CN112987677B - Vehicle control unit and train control management system - Google Patents
Vehicle control unit and train control management system Download PDFInfo
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- CN112987677B CN112987677B CN201911212380.4A CN201911212380A CN112987677B CN 112987677 B CN112987677 B CN 112987677B CN 201911212380 A CN201911212380 A CN 201911212380A CN 112987677 B CN112987677 B CN 112987677B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
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Abstract
The application provides a vehicle control unit and a train control management system, the vehicle control unit comprises an input signal driving interface module, a function control module and an output signal driving interface module through arrangement, the function control module is respectively connected with the input signal driving interface module and the output signal driving interface module, when the vehicle control unit works, the input signal driving interface module acquires state information of an electric locomotive from other nodes in a TCMS (train control system), the acquired state information is transmitted to the function control module, the function control module generates a control instruction according to the received state information, and the output signal driving interface module sends the control instruction to a corresponding node in the TCMS, so that the accurate control of the electric locomotive is realized, and the normal operation of the electric locomotive is ensured.
Description
Technical Field
The application relates to the technical field of electric locomotives, in particular to a vehicle control unit and a train control management system.
Background
The electric locomotive is a locomotive with wheels driven by a traction motor, and is a locomotive without self-contained energy sources because the electric energy required by the running electric locomotive is supplied by a contact net or a third rail of an electrified railway power supply system. The electric locomotive has the advantages of large power, strong overload capacity, large traction force, high speed, short whole locomotive operation time, less maintenance amount, low operation cost, convenience for realizing multi-locomotive traction, capability of adopting regenerative braking, energy conservation and the like. The electric locomotive traction train can improve the running speed and the bearing weight of the train, thereby greatly improving the transportation capacity of the railway.
The vehicle control unit is used as a core and a brain of the electric locomotive, mainly realizes functions of vehicle logic control, fault diagnosis and recording, Multifunction Vehicle Bus (MVB) bus management and the like, and plays an important role in ensuring normal operation and safety of the electric locomotive, so the vehicle control unit is the key point of electric locomotive research.
Disclosure of Invention
The application provides a vehicle control unit and a train control management system, which realize the accurate control of an electric locomotive.
In a first aspect, the present application provides a vehicle control unit, including: the input signal driving interface module, the function control module and the output signal driving interface module;
the function control module is respectively connected with the input signal driving interface module and the output signal driving interface module, and the input signal driving interface module and the output signal driving interface module are both connected with other nodes in a Train Control Management System (TCMS);
when the whole vehicle controller works, the input signal driving interface module acquires state information of the electric locomotive from other nodes in the TCMS and transmits the state information to the function control module, and the function control module generates a control instruction according to the received state information and transmits the control instruction to a corresponding node in the TCMS through the output signal driving interface module so as to realize control of the electric locomotive; the state information equipment state information and the running state information, and the control command is used for controlling the electric locomotive.
Optionally, the function control module includes a plurality of sub-function modules, and the vehicle control unit further includes: an internal logic signal interface module;
the internal logic signal interface module is respectively connected with a plurality of sub-function modules in the function control module and is used for realizing communication among the sub-function modules.
Optionally, the internal logic signal interface module includes a plurality of sub-interfaces and a main interface;
the main interface is respectively connected with the plurality of sub-interfaces;
the number of the sub-interfaces is the same as that of the sub-function modules in the function control module, and each sub-interface is correspondingly connected with each sub-function module.
Optionally, each sub-function module comprises: the input interface comprises a first input interface, a second input interface, a first output interface and a second output interface;
the first input interface is connected with the input signal driving interface module, the second input interface is connected with the main interface, the first output interface is connected with the output signal driving interface module, and the second output interface is connected with a sub-interface corresponding to one sub-function module with an association relation.
Optionally, the vehicle control unit further includes: a configuration file module;
the configuration file module comprises a hardware resource configuration document and is used for configuring other modules in the vehicle control unit.
Optionally, the hardware resource configuration document includes hardware information, port information, and port resource variable information that the vehicle control unit needs to use;
the configuration file module is specifically configured to add ports to other modules in the vehicle control unit and perform port variable configuration according to the hardware resource configuration document.
Optionally, the plurality of sub-function modules include: the system comprises a time management sub-functional module, an automatic terminal changing sub-functional module, a pantograph control sub-functional module, a master-slave control sub-functional module, an operation terminal management sub-functional module and a traction transformer control sub-functional module.
In a second aspect, the present application provides a train control management system, comprising: the remote input and output unit, the driver display unit, the traction control unit and the vehicle control unit are arranged in the vehicle;
an input signal driving interface module in the vehicle control unit is respectively connected with the remote input and output unit, the driver display unit and the traction control unit through the multifunctional vehicle bus;
and an output signal driving interface module in the vehicle control unit is respectively connected with the remote input and output unit, the driver display unit and the traction control unit through the multifunctional vehicle bus.
The whole vehicle controller and the train control management system provided by the application have the advantages that the whole vehicle controller comprises an input signal driving interface module, a function control module and an output signal driving interface module, and is respectively connected with the input signal driving interface module and the output signal driving interface module through the function control module, when the whole vehicle controller works, the input signal drives the interface module to acquire the state information of the electric locomotive from other nodes in the TCMS, the acquired state information is transmitted to the function control module, the function control module generates a control instruction according to the received state information, and the output signal drives the interface module to send the control instruction to the corresponding node in the TCMS, so that the control of the network node in the TCMS and the hardware equipment in the locomotive is realized, the accurate control of the electric locomotive is further realized, and the normal operation of the electric locomotive is ensured.
Drawings
In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a vehicle control unit according to a first embodiment of the present application;
fig. 2 is a schematic structural diagram of a second vehicle controller embodiment provided in the embodiment of the present application;
fig. 3 is a schematic structural diagram of a sanding control sub-function module according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a vehicle control unit according to a third embodiment of the present application;
fig. 5 is a schematic structural diagram of a train control management system TCMS according to an embodiment of the present application.
Description of reference numerals:
10-a vehicle control unit;
11-input signal driving interface module;
12-a function control module;
13-output signal driving interface module;
15-configuration file module;
14-internal logic signal interface module;
i1-first input interface of sanding control sub-function module;
i2-the second input interface of the sanding control sub-function module;
t1-first output interface of sanding control sub-function module;
t2-second output interface of sanding control sub-function module;
20-train control management system;
21-a remote input output unit;
22-a driver display unit;
23-traction control unit.
Detailed Description
To make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Train Communication Networks (TCNs) based on a multifunctional vehicle bus MVB and a Wire Train Bus (WTB) are train control and diagnosis information data communication networks developed on a train distributed control system, developed specially for railway applications, and have the advantages of time limit determination, strong error recovery capability, good controllability, clear network hierarchy, and the like, and have become the mainstream of train network technologies at present.
The current international TCN standard is IEC61375, established in 1999, in which WTBs are defined as primary networks for train-to-train reconnection and MVBs are secondary networks for connection of in-vehicle devices. However, there is no unified standard for the network nodes in the TCN and the control of the network nodes, so different Train Control and Management Systems (TCMS) are designed by various electric locomotive companies to meet different scene needs and social needs.
The whole vehicle controller of the electric locomotive is a control center and a decision center of the whole electric locomotive, and needs to accurately master the running state, equipment state, network state and the like of the electric locomotive all the time, so as to make a correct decision to ensure that the electric locomotive runs in the optimal state.
In addition, the vehicle controller of an electric locomotive can generally control tens of functions, such as time management, automatic end change, pantograph control, master-off control, operation end management, traction transformer control, earthing switch and high-voltage isolating switch control, reconnection control, air-electric united brake, emergency brake, parking brake, isolation control, traction blocking, penalty brake, fire alarm control, passing neutral section management, driver controller management, constant speed control, unmanned alert, sanding control, locomotive speed, rim lubrication, auxiliary equipment control, heartbeat control, etc., and when an emergency such as a vehicle fault occurs or some special operations are performed, the vehicle controller often controls the state of one equipment or controls the state of another equipment through the state of one equipment, for example, when a driver inserts an electric key on the driver's console, the pantograph can be lifted, so that for realizing different control functions in the whole vehicle controller, a sub-function module is arranged for different control functions in the whole vehicle controller, and meanwhile, the internal logic signal interface module is arranged to ensure the information intercommunication of each sub-function module, so that the orderliness, the reasonability and the reliability of the whole vehicle controller on the control of the electric locomotive are ensured, and the operation and the safety of the electric locomotive are ensured.
Fig. 1 is a schematic structural diagram of a vehicle control unit according to a first embodiment of the present application. The vehicle control unit of this embodiment is applied to the TCMS, as shown in fig. 1, the vehicle control unit 10 in this embodiment includes:
an input signal driving interface module 11, a function control module 12 and an output signal driving interface module 13.
The function control module 12 is connected with the input signal driving interface module 11 and the output signal driving interface module 13 respectively, and both the input signal driving interface module 11 and the output signal driving interface module 13 are connected with other nodes in the train control management system TCMS.
Other nodes in the TCMS may include: a remote input/output module (RIOM), a Traction Control Unit (TCU), a Driver Display Unit (DDU), an Auxiliary Control Unit (ACU), a Gateway (GW), and the like. Each node is connected with the vehicle control unit through the MVB, and the vehicle control unit is convenient to acquire state information in the electric locomotive and issue control instructions.
The RIOM is used for collecting the state information of the locomotive, converting the collected information into digital signals and module information, outputting the converted information to the MVB, and sending the processed information to a corresponding network node by the MVB.
The DDU is arranged in the cab, and mainly realizes the functions of locomotive running state display, fault alarm and prompt, control unit isolation setting, analog simulation, debugging, data downloading and the like during locomotive maintenance, and realizes information interaction between a driver and a locomotive. The DDU is usually in a touch screen type, can display the running state and fault information of the locomotive in real time, and simultaneously, a driver can send instructions such as isolation and isolation cancellation of units such as traction, assistance and braking through the DDU.
The TCU and the ACU are second-stage control units in the electric locomotive, and the TCU is connected with a motor in the locomotive and used for controlling the motor to provide traction and power for the locomotive according to a control command of a finished vehicle controller. The ACU is respectively connected with the corollary equipment of the motor and is used for controlling the corresponding corollary equipment to work according to the related instruction of the vehicle controller and providing necessary conditions for the operation of the locomotive; depending on the power requirements of the locomotive, one or more TCUs and ACUs may be provided.
The GW is connected between the MVB and the WTB, and the gateway is arranged in the reconnection cabinet and used for realizing protocol conversion between the WTB; the MVB uses data exchange in each electronic control system; and the WTB is used for exchanging data between the master control locomotive and the reconnection vehicle when reconnection traction is carried out.
When the vehicle control unit 10 works, the input signal driving interface module 11 obtains status information such as device status information and operation status information of the electric locomotive from other nodes in the TCMS, and transmits the status information such as the device status information and the operation status information to the function control module, the function control module 12 generates a control instruction for controlling hardware devices or nodes in the electric locomotive to execute a specific operation according to the received device status information and operation status information, and the output signal driving interface module 13 sends the generated control instruction to a corresponding node or hardware device in the TCMS, so as to control the electric locomotive.
In this embodiment, by setting that the vehicle control unit 10 includes the input signal driving interface module 11, the function control module 12 and the output signal driving interface module 13, and the function control module 12 is respectively connected to the input signal driving interface module 11 and the output signal driving interface module 12, when the vehicle control unit works, the input signal driving interface module 11 acquires the state information of the electric locomotive from other nodes in the TCMS, and transmits the acquired state information to the function control module, the function control module 12 generates a control instruction according to the received state information, and transmits the control instruction to a corresponding node in the TCMS through the output signal driving interface module 13, thereby realizing control over a network node in the TCMS and hardware devices in the vehicle, further realizing accurate control over the electric locomotive, and ensuring normal operation of the electric locomotive.
Fig. 2 is a schematic structural diagram of a vehicle control unit in an embodiment two provided in the embodiment of the present application, and based on the embodiment shown in fig. 1, as shown in fig. 2, a function control module 12 in the embodiment includes a plurality of sub-function modules, and a vehicle control unit 10 in the embodiment further includes: internal logic signal interface module 14.
The internal logic signal interface module 14 is connected to a plurality of sub-function modules in the function control module 12, respectively, and is used for implementing association and communication between the sub-function modules.
The sub-function module is a specific module of the function control module 12 that manages and controls a specific function or hardware device in the electric locomotive. The plurality of sub-function modules in the function control module 12 include: one or more of a time management sub-functional module, an automatic terminal changing sub-functional module, a pantograph control sub-functional module, a main breaking control sub-functional module, an operating terminal management sub-functional module and a traction transformer control sub-functional module.
To meet the needs of electric locomotive development, the plurality of sub-function modules in the function control module 12 may further include: the system comprises a grounding switch and high-voltage isolating switch control sub-function module, a reconnection control sub-function module, an air-electricity combined brake sub-function module, an emergency brake sub-function module, a parking brake sub-function module, an isolation control sub-function module, a traction locking sub-function module, a punishment brake sub-function module, a fire alarm control sub-function module, a split-phase management sub-function module, a driver management sub-function module, a constant speed control sub-function module, an unmanned alarm sub-function module, a sand scattering control sub-function module, a locomotive speed sub-function module, a wheel rim lubrication sub-function module, an auxiliary equipment control sub-function module, a heartbeat control sub-function module and the like, which are not exemplified.
Accordingly, in order to ensure that the devices associated with each other are controlled simultaneously or the state of one device is controlled by the state of another device, in this embodiment, the vehicle control unit 10 is provided with the internal logic signal interface module 14, the internal logic signal interface module 14 is a set of intermediate variable signals generated by the plurality of sub-function modules in the function control module 12 in the vehicle control unit function, the intermediate variable signals are different from the control instruction output by the output signal driving interface module, and the intermediate variable signals are information output to the associated sub-function modules to implement information intercommunication between the different sub-function modules, thereby being beneficial to the vehicle control unit to implement the overall situation and rationality of controlling the vehicle control function.
In a possible implementation manner, the internal logic signal interface module 14 includes a plurality of sub-interfaces and a main interface, the main interface is connected to the plurality of sub-interfaces, the number of the sub-interfaces is the same as the number of the sub-function modules in the function control module, and each sub-interface is correspondingly connected to each sub-function module.
The plurality of sub-interfaces are respectively butted with the specific sub-function modules to acquire intermediate variable signals generated by the corresponding sub-function modules, and the main interface is used for scheduling all the sub-interfaces and sending the intermediate variable signals acquired by each sub-interface to the associated sub-function modules to realize communication among different sub-function modules.
In one possible implementation, each sub-function module includes: the device comprises a first input interface, a second input interface, a first output interface and a second output interface, wherein the first input interface is connected with an input signal driving interface module 11, the second input interface is connected with a main interface, the first output interface is connected with an output signal driving interface module 12, and the second output interface is connected with a sub-interface corresponding to one sub-function module with an association relationship.
In this embodiment, the first input interface is configured to receive the acquired state information of the electric locomotive, the second input interface is configured to receive corresponding intermediate variable signals generated by other sub-function modules of the internal logic signal interface module 14, and the sub-function modules perform comprehensive analysis on the received state information and/or the intermediate variable signals of the electric locomotive, and generate a control command and/or the intermediate variable signals to be output through the first output interface and the second output interface, respectively.
It is understood that the input signals of the first input interface and the second input interface may exist at the same time, only one input signal may exist, or both the input signals may be empty, and similarly, the output signals of the first output interface and the second output interface may exist at the same time, only one input signal may exist, or both the input signals may be empty.
Illustratively, with regard to the sanding control sub-function module, fig. 3 is a schematic structural diagram of the sanding control sub-function module provided in this embodiment of the present invention, as shown in fig. 3, where I1 and I2 respectively represent a first input interface and a second input interface of the sanding control sub-function module, T1 and T2 respectively represent a first output interface and a second output interface of the sanding control sub-function module, I1 is connected to the input signal driving interface module 11, I2 is connected to the main interface of the internal logic signal interface module 14, T1 is connected to the output signal driving interface module 13, and T2 is connected to the sub-interface corresponding to the sanding control sub-function module in the internal logic signal interface module 14.
In this embodiment, the function control module 12 includes a plurality of sub-function modules, and the internal logic signal interface module 14 is disposed in the vehicle control unit 10, the internal logic signal interface module 14 is connected to the plurality of sub-function modules in the function control module 12, respectively, and is configured to implement communication between the sub-function modules, and increase the association and compactness between the sub-function modules, thereby implementing mutual control between different sub-function modules associated with each other, ensuring the overall control, accuracy and high efficiency of the vehicle control unit 10 on the electric locomotive, and ensuring the normal operation of the electric locomotive.
Fig. 4 is a schematic structural diagram of a vehicle control unit according to a third embodiment of the present application, and on the basis of the foregoing embodiments, as shown in fig. 3, the vehicle control unit 10 according to the present embodiment further includes: a profile module 15.
The configuration file module 15 includes a hardware resource configuration file, and the configuration file module 15 is connected to other functional modules in the vehicle controller 10, respectively, and is configured to configure other modules in the vehicle controller 10.
In one possible implementation, the hardware resource profile includes hardware information, port information, and port resource variable information that the vehicle control unit 10 needs to use;
the configuration file module 15 is specifically configured to add ports to other modules in the vehicle controller and perform port variable configuration according to the hardware resource configuration document.
For example, the configuration file module 15 correspondingly adds an MVB port and a variable configuration to the input signal driving interface module 11 and the output signal driving interface module 13.
In one possible implementation, the hardware resource configuration file included in the configuration file module 15 is an SST hardware resource configuration file.
The SST (fully-known as super system tool) is self-developed upper computer software for configuring hardware resources, is a bridge between development software and hardware resources, and is used for combining the development software for a user to perform specific control logic with the specific hardware resources, so that the development software can realize functions in the vehicle control unit.
The SST configuration file is that MVB data streams in a specific TCMS are subjected to MVB configuration tool to generate MVB configuration files, the whole vehicle controller is linked through the SST, the MVB configuration files are loaded, and the whole vehicle controller is sequentially subjected to equipment configuration, MVB configuration and resource configuration, so that an SST hardware resource configuration file hardCfgFile.
In this embodiment, the configuration file module 15 is set, and the configuration file module 15 includes a hardware resource configuration document, which is used to configure other modules in the vehicle controller 10, so as to ensure the realization of functions of other modules in the vehicle controller 10, thereby improving the implementability of the vehicle controller 10 provided in the embodiment of the present application, and improving the control reliability of the vehicle controller 10 on the electric locomotive.
Fig. 5 is a schematic structural diagram of a train control management system TCMS provided in an embodiment of the present application, and as shown in fig. 5, a train control management system 20 in the embodiment includes: a remote input/output unit 21, a driver display unit 22, a traction control unit 23, and the vehicle control unit 10 in each embodiment.
An input signal driving interface module 11 in the vehicle control unit 10 is respectively connected with a remote input and output unit 21, a driver display unit 22 and a traction control unit 23 through a multifunctional vehicle bus;
in the method, a whole vehicle control logic is developed to run in a whole vehicle controller through Matlab software and SST (full name: super system tool) software, so that three functions of whole vehicle control, fault diagnosis and recording and bus management are realized, and a signal is acquired and output to an MVB (multifunction vehicle bus) through running of Matlab software and SST software development interface programs in an RIOM (read only memory); developing a man-machine interaction program through Qt software to realize the display and control functions of the DDU; and the protocol conversion function of the MVB/WTB in the GW is realized through an ISaGRAF software development interface conversion program.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should 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 or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (7)
1. A vehicle control unit, comprising: the input signal driving interface module, the function control module and the output signal driving interface module;
the function control module is respectively connected with the input signal driving interface module and the output signal driving interface module, and the input signal driving interface module and the output signal driving interface module are both connected with other nodes in a Train Control Management System (TCMS);
when the whole vehicle controller works, the input signal driving interface module acquires state information of the electric locomotive from other nodes in the TCMS and transmits the state information to the function control module, and the function control module generates a control instruction according to the received state information and transmits the control instruction to a corresponding node in the TCMS through the output signal driving interface module so as to realize control of the electric locomotive; the state information comprises equipment state information and running state information, and the control command is used for controlling the electric locomotive;
the function control module comprises a plurality of sub-function modules, and the vehicle control unit further comprises: an internal logic signal interface module;
the internal logic signal interface module is respectively connected with a plurality of sub-function modules in the function control module and is used for realizing communication among the sub-function modules.
2. The vehicle control unit according to claim 1, wherein the internal logic signal interface module comprises a plurality of sub-interfaces and a main interface;
the main interface is respectively connected with the plurality of sub-interfaces;
the number of the sub-interfaces is the same as that of the sub-function modules in the function control module, and each sub-interface is correspondingly connected with each sub-function module.
3. The vehicle control unit of claim 2, wherein each sub-function module comprises: the device comprises a first input interface, a second input interface, a first output interface and a second output interface;
the first input interface is connected with the input signal driving interface module, the second input interface is connected with the main interface, the first output interface is connected with the output signal driving interface module, and the second output interface is connected with a sub-interface corresponding to a sub-function module with an association relationship.
4. The vehicle control unit according to any one of claims 1-3, further comprising: a configuration file module;
the configuration file module comprises a hardware resource configuration document and is used for configuring other modules in the vehicle control unit.
5. The vehicle control unit according to claim 4, wherein the hardware resource profile includes hardware information, port information and port resource variable information that the vehicle control unit needs to use;
the configuration file module is specifically configured to add ports to other modules in the vehicle control unit and perform port variable configuration according to the hardware resource configuration document.
6. The vehicle control unit of claim 1, wherein the plurality of sub-function modules comprises: the system comprises a time management sub-functional module, an automatic terminal changing sub-functional module, a pantograph control sub-functional module, a master-slave control sub-functional module, an operation terminal management sub-functional module and a traction transformer control sub-functional module.
7. A train control management system, comprising: a remote input output unit, a driver display unit, a traction control unit and the vehicle control unit of any one of claims 1-6;
an input signal driving interface module in the vehicle control unit is respectively connected with the remote input and output unit, the driver display unit and the traction control unit through a multifunctional vehicle bus;
and an output signal driving interface module in the vehicle control unit is respectively connected with the remote input and output unit, the driver display unit and the traction control unit through the multifunctional vehicle bus.
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| CN201911212380.4A CN112987677B (en) | 2019-12-02 | 2019-12-02 | Vehicle control unit and train control management system |
| PCT/CN2019/123386 WO2021109084A1 (en) | 2019-12-02 | 2019-12-05 | Entire vehicle controller and train control and management system |
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| CN103112459A (en) * | 2011-11-17 | 2013-05-22 | 中国北车股份有限公司大连电力牵引研发中心 | Engine control device, engine control system and engine control method |
| CN102707678A (en) * | 2012-05-16 | 2012-10-03 | 中国铁道科学研究院机车车辆研究所 | Input/output workstation of track traffic vehicle network system |
| CN103786595A (en) * | 2014-01-16 | 2014-05-14 | 南车株洲电力机车有限公司 | Gateway controller and control system of suspension control node network |
| CN105365850A (en) * | 2015-12-04 | 2016-03-02 | 广州电力机车有限公司 | Tramcar network control system |
| CN107054409A (en) * | 2017-05-04 | 2017-08-18 | 中车株洲电力机车有限公司 | A kind of Train Control Network and its control method |
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| CN112987677A (en) | 2021-06-18 |
| WO2021109084A1 (en) | 2021-06-10 |
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