedded real-time operating system is transplanted on the programmable logic control unit, controlbuilt graphical programming software is operated, and the graphical control logic is designed on the controlbuilt software.
4. The programmable logic control system applied to a subway train as claimed in claim 1, further characterized in that: the gateway board card supports an MVB communication protocol, an RS485 communication protocol, an Ethernet communication protocol and a CAN communication protocol.
5. The programmable logic control system applied to a subway train as claimed in claim 1, further characterized in that: the output channel of the digital input/output board card is provided with an overcurrent protection module, when a single channel is in overcurrent, the overcurrent protection module automatically cuts off the channel, a short-circuit signal is sent to the main control board card for processing, and the main control board card performs redundancy switching.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911290786.4A CN110979393A (en) | 2019-12-14 | 2019-12-14 | Programmable logic control system applied to subway train |
| PCT/CN2020/100160 WO2021114642A1 (en) | 2019-12-14 | 2020-07-03 | Programmable logic control system applied to subway train |
| PCT/CN2020/134445 WO2021115243A1 (en) | 2019-12-14 | 2020-12-08 | Programmable logic control system applied to subway train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911290786.4A CN110979393A (en) | 2019-12-14 | 2019-12-14 | Programmable logic control system applied to subway train |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110979393A true CN110979393A (en) | 2020-04-10 |
Family
ID=70093831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911290786.4A Pending CN110979393A (en) | 2019-12-14 | 2019-12-14 | Programmable logic control system applied to subway train |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110979393A (en) |
| WO (2) | WO2021114642A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111831507A (en) * | 2020-05-31 | 2020-10-27 | 中车永济电机有限公司 | TCMS-RIOM control unit with safety level design |
| CN111884893A (en) * | 2020-06-12 | 2020-11-03 | 中车青岛四方机车车辆股份有限公司 | Input and output signal acquisition system and test method |
| CN112114547A (en) * | 2020-09-18 | 2020-12-22 | 中车大连机车车辆有限公司 | Digital quantity accompanying and testing method and analog platform for locomotive microcomputer network system |
| CN112305905A (en) * | 2020-10-29 | 2021-02-02 | 株洲中车时代电气股份有限公司 | Train network control and monitoring system, train control method and train |
| WO2021114642A1 (en) * | 2019-12-14 | 2021-06-17 | 中车大连电力牵引研发中心有限公司 | Programmable logic control system applied to subway train |
| CN115158402A (en) * | 2022-07-05 | 2022-10-11 | 河南思维自动化设备股份有限公司 | Programmable logic control system and control method for subway train |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202141905U (en) * | 2011-06-28 | 2012-02-08 | 北京荣信慧科科技有限公司 | Control system redundancy switching device based on high speed serial communication |
| CN106627668A (en) * | 2016-12-26 | 2017-05-10 | 合肥工大高科信息科技股份有限公司 | Train monitoring server system based on double-two-out-of-two framework and control method |
| KR20180069171A (en) * | 2016-12-14 | 2018-06-25 | 현대로템 주식회사 | Air brake apparatus control methods for highspeed railway |
| CN109347712A (en) * | 2018-10-10 | 2019-02-15 | 重庆中车四方所智能装备技术有限公司 | A kind of network structure based on rail traffic |
| CN109639546A (en) * | 2018-12-28 | 2019-04-16 | 浙江中控研究院有限公司 | A kind of CAN bus based redundant system |
| CN109677468A (en) * | 2019-03-04 | 2019-04-26 | 中车青岛四方车辆研究所有限公司 | Train logic control element and logic control method |
| CN110213144A (en) * | 2019-05-31 | 2019-09-06 | 南京康尼电子科技有限公司 | A kind of redundant network system for Train door |
| CN110351174A (en) * | 2019-07-19 | 2019-10-18 | 北京交大思诺科技股份有限公司 | A kind of safety computer platform of module redundancy |
| CN110361979A (en) * | 2019-07-19 | 2019-10-22 | 北京交大思诺科技股份有限公司 | A kind of safety computer platform in railway signal field |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4845918B2 (en) * | 2008-03-31 | 2011-12-28 | 株式会社日立製作所 | Interlocking device |
| CN103407463A (en) * | 2013-08-21 | 2013-11-27 | 南京泰通科技有限公司 | Semi-automatic electronic block instrument and working method of block instrument |
| CN107264572A (en) * | 2017-06-23 | 2017-10-20 | 成都运达科技股份有限公司 | A kind of contactless logic control system for possessing hot redundant ability |
| CN109901547B (en) * | 2017-12-11 | 2021-07-16 | 中车永济电机有限公司 | Vehicle management control VCU cabinet |
| CN110979393A (en) * | 2019-12-14 | 2020-04-10 | 中车大连电力牵引研发中心有限公司 | Programmable logic control system applied to subway train |
-
2019
- 2019-12-14 CN CN201911290786.4A patent/CN110979393A/en active Pending
-
2020
- 2020-07-03 WO PCT/CN2020/100160 patent/WO2021114642A1/en active Application Filing
- 2020-12-08 WO PCT/CN2020/134445 patent/WO2021115243A1/en active Application Filing
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202141905U (en) * | 2011-06-28 | 2012-02-08 | 北京荣信慧科科技有限公司 | Control system redundancy switching device based on high speed serial communication |
| KR20180069171A (en) * | 2016-12-14 | 2018-06-25 | 현대로템 주식회사 | Air brake apparatus control methods for highspeed railway |
| CN106627668A (en) * | 2016-12-26 | 2017-05-10 | 合肥工大高科信息科技股份有限公司 | Train monitoring server system based on double-two-out-of-two framework and control method |
| CN109347712A (en) * | 2018-10-10 | 2019-02-15 | 重庆中车四方所智能装备技术有限公司 | A kind of network structure based on rail traffic |
| CN109639546A (en) * | 2018-12-28 | 2019-04-16 | 浙江中控研究院有限公司 | A kind of CAN bus based redundant system |
| CN109677468A (en) * | 2019-03-04 | 2019-04-26 | 中车青岛四方车辆研究所有限公司 | Train logic control element and logic control method |
| CN110213144A (en) * | 2019-05-31 | 2019-09-06 | 南京康尼电子科技有限公司 | A kind of redundant network system for Train door |
| CN110351174A (en) * | 2019-07-19 | 2019-10-18 | 北京交大思诺科技股份有限公司 | A kind of safety computer platform of module redundancy |
| CN110361979A (en) * | 2019-07-19 | 2019-10-22 | 北京交大思诺科技股份有限公司 | A kind of safety computer platform in railway signal field |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021114642A1 (en) * | 2019-12-14 | 2021-06-17 | 中车大连电力牵引研发中心有限公司 | Programmable logic control system applied to subway train |
| WO2021115243A1 (en) * | 2019-12-14 | 2021-06-17 | 中车大连电力牵引研发中心有限公司 | Programmable logic control system applied to subway train |
| CN111831507A (en) * | 2020-05-31 | 2020-10-27 | 中车永济电机有限公司 | TCMS-RIOM control unit with safety level design |
| CN111831507B (en) * | 2020-05-31 | 2022-08-23 | 中车永济电机有限公司 | TCMS-RIOM control unit with safety level design |
| CN111884893A (en) * | 2020-06-12 | 2020-11-03 | 中车青岛四方机车车辆股份有限公司 | Input and output signal acquisition system and test method |
| CN112114547A (en) * | 2020-09-18 | 2020-12-22 | 中车大连机车车辆有限公司 | Digital quantity accompanying and testing method and analog platform for locomotive microcomputer network system |
| CN112305905A (en) * | 2020-10-29 | 2021-02-02 | 株洲中车时代电气股份有限公司 | Train network control and monitoring system, train control method and train |
| CN115158402A (en) * | 2022-07-05 | 2022-10-11 | 河南思维自动化设备股份有限公司 | Programmable logic control system and control method for subway train |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021114642A1 (en) | 2021-06-17 |
| WO2021115243A1 (en) | 2021-06-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110979393A (en) | Programmable logic control system applied to subway train | |
| CN107386868B (en) | A kind of modular control apparatus for platform door system | |
| CN203027276U (en) | Dual-machine hot standby platform | |
| RU2479904C1 (en) | Device to monitor and control signals of relay protection and emergency automation | |
| CN111123739A (en) | Network control system semi-physical simulation experiment platform used in full-automatic unmanned driving mode | |
| CN103407463A (en) | Semi-automatic electronic block instrument and working method of block instrument | |
| CN101143566A (en) | Locomotive accident isolating controlling method and device | |
| CN103425081A (en) | Control logic electronic method and system for diesel locomotive | |
| CN115092223A (en) | Reverse cutting equipment for rail transit signal system | |
| CN212811378U (en) | Direct-control type contact net isolating switch monitoring device | |
| CN109407585B (en) | Air conditioner controller for rail transit | |
| CN106487627B (en) | RIOM and train with RIOM | |
| CN112829774B (en) | Electric screen cabinet for rail transit vehicle and state monitoring method | |
| CN209823500U (en) | Case and case panel of direct current transmission valve control system | |
| CN214451018U (en) | Rail transit vehicle door data acquisition device | |
| CN215108294U (en) | Platform door central control system | |
| RU2479903C1 (en) | Device to monitor and control signals of relay protection and emergency automation | |
| CN115793607A (en) | Motor train unit control system | |
| CN211857273U (en) | Hardware maintenance test platform of subway vehicle-mounted signal control equipment | |
| CN210246805U (en) | Vehicle remote communication terminal | |
| CN112305905A (en) | Train network control and monitoring system, train control method and train | |
| CN209343167U (en) | A kind of railway general purpose controller based on inside and outside fault self-diagnosis structure | |
| CN203450144U (en) | Electronic semi-automatic block machine | |
| CN221175257U (en) | Circuit control structure of air conditioning unit | |
| RU90401U1 (en) | MICROPROCESSOR ROUTE MANAGEMENT SYSTEM AT SMALL STATIONS |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |