CN112327799A - Train network controller and system - Google Patents
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- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
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Abstract
The invention is suitable for the technical field of rail transit application, and provides a train network controller and a system, wherein the controller comprises: hardware equipment and software system, software system includes system layer, drive layer, software platform layer and application layer, this application adopts train platform ization control mode, the highly integrated train network controller of configuration function, integrate the executive program of subsystems such as traction, braking in the train network controller, thereby reduce each subsystem controlgear, improve train network control system's integrated level, guarantee the unified development management of each subsystem, improve train network control system's maintenance efficiency, reduce system equipment occupation space, realize train lightweight and energy-concerving and environment-protective design theory.
Description
Technical Field
The invention belongs to the technical field of rail transit application, and particularly relates to a train network controller and a train network system.
Background
A train network control system (hereinafter referred to as TCMS), which is a key system for rail transit applications, is mainly used for train control, monitoring and fault diagnosis, management of train traction systems, brake systems, power supply systems, air conditioning systems, door systems, and other auxiliary subsystems.
The TCMS of the rail transit train is generally designed by a distributed bus control method (such as MVB, CAN, real-time ethernet, etc.), and physically connects traction, braking, and other auxiliary subsystems to complete a bus communication function, and there are many subsystems on the train, and each subsystem is provided by an independent supplier under normal conditions. In addition, because the distributed design mode is to wiring for every system, occupy whole car wiring space, whole car jumper wire quantity increases, accounts for car end connector resource, and is unfavorable for train lightweight design and energy-conserving control, increases the risk of cable physics disconnection, influences whole car control system function, restricts each subsystem equipment fixing to a certain extent, has extruded effective passenger carrying space, is unfavorable for train lightweight design theory and energy-conserving environmental protection theory.
Disclosure of Invention
In view of this, embodiments of the present invention provide a train network controller and a train network system, so as to solve the problem in the prior art that the development platforms of each subsystem of a train are different, and the system maintenance efficiency is low.
A first aspect of an embodiment of the present invention provides a train network controller, including: the software system comprises a system layer, a driving layer, a software platform layer and an application layer;
the hardware equipment is used for supporting the operation of the software system;
the system layer is used for scheduling and managing hardware resources of the hardware equipment, a program interface of the software platform layer and an executive program of the application layer;
the driving layer is used for realizing data transmission between the system layer and the hardware equipment and between the system layer and an external interface;
the software platform layer is used for encapsulating program interfaces between the system layer and each executive program in the application layer;
the application layer is used for realizing control logic of each executive program.
In one embodiment, the train network controller further comprises a logical interface layer;
the logic interface layer is used for packaging a second communication logic interface, and the second communication logic interface comprises an I/O interface, an audio/video communication interface and a database interface.
In one embodiment, the execution programs include a traction execution program, a brake execution program, a power supply execution program, an air conditioner execution program, a door execution program, and a fire alarm execution program.
In one embodiment, the application layer schedules each execution program according to a time slice round-robin scheduling method, and sets the CPU occupation time of each execution program according to priority.
In one embodiment, the application layer runs the executables according to priority preemption rules.
A second aspect of an embodiment of the present invention provides a train network control system, including: the train network controller comprises at least one train network controller, at least one execution module and an information acquisition module, wherein the execution module and the information acquisition module correspond to at least one train compartment;
the first information acquisition module is used for acquiring the running information of a first train carriage and sending the running information of the first train carriage to a corresponding train network controller, wherein the first train carriage is any one train carriage of the train, and the first information acquisition module is an information acquisition module corresponding to the first train carriage;
and the train network controller corresponding to the first train carriage is used for controlling the corresponding execution module to execute corresponding operation according to the running information of the first train carriage.
In one embodiment, if the number of the train network controllers is at least two, the train network controllers are connected with each other through a bus.
In one embodiment, when the number of the train network controllers is at least two, the first train network controller is further configured to monitor the zone bit information of the bus, determine whether the current system master control right is occupied according to the zone bit information of the bus, start a monitoring state if the current system master control right is occupied, start a master control state if the current system master control right is not occupied, and update the zone bit information of the bus.
In one embodiment, the information collection module includes a temperature sensor, a vibration sensor, a speed sensor, a passenger information collection unit, an image sensor, a position sensor, and an air quality sensor.
In one embodiment, the execution module comprises a traction mechanism, a brake mechanism, a vehicle door, an air conditioner, a power supply unit and a fire alarm unit.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: the embodiment provides a train network controller and a system, wherein the controller comprises hardware equipment and a software system, the software system comprises a system layer, a driving layer, a software platform layer and an application layer, the application adopts a train platform control mode, a train network controller with highly integrated functions is configured, execution programs of various subsystems such as traction, braking, power supply, car doors, fire alarms, air conditioners, passenger information and the like are integrated in the train network controller, thereby reducing the control equipment of each subsystem, improving the integration level of the train network control system, ensuring the unified development and management of each subsystem, and by integrating each execution program into the train network controller, each subsystem only keeps the original execution mechanism, therefore, the maintenance efficiency of the train network control system is improved, the occupied space of system equipment is reduced, and the design concept of train light weight, energy conservation and environmental protection is realized.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a train network controller provided in an embodiment of the present invention;
fig. 2 is a diagram illustrating an actual structure of a software system in a train network controller according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a train network control system according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
In one embodiment, as shown in fig. 1, fig. 1 illustrates a structure of a train network controller 100 provided by an embodiment of the present invention, which includes: a hardware device 120 and a software system 110, wherein the software system 110 comprises a system layer 111, a driver layer 112, a software platform layer 113 and an application layer 114;
the hardware device 120 is used for supporting the operation of the software system 110;
the system layer 111 is used for scheduling and managing hardware resources of the hardware device 120, a program interface of the software platform layer 113, and an execution program of the application layer 114;
the driver layer 112 is used for implementing data transmission between the system layer 111 and the hardware device 120, and between the system layer 111 and an external interface;
the software platform layer 113 is used for encapsulating program interfaces between the system layer 111 and the execution programs in the application layer 114;
the application layer 114 is used to implement control logic for each execution program.
The embodiment aims at the existing problems and practical application of the current train, and is provided with a train network controller TCCU with highly integrated functions, wherein the train network controller TCCU is used for integrating the logic control functions of subsystems such as traction, power supply, braking, air conditioning, passenger information, vehicle doors, fire alarms and the like.
The train network controller 100 of the present embodiment defines a functional model of the software system 110 as 5 layers, including a system layer 111, a driver layer 112, a software platform layer 113, a logical interface layer, and an application layer 114, in addition to the hardware device 120.
As shown in fig. 1, the system layer 111 is used for managing the controller hardware device 120 and the software system 110, coordinating the traction and braking subsystems to perform tasks, and ensuring that the train network controller 100 completes the train control logic function within a required time;
the driver layer 112 is used for completing data transmission between the system layer 111 and the hardware device 120, and implementing data transmission functions such as a communication bus, a hard-wire I/O interface, audio and video with the outside;
the software platform layer 113 is used for linking each subsystem execution program, centralizing each subsystem execution program in the train network controller 100, and implementing the execution of each subsystem function through the task scheduling of the operating system;
the application layer 114 is used for implementing control logics of subsystems including a train network controller TCCU control logic, functional codes of programs executed by the subsystems can be developed by a tool dedicated to a supplier of each subsystem, or by a tool developed by the train network controller TCCU, and generates execution codes operable in the train network controller TCCU, functions of the subsystems are integrated by the software platform layer 113, and execution mechanisms corresponding to the programs executed by the subsystems are controlled in a wireless or wired manner, so that a train control function is finally implemented.
As can be seen from the above embodiments, the present embodiment provides a train network controller and a system, the controller includes a hardware device 120 and a software system 110, the software system 110 includes a system layer 111, a driver layer 112, a software platform layer 113 and an application layer 114, the present application adopts a train platform control manner, configures a train network controller 100 with highly integrated functions, integrates execution programs of various subsystems such as traction, braking, power supply, doors, fire alarm, air conditioner, passenger information, etc. into the train network controller 100, thereby reducing control devices of the subsystems, improving the integration level of the train network control system, ensuring the unified development and management of the subsystems, and by integrating the execution programs into the train network controller 100, making the subsystems only retain the original execution mechanisms, thereby improving the maintenance efficiency of the train network control system, the occupied space of system equipment is reduced, and the design concepts of light weight, energy conservation and environmental protection of the train are realized.
In one embodiment, as shown in fig. 1, the train network controller 100 further comprises a logical interface layer 115;
the logic interface layer 115 is configured to encapsulate a second communication logic interface, where the second communication logic interface includes an I/O interface, an audio/video communication interface, and a database interface.
In the embodiment, the logic interface layer 115 is used to implement a subsystem communication logic interface that cannot be integrated in the software platform layer 113, and functions such as hard-wired I/O and other audio/video communication that can integrate system requirements, and also includes functions used for a database interface and other interfaces.
In one embodiment, the execution programs include a traction execution program, a brake execution program, a power supply execution program, an air conditioner execution program, a door execution program, and a fire alarm execution program.
In one embodiment, the application layer 114 schedules the execution programs according to the time slice round robin scheduling method and sets the CPU occupation time of each execution program according to the priority.
In one embodiment, the application layer 114 runs the executables according to priority preemption rules.
As a specific embodiment, the embodiment relies on a WindRiver Workbench development environment to perform a general programming of the software system 110 in the train network controller 100. The software structure of the train network controller 100 is shown in fig. 2 below, and fig. 2 adopts the basic structure of the functional model of the software system 110 in fig. 1, and divides the software system 110 into a firmware layer, a middle layer and an application layer 114.
Specifically, the firmware layer is mainly used for developing and processing a VxWorks real-time operating system kernel and driver software, and realizes the functions of the system layer 111 and the driver layer 112 in fig. 1; the realization of the middle layer software function depends on the generation tools of a dynamic library and a static library, links the execution files and library files generated by each subsystem, performs project management and configuration, matches the calling interfaces of the functional logics of each subsystem of the train, realizes the interaction and sharing of the data of the whole train and each subsystem of the train through the database and the logical interface software, and realizes the functions of a platform layer and a logical interface layer; the application layer software is used for realizing the functions of task construction, task priority configuration, logic function cycle control and data monitoring and recording of each subsystem; the system specifically comprises a traction execution program, a brake execution program, a vehicle door execution program, an air conditioner execution program, a power supply execution program, a fire alarm execution program, a task scheduling program, a task priority, a whole vehicle control function program and other auxiliary system programs. The system comprises a platform, a target machine, a traction subsystem, a braking subsystem and the like, wherein the traction subsystem, the braking subsystem and the like can generate programs which can be executed or called in a platform unified development environment or according to the development environment of the subsystem, and the programs are uploaded to the target machine. In addition, part of the logic functions in the application layer 114 are implemented by C codes, in this example, a "whole vehicle control function program" is used as a program entry of the whole application layer project, threads or tasks of executing programs such as traction and braking are established through platform software, and the threads or tasks are run according to priorities or time slices set according to requirements for real-time performance and functional safety.
In this embodiment, the main frequency of the processor board card hardware CPU of the train network controller 100 is 1.9GHz, and the core is 4, so that the processor board card hardware CPU is suitable for processing multi-task and multi-thread situations, and overhead caused by switching between different threads of a single-core CPU can be avoided. Specifically, the development of the software system of the train network controller is realized in the following two ways:
the first method comprises the following steps: C/C + + files of subsystems such as traction, braking, car doors, air conditioners, fire alarms, power supplies and the like are established in a BSP mirror image project of a VxWorks operating system through a WindRiver Workbench development environment and are compiled into o-type files which are linked into executable files; the real-time performance of each subsystem function of the train is guaranteed through task rotation scheduling, and the time that each task is allowed to occupy a CPU is set through a kernel time slice () function according to the requirements of train safety and function real-time performance. The time that each task occupies the CPU is determined by the priority of the task. Specifically, the priority of the tasks is determined by the importance degree of the tasks, the main task time slices of subsystems such as traction subsystems, braking subsystems and the like are set to be 5ms, the task time slices of tasks such as power supply, fire alarms, vehicle doors, air conditioners and the like are set to be 50ms, and the VxWorks operating system executes each task in sequence according to the codes and the time slices.
And the second method comprises the following steps: respectively establishing projects according to each subsystem of a train in a WindRiver Workbench development environment, establishing each subsystem function module task in a ursApplinit.c file of a BSP mirror image project of a VxWorks operating system by using a tasSpawn () function, wherein the tasks comprise task priority, stack size, function entry and the like, searching entry functions in a system symbol table through a sysFindByName () function, and finally starting a script by combining a system kernel to execute each task of the train according to a preset time period. All tasks are classified into 4 types according to the influence degree on train running safety, the complexity of the tasks and the real-time characteristic. Class 1 is related to tasks with high security levels, high real-time requirements and computationally intensive tasks such as: a traction function; class 2 is related to tasks with high security level and high real-time requirements, such as: braking and power supply function tasks; category 3 is a task that is partially related to driving safety and passenger environment, such as: functional tasks such as vehicle door, fire alarm, hard line IO acquisition and the like; the 4 th category is tasks such as passenger information, audio and video control and other auxiliary functions. According to the description, 4 types of tasks are established according to priority in the VxWorks system, when the high-priority task is in a ready state, the system can interrupt the low-priority task and switch to the high-priority task to be executed, and after the high-priority task is executed, if the CPU is in an idle state, the low-priority task can be continuously executed, so that the realization of a task control function with high real-time requirement is ensured.
As shown in fig. 3, fig. 3 shows a structure of a train network control system 10 provided in an embodiment of the present invention, which includes: at least one train network controller 100 as described above, and at least one executive module 300 and information collection module 200 corresponding to train cars;
the first information acquisition module is used for acquiring the running information of a first train carriage, and sending the running information of the first train carriage to the corresponding train network controller 100, wherein the first train carriage is any one train carriage of the train, and the first information acquisition module is an information acquisition module 200 corresponding to the first train carriage;
the train network controller 100 corresponding to the first train car is configured to control the corresponding execution module 300 to execute a corresponding operation according to the operation information of the first train car.
In the present embodiment, each train car corresponds to one information collection module 200 and one execution module 300. The train network control system 10 may include one train network controller 100, or may include a plurality of train network controllers 100. When the train network control system 10 includes a plurality of train network controllers 100, one train network controller 100 may be selectively arranged for each train car, or the train network controllers 100 may be arranged for specific train cars, for example, one train network controller 100 may be arranged for each of the head car and the tail car.
In this embodiment, if there is one train network controller 100, the information collection module 200 and the execution module 300 corresponding to each car are respectively connected to the train network controller 100. If the train network controllers 100 are two train network controllers 100 at the beginning and the end, the information collection module 200 and the execution module 300 of each car are distributed to the two train network controllers 100 according to the position information. If each train car is provided with one train network controller 100, the execution module 300 and the information acquisition module 200 of each train car are respectively connected with the corresponding train network controller 100. When the train includes 3 groups of cars, fig. 3 shows a connection structure of the train network control system 10 when one train network controller 100 is arranged for each car.
In one embodiment, if there are at least two train network controllers 100, the train network controllers 100 are connected to each other through a bus.
In one embodiment, when the number of the train network controllers 100 is at least two, the first train network controller 100 is further configured to monitor the zone bit information of the bus, determine whether the current system master control right is occupied according to the zone bit information of the bus, start a monitoring state if the current system master control right is occupied, start a master control state if the current system master control right is not occupied, and update the zone bit information of the bus.
In this embodiment, 3 marshalling trains are used as a design model, and each train is provided with one train network controller 100, wherein the train network controller 100 corresponding to one car integrates the logic functions of the execution mechanisms of each subsystem of the train, and is controlled by the execution mechanisms of each subsystem in a hard-wired I/O manner or a wireless manner. The information collection module 200 mainly includes wireless sensors for temperature, vibration, speed, position, and air quality, and these information can be transmitted to the train network controller 100 of the train in a wireless mode.
In this embodiment, the train network controller 100 on each train has a control main function, and preemption of the control main function is performed each time the train network controller is powered on. Specifically, each train network controller 100 monitors the flag bit information on the bus when being powered on, and determines whether the train network control system 10 has the master control TCCU at the current time through the flag bit information, where the flag bit information may be a high-low level of the flag bit, if the flag bit information is a high level, it indicates that the master control TCCU exists in the current system, if the flag bit information is a low level, it indicates that the master control TCCU does not exist in the current system, when it is monitored that the current system does not have the master control TCCU, the train network controller 100 starts the master control function, and sends a master control signal to the bus, so that the flag bit level on the bus becomes a high level, and when other train network controllers 100 monitor that the flag bit on the bus is a high level, the slave control function is started, and the master control TCCU on.
In this embodiment, the master TCCU has logic output and display of the entire vehicle function, and the slave TCCU can only control the subsystem actuator and the device in the vehicle until the master TCCU fails, and at this time, the slave TCCU re-preempts the master control function, the function of the vehicle in which the failed TCCU is located is lost, and other vehicles can still operate according to the design strategy. The method maintains the control independence of the vehicles, prevents the interference generated when other train network controllers 100 are in failure, and can realize the data interaction among all subsystem modules of the whole system.
In one embodiment, the information collection module 200 includes a temperature sensor, a vibration sensor, a speed sensor, a passenger information collection unit, an image sensor, a position sensor, and an air quality sensor.
In this embodiment, the information collecting module 200 is configured to collect operation information of each train car. Based on the sensors, the operational information of the train car includes temperature data, vibration data, speed data, passenger information, video information, position data, and air quality data.
In this embodiment, in order to ensure the predictability of the wireless networking device, in combination with the requirements on the data transmission reliability and real-time performance of the train network control system 10, and considering the environmental interference, the influence on other devices, and the requirements on the characteristics of the installation space, the embodiment performs the wireless networking design on the train network control system 10, avoids the collision of the data transmission and reception, and has mechanisms such as data confirmation, CRC check, retransmission, and the like, thereby ensuring the reliability of the data transmission. According to the method, all networking module information of the train is pre-configured in the train network controller 100, the legality of each information acquisition module 200 is determined through the handshaking process between the information acquisition module 200 and the train, and the information safety of the train is guaranteed.
In one embodiment, the execution module 300 includes a traction mechanism, a brake mechanism, a door, an air conditioner, a power supply unit, and a fire alarm unit.
In one embodiment, the system further includes a display screen, which is respectively connected to each train network controller 100, for displaying the operation information of each train car and the status information of the actuator.
In an embodiment of the present invention, the train network control system 10 further includes a control center platform, and the control center platform performs train ground information transmission with the train network controller 100, obtains train control and monitoring information, and performs a ground diagnosis function.
In one embodiment of the present invention, the train network control system 10 further includes a broadcasting device corresponding to each train car.
In one embodiment of the present invention, the train network controller 100 may also be configured with dual power supplies, dual processors and dual communication channels based on considerations of increasing redundancy and safety of the train network control system 10.
As can be seen from the foregoing embodiments, the train network control system 10 provided in this embodiment adopts a train platform control manner, reduces control devices of subsystems, configures a train network controller TCCU with highly integrated functions, and facilitates uniform management and configuration of projects, unifies development and debugging tools of systems, and facilitates fault location, thereby improving train production and debugging efficiency. And the train network control system 10 provided by the present embodiment also contributes to reduction of project production costs and equipment maintenance costs due to reduction of a large number of equipment.
The train network control system 10 provided by the embodiment does not need to design installation space for each subsystem device of a train, each subsystem only keeps the original actuating mechanism, a large amount of in-train space can be released, weight reduction and energy conservation are facilitated, operation efficiency is improved, passenger riding space is increased, meanwhile, the number of communication cable wires can be reduced by the integrated train network control system 10, wiring space and end connector interface resources in a train are released, light weight design of the train is facilitated, energy consumption of the whole train is reduced, and operation cost is reduced. On the other hand, the scheme of the embodiment can improve the robustness of the system and is beneficial to improving the fault-free running time of the train.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A train network controller, comprising: the software system comprises a system layer, a driving layer, a software platform layer and an application layer;
the hardware equipment is used for supporting the operation of the software system;
the system layer is used for scheduling and managing hardware resources of the hardware equipment, a program interface of the software platform layer and an executive program of the application layer;
the driving layer is used for realizing data transmission between the system layer and the hardware equipment and between the system layer and an external interface;
the software platform layer is used for encapsulating program interfaces between the system layer and each executive program in the application layer;
the application layer is used for realizing control logic of each executive program.
2. The train network controller of claim 1, wherein the train network controller further comprises a logical interface layer;
the logic interface layer is used for packaging a second communication logic interface, and the second communication logic interface comprises an I/O interface, an audio/video communication interface and a database interface.
3. The train network controller of claim 1, wherein the execution programs include a traction execution program, a brake execution program, a power supply execution program, an air conditioner execution program, a door execution program, and a fire alarm execution program.
4. The train network controller according to claim 1, wherein the application layer schedules the respective execution programs according to a time slice round robin scheduling method and sets CPU occupation times of the respective execution programs according to priorities.
5. The train network controller of claim 1, wherein the application layer runs the respective executables according to priority preemption rules.
6. A train network control system, comprising: at least one train network controller according to any one of claims 1-5, and at least one train car corresponding execution module and information collection module;
the first information acquisition module is used for acquiring the running information of a first train carriage and sending the running information of the first train carriage to a corresponding train network controller, wherein the first train carriage is any one train carriage of the train, and the first information acquisition module is an information acquisition module corresponding to the first train carriage;
and the train network controller corresponding to the first train carriage is used for controlling the corresponding execution module to execute corresponding operation according to the running information of the first train carriage.
7. The train network control system according to claim 6, wherein if there are at least two train network controllers, the train network controllers are connected to each other via a bus.
8. The train network control system of claim 7,
when the number of the train network controllers is at least two, the first train network controller is further used for monitoring zone bit information of the bus, determining whether the current system master control right is occupied or not according to the zone bit information of the bus, starting a monitoring state if the current system master control right is occupied, starting a master control state if the current system master control right is not occupied, and updating the zone bit information of the bus.
9. The train network control system of claim 6, wherein the information collection module comprises a temperature sensor, a vibration sensor, a speed sensor, a passenger information collection unit, an image sensor, a position sensor, and an air quality sensor.
10. The train network control system of claim 6, wherein the execution modules comprise a traction mechanism, a brake mechanism, a door, an air conditioner, a power supply unit, and a fire alarm unit.
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| CN113771915A (en) * | 2021-09-28 | 2021-12-10 | 中国铁道科学研究院集团有限公司 | Train fusion control system and method |
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| CN114475673A (en) * | 2022-01-27 | 2022-05-13 | 中车青岛四方车辆研究所有限公司 | Train electronic and electric framework and rail train |
| CN115416731A (en) * | 2022-07-20 | 2022-12-02 | 米塔盒子科技有限公司 | Integrated brake control platform suitable for railway vehicle |
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| CN113992308A (en) * | 2021-11-17 | 2022-01-28 | 中国铁道科学研究院集团有限公司 | Motor train unit control system fusion framework |
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