CN112278016A - Fault recovery system and fault recovery method for vehicle-mounted controller - Google Patents
Fault recovery system and fault recovery method for vehicle-mounted controller Download PDFInfo
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- CN112278016A CN112278016A CN202011136507.1A CN202011136507A CN112278016A CN 112278016 A CN112278016 A CN 112278016A CN 202011136507 A CN202011136507 A CN 202011136507A CN 112278016 A CN112278016 A CN 112278016A
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- 238000011084 recovery Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims description 15
- 238000004891 communication Methods 0.000 claims abstract description 33
- 230000004913 activation Effects 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 claims description 5
- 238000012795 verification Methods 0.000 claims description 5
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 230000003213 activating effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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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 fault recovery system of a vehicle-mounted controller, which comprises: a trackside central controller for outputting an all controllers restart command; the two vehicle-mounted controllers are respectively connected with the central controller through a vehicle-ground wireless communication system and a vehicle-mounted wired communication system; two vehicle-mounted auxiliary controllers which are arranged at two ends of the train and are respectively connected with the central controller through a train-ground wireless communication system and a vehicle-mounted wired communication system; the vehicle-mounted auxiliary controller receives an 'all-controller restart' command and outputs the 'all-controller restart' command by adopting a pulse signal; and the related control relays are used for carrying out power-off restarting operation on the vehicle-mounted controllers at the two ends according to the 'all-controller restarting' command output by the vehicle-mounted auxiliary controller. The fault vehicle-mounted controller can automatically recover under the condition of no need of personnel boarding operation, and is particularly suitable for the scene of a full-automatic operation system without drivers and passengers on the vehicle.
Description
Technical Field
The invention relates to the technical field of urban rail transit, in particular to a fault recovery system and a fault recovery method of a vehicle-mounted controller.
Background
Currently, in a CBTC (train automation control system) signal system of rail transit, an on-board controller performs an ATP/ATO control function of a train, and the architecture thereof generally adopts a hot standby redundant architecture of 2 × 2oo2 or 2 × 2oo 3. When one set of the 2oo2 or 2oo3 vehicle-mounted controllers fails, the other set of the vehicle-mounted controllers can become a master and seamlessly take over train control. The system will support two ways to recover a failed on-board controller: firstly, a driver or a maintainer manually logs in a vehicle and directly performs local restarting operation on fault equipment; secondly, the other failed controller is restarted by the current main controller by utilizing a remote manual command or an automatic command of the signal system. The restart mode is usually a hard restart, i.e. a mode of powering off and then powering on. After restart if the fault is recovered, the on-board system will still have dual sets of controllers available.
When a Fully Automatic Operation (FAO) rail transit system is used, the train is no longer equipped with a driver. If the double sets of vehicle-mounted controllers fail, the train loses control and may be forced to stop in the section. Conventional remote control approaches would be impractical due to the loss of redundancy. The local control mode needs to send multi-functional team members to get on the train to process the fault, which inevitably causes serious accidents at a later point of the train, thereby affecting the availability of full-automatic operation.
Disclosure of Invention
The invention aims to provide a fault recovery system and a fault recovery method of a vehicle-mounted controller, so that the vehicle-mounted controller with a fault can be automatically recovered under the condition of no need of personnel boarding operation, and the fault recovery system and the fault recovery method are particularly suitable for the scene of a full-automatic operation system without drivers and passengers on a vehicle.
The technical scheme for realizing the purpose is as follows:
a fault recovery system for an on-board controller, comprising:
a trackside central controller (ATS) for outputting an "all controllers restart" command;
two vehicle-mounted controllers which are arranged at two ends of the train and are respectively connected with the central controller through a train-ground wireless communication system and a vehicle-mounted wired communication system;
two vehicle-mounted auxiliary controllers which are arranged at two ends of the train and are respectively connected with the central controller through a train-ground wireless communication system and a vehicle-mounted wired communication system; the vehicle-mounted auxiliary controller receives an 'all-controller restart' command and outputs the 'all-controller restart' command by adopting a pulse signal; and
and the related control relays are used for carrying out power-off restarting operation on the vehicle-mounted controllers at the two ends according to the 'all-controller restarting' command output by the vehicle-mounted auxiliary controller.
Preferably, the associated control relay includes:
the internal control relay is corresponding to the vehicle-mounted auxiliary controller which outputs the 'all-controller restart' command, is activated according to the 'all-controller restart' command and outputs an enabling signal;
the internal control relay corresponding to the output enable signal is powered and sucked up according to the enable signal, and outputs activation signals to the two ends of the train through the local end vehicle circuit and the train line to the opposite end vehicle circuit; and
and two 'vehicle-mounted controller power supply control' contactors which respectively perform power-off restart operation on the vehicle-mounted controllers according to the activation signals.
Preferably, when all on-board controllers fail and the train is forced to stop, the operator sends an "all controllers restart" command to the on-board auxiliary controller on the central controller.
Preferably, the vehicle-mounted auxiliary controller is powered by a permanent power supply system of the train.
The invention relates to a fault recovery method of a fault recovery system based on the vehicle-mounted controller, which comprises the following steps:
when all the vehicle-mounted controllers are in failure and the train is forced to stop, an operator sends a command of 'all the controllers restart' on the central controller and transmits the command to the two vehicle-mounted auxiliary controllers through the train-ground wireless communication system and the vehicle-mounted wired communication system;
each vehicle-mounted auxiliary controller independently checks and calculates command validity, and after checking is completed, a pulse signal is adopted to output a command of 'restarting all controllers'; and the train is matched with the relevant control relay according to the 'all-controller restarting' command to carry out outage restarting operation on the vehicle-mounted controllers at the two ends.
Preferably, after the central controller judges that the central controller loses communication with the two vehicle-mounted controllers of the train, an alarm prompt is added to the central controller; and (4) according to the alarm prompt, a dispatcher or a maintainer sends an 'all-controller restart' command on the interface of the central controller under the condition that the fault failure of all the vehicle-mounted controllers is judged and the vehicle-mounted auxiliary controllers are normal.
Preferably, before sending the "all controllers restart" command, the central controller determines whether the train has a condition for applying the master controller restart command: the train is in a full-automatic driving mode, is in a static state and is well communicated with the vehicle-mounted auxiliary controller; when the condition is not met, the central controller refuses to send out a command of restarting all controllers and generates an alarm; when the condition is satisfied, the central controller issues an "all controllers restart" command.
Preferably, after the vehicle-mounted auxiliary controller completes the verification, a pulse signal is adopted to output a command of 'all controllers restarting', and an internal control relay is activated; the internal control relay which is electrically conducted enables a corresponding 'all-controller restart control' relay of the external vehicle interface; after the 'all-controller restart control' relay is electrified and sucked up, the 'vehicle-mounted controller power supply control' contactors at two ends of the train are activated through a vehicle circuit at the home terminal and a train line to a vehicle circuit at the opposite terminal; after each 'vehicle-mounted controller power supply control' contactor is activated by power, the power supply of the vehicle-mounted controller at the local end is cut off; when the command of 'all controllers restart' is used as a pulse signal to restore the normal state, the 'all controllers restart and control' relay and the 'vehicle-mounted controller power supply control' contactor lose power; after the contactor falls down after power loss, the power supply of the vehicle-mounted controller at the duplicate end is recovered.
Preferably, the vehicle-mounted auxiliary controller continuously monitors the states of the internal control relay and the 'all-controller restart control' relay, feeds the states back to the central controller in real time, and generates an alarm when the states are abnormal.
Preferably, the dispatcher or the maintenance personnel remotely check the working state of the restarted train-mounted controller on the central controller.
The invention has the beneficial effects that: when all the vehicle-mounted controllers have faults, the central controller can issue a controller reset command to the vehicle-mounted auxiliary controller. The vehicle-mounted auxiliary controller implements the power-off and power-on restarting operation on all the failed vehicle-mounted controllers through the vehicle circuit, so that the vehicle-mounted auxiliary controller can be put into operation after the failure is recovered, maintenance personnel are not needed to carry out on-site vehicle boarding operation, the finishing availability of the full-automatic operation system is improved, and the influence of late operation is reduced to the maximum extent. The availability and the use efficiency of the full-automatic operation system are greatly improved. The vehicle-mounted auxiliary controller and the central controller keep a continuous communication connection state, the relay state can be continuously monitored, each train is provided with a double-set activated redundancy architecture, a permanent power supply of the train supplies power, and the vehicle-mounted auxiliary controller has sufficient redundancy and higher availability.
Drawings
FIG. 1 is an architecture diagram of a fault recovery system for an on-board controller of the present invention;
fig. 2 is a control principle schematic diagram of the failure recovery system of the on-board controller of the invention.
Detailed Description
The invention will be further explained with reference to the drawings.
Most of vehicle-mounted controllers of the existing signal systems are dual hot standby redundant architectures, and each system is configured by 2oo2 or 2oo 3. In order to ensure the safety of train control, at most 1 set of vehicle-mounted controller is in the master control state, and the other 1 set is in the standby state. When the existing vehicle-mounted controller has a fault (power loss, interface fault, failure of internal equipment, etc.), if another set of vehicle-mounted controller 1 is available, the controller directly becomes the main controller and takes over the train control task. If another set of vehicle-mounted controllers are not available, all the vehicle-mounted controllers are lost, and the emergency brake is actively applied to stop the train immediately according to the principle of 'fault-oriented safety'. However, all the onboard controllers are not available, the failed controller cannot complete the failure recovery in a restarting manner, and a serious accident may be caused when the train is in a forced stop interval under the condition of carrying passengers.
Referring to fig. 1-2, the fault recovery system for an onboard controller of the present invention includes: the system comprises a central controller 1, two vehicle-mounted controllers 2 and two vehicle-mounted auxiliary controllers 3.
The vehicle-mounted auxiliary controller 3 adopts a double-active redundancy structure, and is powered by a permanent power supply of the train (a storage battery power supply on the train) to realize a permanent working mode. So that the vehicle-mounted controller 2 can continue to work after the unexpected power failure.
The central controller 1 and the two vehicle-mounted controllers 2 and the two vehicle-mounted auxiliary controllers 3 are in a communication state through a vehicle-ground wireless communication system and a vehicle-mounted wired communication system. And the two vehicle-mounted controllers 2 and the two vehicle-mounted auxiliary controllers 3 are arranged at the two ends of the train. The train-ground wireless communication system can adopt a 2.8GHz WLAN wireless communication system or a 1.8GHz LTE wireless communication system. The vehicle-mounted wired communication system supports 2 sets of vehicle-mounted auxiliary controllers 3 to be in independent communication connection with the central controller.
When all the onboard controllers 2 fail and the train is forced to stop, the operator sends an "all controllers restart" command to the onboard auxiliary controllers 3 on the central controller 1. The vehicle-mounted auxiliary controller 3 receives the "all-controller restart" command and outputs the "all-controller restart" command by using a pulse signal.
And the related control relay implements power-off restarting operation on the vehicle-mounted controllers 2 at two ends according to a 'all-controller restarting' command output by the vehicle-mounted auxiliary controller 3. The related control relay includes: two internal control relays corresponding to the on-vehicle auxiliary controller 3, two "all-controller restart control" relays corresponding to the on-vehicle auxiliary controller 3, and two "on-vehicle controller power supply control" contactors corresponding to the on-vehicle controller 2.
The internal control relay is activated in accordance with the "all controllers restart" command outputted from the corresponding on-vehicle auxiliary controller 3, and outputs an enable signal. The relay 4 of 'all controllers restart control' gets power and absorbs according to the enabling signal, and outputs an activating signal to the two ends of the train through the vehicle circuit at the home terminal and the train line to the vehicle circuit at the opposite terminal. The two "vehicle-mounted controller power supply control" contactors 5 respectively perform power-off restart operations on the respective corresponding vehicle-mounted controllers 2 according to the activation signals.
The invention relates to a fault recovery method of a fault recovery system based on the vehicle-mounted controller, which comprises the following steps:
step one, when all the vehicle-mounted controllers 2 are in failure and the train is forced to stop, an operator sends an 'all-controller restart' command on the central controller 1 and transmits the command to the two vehicle-mounted auxiliary controllers 3 through a train-ground wireless communication system and a vehicle-mounted wired communication system.
Specifically, when the central controller 1 judges that the two onboard controllers 2 of the train lose communication, namely the train becomes a non-communication train, the central controller 1 is added with an alarm prompt; and (4) according to the alarm prompt, a dispatcher or a maintainer sends an 'all-controller restart' command on the interface of the central controller 1 under the condition that all the vehicle-mounted controllers 2 are judged to be failed and the vehicle-mounted auxiliary controller 3 is normal. The dispatcher or maintenance personnel can view the working conditions of the on-board auxiliary controllers 3 on the vehicle, which are in communication with the central controller 1, on the interface of the central controller 1.
Before sending the command of 'all controllers restart', the central controller 1 judges whether the train has the condition of applying the master controller restart command: the train is in a full-automatic driving mode, is in a static state and is well communicated with the vehicle-mounted auxiliary controller; when the condition is not met, the central controller 1 refuses to send out a command of restarting all controllers and generates an alarm; when the condition is satisfied, the central controller 1 issues an "all controllers restart" command.
Step two, each vehicle-mounted auxiliary controller 3 independently checks and calculates the validity of the command, namely: each vehicle-mounted auxiliary controller 3 independently completes the verification of the message communication health of the command issued by the central controller 1, and further calculates the validity conditions for executing the command, including the current running mode of the train, the fault state of the train, the health condition of the auxiliary controller and the like. After the verification is finished, outputting a command of 'restarting all controllers' by adopting a pulse signal; the train performs power-off restart operation on the vehicle-mounted controllers 2 at the two ends according to the 'all-controller restart' command in cooperation with the relevant control relays. Specifically, the method comprises the following steps:
after the vehicle-mounted auxiliary controller 3 completes the verification, outputting a command of 'restarting all controllers' by adopting a pulse signal, and activating an internal control relay; the internal control relay which is electrically conducted enables a corresponding 'all-controller restart control' relay 4 of the external vehicle interface; after the relay 4 is electrified and sucked up, the contactors 5 for controlling the power supply of the vehicle-mounted controllers at two ends of the train are activated through a vehicle circuit at the end and a train line to a vehicle circuit at the opposite end; after each 'vehicle-mounted controller power supply control' contactor 6 is activated by power, the power supply of the vehicle-mounted controller at the local end is cut off; when the command of 'all-controller restart' is used as a pulse signal to restore the normal state (not activated), the relay 4 of 'all-controller restart control' and the contactor 5 of 'vehicle-mounted controller power supply control' are both powered off; the power supply control of the vehicle-mounted controller 5 recovers the power supply of the vehicle-mounted controller at the copy end after the power loss and the falling. Thereby realizing the restart and recovery work of the vehicle-mounted controller; the vehicle-mounted controller 2 in the current master control mode keeps a power supply state and cannot be restarted after power failure.
The vehicle-mounted auxiliary controller 3 continuously monitors the states of the internal control relay and the 'all-controller restart control' relay 4, feeds the states back to the central controller 1 in real time, and generates an alarm when the states are abnormal.
And the dispatcher or the maintenance personnel remotely checks the working state of the vehicle-mounted controller 2 on the train after the restart on the central controller 1.
The above embodiments are provided only for illustrating the present invention and not for limiting the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and therefore all equivalent technical solutions should also fall within the scope of the present invention, and should be defined by the claims.
Claims (10)
1. A fault recovery system for an on-board controller, comprising:
a trackside central controller for outputting an all controllers restart command;
two vehicle-mounted controllers which are arranged at two ends of the train and are respectively connected with the central controller through a train-ground wireless communication system and a vehicle-mounted wired communication system;
two vehicle-mounted auxiliary controllers which are arranged at two ends of the train and are respectively connected with the central controller through a train-ground wireless communication system and a vehicle-mounted wired communication system; the vehicle-mounted auxiliary controller receives an 'all-controller restart' command and outputs the 'all-controller restart' command by adopting a pulse signal; and
and the related control relays are used for carrying out power-off restarting operation on the vehicle-mounted controllers at the two ends according to the 'all-controller restarting' command output by the vehicle-mounted auxiliary controller.
2. The fault recovery system for a vehicle-mounted controller according to claim 1, wherein the associated control relay includes:
the internal control relay is corresponding to the vehicle-mounted auxiliary controller which outputs the 'all-controller restart' command, is activated according to the 'all-controller restart' command and outputs an enabling signal;
the internal control relay corresponding to the output enable signal is powered and sucked up according to the enable signal, and outputs activation signals to the two ends of the train through the local end vehicle circuit and the train line to the opposite end vehicle circuit; and
and two 'vehicle-mounted controller power supply control' contactors which respectively perform power-off restart operation on the vehicle-mounted controllers according to the activation signals.
3. The system for fault recovery of on-board controllers of claim 1, wherein when all on-board controllers fail and the train is forced to stop, an operator sends an all controllers restart command to the on-board auxiliary controller on the central controller.
4. The fault recovery system for an on-board controller of claim 1, wherein the on-board auxiliary controller is powered by a permanent power system of the train.
5. A failure recovery method of a failure recovery system based on the on-vehicle controller according to claim 1, characterized by comprising:
when all the vehicle-mounted controllers are in failure and the train is forced to stop, an operator sends a command of 'all the controllers restart' on the central controller and transmits the command to the two vehicle-mounted auxiliary controllers through the train-ground wireless communication system and the vehicle-mounted wired communication system;
each vehicle-mounted auxiliary controller independently checks and calculates command validity, and after checking is completed, a pulse signal is adopted to output a command of 'restarting all controllers'; and the train is matched with the relevant control relay according to the 'all-controller restarting' command to carry out outage restarting operation on the vehicle-mounted controllers at the two ends.
6. The fault recovery method according to claim 5, wherein an alarm prompt is added to the central controller after the central controller judges that communication with both onboard controllers of the train is lost; and (4) according to the alarm prompt, a dispatcher or a maintainer sends an 'all-controller restart' command on the interface of the central controller under the condition that the fault failure of all the vehicle-mounted controllers is judged and the vehicle-mounted auxiliary controllers are normal.
7. The fault recovery method according to claim 6, wherein before sending the "all controllers restart" command, the central controller determines whether the train has a condition for applying the master restart command: the train is in a full-automatic driving mode, is in a static state and is well communicated with the vehicle-mounted auxiliary controller; when the condition is not met, the central controller refuses to send out a command of restarting all controllers and generates an alarm; when the condition is satisfied, the central controller issues an "all controllers restart" command.
8. The fault recovery method according to claim 5, wherein after the vehicle-mounted auxiliary controller completes the verification, a pulse signal is adopted to output an 'all controllers restart' command and activate an internal control relay; the internal control relay which is electrically conducted enables a corresponding 'all-controller restart control' relay of the external vehicle interface; after the 'all-controller restart control' relay is electrified and sucked up, the 'vehicle-mounted controller power supply control' contactors at two ends of the train are activated through a vehicle circuit at the home terminal and a train line to a vehicle circuit at the opposite terminal; after each 'vehicle-mounted controller power supply control' contactor is activated by power, the power supply of the vehicle-mounted controller at the local end is cut off; when the command of 'all controllers restart' is used as a pulse signal to restore the normal state, the 'all controllers restart and control' relay and the 'vehicle-mounted controller power supply control' contactor lose power; after the contactor falls down after power loss, the power supply of the vehicle-mounted controller at the duplicate end is recovered.
9. The fault recovery method according to claim 5, wherein the vehicle-mounted auxiliary controller continuously monitors the states of the internal control relay and the all-controller-restart-control relay, feeds back the states to the central controller in real time, and generates an alarm when the states are abnormal.
10. The fault recovery method according to claim 5, wherein a dispatcher or a maintenance person remotely checks the working state of the on-board controllers of the train after restarting on the central controller.
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| CN202011136507.1A CN112278016A (en) | 2020-10-22 | 2020-10-22 | Fault recovery system and fault recovery method for vehicle-mounted controller |
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Application publication date: 20210129 |
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| RJ01 | Rejection of invention patent application after publication |