CN113291355A - Communication method and system for traction driving equipment of ultra-high-speed train - Google Patents
Communication method and system for traction driving equipment of ultra-high-speed train Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/14—Session management
- H04L67/141—Setup of application sessions
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Abstract
The invention discloses a communication method and a communication system for traction driving equipment of an ultra-high-speed train. The specific implementation mode of the method comprises the following steps: s10, the master node sends a first message containing the slave node address to at least one slave node, and the slave node judges the slave node address in the first message and returns a second message to realize handshake, wherein the master node is a controller of a train operation control system, and the slave node is a controller of traction driving equipment; s20, the master node sends a third message containing the slave node address and the connection number to the slave node, and the slave node returns a fourth message to the master node to realize connection; s30, the master node sends a fifth message containing the connection number and the communication parameters to the slave node, and the slave node completes communication configuration and returns a sixth message to realize the communication configuration of the slave node; and S40, the master node sends a control data frame containing the connection number and the traction drive control data to the slave node, and the slave node returns a state data frame to realize bidirectional communication.
Description
Technical Field
The invention relates to the technical field of communication. And more particularly, to a communication method and system for ultra-high speed train traction driving equipment.
Background
The electromagnetic propulsion system of the ultra-high-speed train with the speed per hour of 1000km/h needs special high-energy-density traction driving equipment, different from the existing traction equipment (motor) of the high-speed train, which is positioned on the train, the traction driving equipment of the ultra-high-speed train is arranged on the ground at intervals along the running route of the train and is controlled by a train running control system (a control center positioned on the ground), and a safe, reliable, efficient and real-time communication connection with the traction driving equipment needs to be established between the train running control system and the traction driving equipment.
Therefore, a method and a system for communication of the traction driving device of the ultra-high-speed train are needed.
Disclosure of Invention
The invention aims to provide a communication method and a communication system for ultra-high-speed train traction driving equipment, which are used for solving at least one of the problems in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a communication method of ultra-high speed train traction driving equipment in a first aspect, which comprises the following steps:
s10, the master node sends a first message containing the address of the slave node to at least one slave node, and the slave node returns a second message containing the address of the slave node to the master node when judging that the address of the slave node in the received first message is the address of the slave node, so as to realize the handshake between the master node and the slave node, wherein the master node is a controller of a train operation control system, and the slave node is a controller of a traction drive device;
s20, the master node sends a third message containing the address and the connection number of the slave node to the slave node, and the slave node receiving the third message returns a fourth message containing the address and the connection number of the slave node to the master node so as to realize the connection between the master node and the slave node, wherein the connection number is uniquely corresponding to the slave node;
s30, the master node sends a fifth message containing the connection number and the communication parameters to the slave node, the slave node receiving the fifth message carries out communication configuration according to the communication parameters after judging that the communication is correct according to the connection number, and returns a sixth message containing the connection number and the configuration data to the master node so as to realize the communication configuration of the slave node;
and S40, the master node sends a control data frame containing the connection number and the traction drive control data to the slave node, and the slave node receiving the control data frame processes the traction drive control data and returns a state data frame containing the connection number and the operation data to the master node after judging that the communication is correct according to the connection number.
Optionally, before step S10, the method further includes the steps of:
and S05, resetting the master node after starting or judging the fault, and resetting the slave node after starting, judging the fault or receiving a reset command sent by the master node.
Optionally, step S40 further includes:
the master node starts first timing when sending the control data frame to the slave node, and judges whether the state data frame is received before the first timing is finished, if so, the master node checks the received state data frame and sends the next control data frame, if not, the master node judges that a fault occurs and goes to step S05;
and the slave node starts second timing when returning the state data frame to the master node, judges whether a next control data frame is received before the second timing is finished, processes traction drive control data contained in the next control data frame and returns the next state data frame to the master node after judging that communication is correct according to a connection number contained in the next control data frame if the next control data frame is received, and judges that a fault occurs if the next state data frame is not received and then the process goes to step S05.
Optionally, the processing traction drive control data included in the next control data frame after judging that the communication is correct according to the connection number included in the next control data frame further includes: and judging whether at least one bit of data of the next received control data frame is different from the previous control data frame, if so, judging that the next received data frame is the next data frame, judging that the communication is correct according to a connection number contained in the next control data frame, and then processing traction drive control data contained in the next control data frame.
Optionally, the master node implements the first timing by its own watchdog timer, and the slave node implements the second timing by its own watchdog timer.
In a second aspect, the invention provides a communication system for a traction driving device of an ultra-high speed train, which comprises a train operation control system and at least one traction driving device,
a controller of the train operation control system is used as a master node, and a controller of the traction driving equipment is used as a slave node;
the master node is configured to send a first message containing a slave node address to at least one slave node, and the slave node is configured to return a second message containing the slave node address to the master node when judging that the slave node address in the received first message is the self address, so as to realize handshake between the master node and the slave node;
the master node is further configured to send a third message containing a slave node address and a connection number to the slave node, and the slave node receiving the third message is further configured to return a fourth message containing the slave node address and the connection number to the master node so as to realize the connection between the master node and the slave node, wherein the connection number uniquely corresponds to the slave node;
the master node is further configured to send a fifth message containing the connection number and the communication parameters to the slave nodes, the slave nodes receiving the fifth message are further configured to perform communication configuration according to the communication parameters after judging that the communication is correct according to the connection number, and return a sixth message containing the connection number and the configuration data to the master node to realize the communication configuration of the slave nodes;
the master node is further configured to send a control data frame including the connection number and the traction drive control data to the slave node, and the slave node receiving the control data frame is further configured to process the traction drive control data and return a state data frame including the connection number and the operation data to the master node after judging that the communication is correct according to the connection number.
Alternatively,
the master node is also configured to reset after starting or judging that a fault occurs, and the slave node is also configured to reset after starting, judging that a fault occurs or receiving a reset command sent by the master node.
Alternatively,
the master node is also configured to start a first timing when sending a control data frame to the slave node, and judge whether a state data frame is received before the first timing is ended, if so, the master node checks the received state data frame and sends the next control data frame, and if not, the master node judges that a fault occurs;
and the slave node is also configured to start second timing when returning the state data frame to the master node, judge whether a next control data frame is received before the second timing is finished, if so, judge that the communication is correct according to a connection number contained in the next control data frame, process traction drive control data contained in the next control data frame and return the next state data frame to the master node, and if not, judge that a fault occurs.
Optionally, the slave node is further configured to determine whether at least one bit of data of a received next control data frame is different from a previous control data frame, and if so, determine that the received next data frame is a next data frame, and process traction drive control data included in the next control data frame after determining that communication is correct according to a connection number included in the next control data frame.
Optionally, the master node implements the first timing by its own watchdog timer, and the slave node implements the second timing by its own watchdog timer.
The invention has the following beneficial effects:
the technical scheme of the invention has the advantages of safety, reliability, high efficiency, high real-time performance and the like, can meet the communication requirement between a train operation control system and traction driving equipment, and is suitable for the driving control of an ultra-high speed train.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings;
fig. 1 shows a flowchart of a communication method for a traction drive device of an ultra-high speed train according to an embodiment of the present invention.
Fig. 2 shows a schematic diagram of node communication connections.
Fig. 3 shows a timing diagram of a communication cycle between a master node and a slave node.
Detailed Description
In order to more clearly illustrate the invention, the invention is further described below with reference to preferred embodiments and the accompanying drawings. Similar parts in the figures are denoted by the same reference numerals. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
As shown in fig. 1, an embodiment of the present invention provides a method for communicating traction drive equipment of an ultra-high speed train, including the following steps:
s10, the master node sends a first message containing the address of the slave node to at least one slave node, and the slave node returns a second message containing the address of the slave node to the master node when judging that the address of the slave node in the received first message is the address of the slave node, so as to realize the handshake between the master node and the slave node, wherein the master node is a controller of a train operation control system, and the slave node is a controller of a traction drive device;
s20, entering a connection state after the master node and the slave node complete handshake, sending a third message containing slave node address and connection number to the slave node by the master node, and returning a fourth message containing slave node address and connection number to the master node by the slave node receiving the third message to realize connection between the master node and the slave node, wherein the connection number is uniquely corresponding to the slave node;
s30, entering a configuration state after the master node and the slave node complete connection, the master node sending a fifth message containing a connection number and communication parameters to the slave node, the slave node receiving the fifth message carrying out communication configuration according to the communication parameters after judging the communication is correct according to the connection number, and returning a sixth message containing the connection number and configuration data to the master node to realize the communication configuration of the slave node, wherein the master node and the slave node respectively judge whether the communication is correct or not or whether the received message is correct according to the connection number in the received messages, and the connection number is defined in an application layer, which is equivalent to that whether the two sides of the communication are correctly matched on the basis of confirming the slave node address of a link layer in the handshake process;
and S40, after the slave node completes the communication configuration, entering a bidirectional communication state, or after the master node judges that the slave node completes the communication configuration according to the connection number and the configuration data in the sixth message, the master node and the slave node start bidirectional data communication, the master node sends a control data frame containing the connection number and the traction drive control data to the slave node, and the slave node receiving the control data frame processes the traction drive control data and returns a state data frame containing the connection number and the operation data to the master node after judging that the communication is correct according to the connection number. The master node and the slave node respectively judge whether the communication is correct or whether the received data frame is correct through the connection number in the received data frame. In one particular example, the traction drive control data includes an operating mode, a reference speed profile, a voltage value, a current value, a discharge time, a circuit switch, etc., and the operating data includes an operating state, an actual current, an actual voltage, an actual state, etc.
The communication method for the ultra-high-speed train traction driving equipment has the advantages of safety, reliability, high efficiency, high real-time performance and the like, can meet the communication requirement between a train operation control system and the traction driving equipment, and is suitable for the driving control of the ultra-high-speed train. Particularly, a safe and reliable communication connection can be established between the traction equipment which is arranged on the ground at intervals along the running route of the train and the train running control system through a real-time Ethernet communication connection mode, the field bus memory management unit can be used for managing data which is relevant to each slave node and is taken from an Ethernet frame by each slave node on the network or inserting the data to be returned by the slave node, and the communication mode has the advantages of high reliability, high real-time performance and the like.
It should be noted that, the MAC layer protocol of the existing ethernet is CSMA/CD, and the protocol may have collisions on the network, and if there are a large number of collisions, the data must be retransmitted for many times, so that the uncertainty of communication between networks is greatly increased, which may reduce the control performance of the system; the CSMA/CD mechanism of ethernet, which retransmits data when a collision occurs, can attempt 16 times, and this mechanism of resolving the collision comes at the cost of time, resulting in poor real-time performance. Different from the existing MAC layer protocol of the ethernet, the embodiment defines a communication application layer protocol, which is unrelated to a communication medium and used for controlling the communication of the traction driving device of the electromagnetic propulsion system of the ultra-high-speed train. The protocol adopted in this embodiment defines a communication relationship and a data format between a controller of a train operation control system and a controller of a traction drive device, the communication protocol is independent of a specific physical topology and a communication medium (twisted pair, optical fiber and the like, usually optical fiber), and is a connection-oriented application layer communication form, as shown in fig. 2, in the communication relationship defined by the present invention, which is independent of the communication medium, one of the connections is a master node, and the other is a slave node. The traction drive equipment generally comprises safety input and output, a safety sensor, a safety servo and other execution devices with safety functions, and a train operation control system is a control node with a safety logic operation function. In one specific example, node 1 in fig. 1 is a master node and node 5 is a slave node. In addition, a master node may establish a communication connection with a plurality of slave nodes, and a plurality of connections may be defined in the communication network, each communication connection having a unique connection number, or a unique connection number corresponding to each slave node. This connection is an application layer protocol. Since security is very important in the ultra-high speed train control system, this embodiment defines the application layer protocol on the basis of the basic real-time ethernet protocol to ensure higher functional security and reliability.
In some optional implementations of this embodiment, before step S10, the method further includes the following steps:
and S05, resetting the master node after starting or judging the fault, and resetting the slave node after starting, judging the fault or receiving a reset command sent by the master node. Specifically, the master node is reset after being started, after judging that a communication fault occurs or after judging that an application fault occurs, and the slave node is reset after being started, after judging that a communication fault occurs, after judging that a self fault occurs or after receiving a reset command of the master node.
In a specific example, the whole process begins with the master node and the slave node being reset after being activated, and then the master node and the slave node in the reset state begin to execute step S10, while in the process of executing steps S10-S40, or in the process of interaction between the master node and the slave node in the connection state, the configuration state, and the bidirectional communication state, if a failure is determined, the master node and the slave node are reset to execute again from S10, and of course, after the failure is determined, the master node and the slave node may also return to the previous state to execute the currently executed action again, for example, the master node and the slave node may be reconfigured after the configuration failure.
In some optional implementations of this embodiment, step S40 further includes:
the master node starts first timing when sending the control data frame to the slave node, and judges whether the state data frame is received before the first timing is finished, if so, the master node checks the received state data frame and sends the next control data frame, if not, the master node judges that a fault occurs and goes to step S05;
and the slave node starts second timing when returning the state data frame to the master node, judges whether a next control data frame is received before the second timing is finished, processes traction drive control data contained in the next control data frame and returns the next state data frame to the master node after judging that communication is correct according to a connection number contained in the next control data frame if the next control data frame is received, and judges that a fault occurs if the next state data frame is not received and then the process goes to step S05.
In some optional implementation manners of this embodiment, the processing traction drive control data included in the next control data frame after determining that communication is correct according to the connection number included in the next control data frame further includes: and judging whether at least one bit of data of the next received control data frame is different from the previous control data frame, if so, judging that the next received data frame is the next data frame, judging that the communication is correct according to a connection number contained in the next control data frame, and then processing traction drive control data contained in the next control data frame.
In some optional implementations of this embodiment, the master node implements the first timing by its own watchdog timer, and the slave node implements the second timing by its own watchdog timer.
The bidirectional data communication timing sequence between the master node and the slave node using the above implementation manner is shown in fig. 3, wherein a communication period is defined in an application layer, and a new control data frame is determined only when at least one bit of a received control data frame of the application layer is different from a control data frame of a previous application layer. In addition, the master node may check the received status data frame in a manner of determining that the received status data frame is a new status data frame only when at least one bit of the received status data frame is different from a status data frame of a previous application layer.
In this embodiment, the specific communication parameters and configuration data in the configuration state may be set as required, for example, the specific communication parameters and configuration data may include data length, and timing duration of a watchdog timer.
Another embodiment of the invention provides a communication system for a traction drive device of an ultra-high speed train, which comprises a train operation control system and at least one traction drive device,
a controller of the train operation control system is used as a master node, and a controller of the traction driving equipment is used as a slave node;
the master node is configured to send a first message containing a slave node address to at least one slave node, and the slave node is configured to return a second message containing the slave node address to the master node when judging that the slave node address in the received first message is the self address, so as to realize handshake between the master node and the slave node;
the master node is further configured to send a third message containing a slave node address and a connection number to the slave node, and the slave node receiving the third message is further configured to return a fourth message containing the slave node address and the connection number to the master node so as to realize the connection between the master node and the slave node, wherein the connection number uniquely corresponds to the slave node;
the master node is further configured to send a fifth message containing the connection number and the communication parameters to the slave nodes, the slave nodes receiving the fifth message are further configured to perform communication configuration according to the communication parameters after judging that the communication is correct according to the connection number, and return a sixth message containing the connection number and the configuration data to the master node to realize the communication configuration of the slave nodes;
the master node is further configured to send a control data frame including the connection number and the traction drive control data to the slave node, and the slave node receiving the control data frame is further configured to process the traction drive control data and return a state data frame including the connection number and the operation data to the master node after judging that the communication is correct according to the connection number.
In some alternative implementations of the present embodiment,
the master node is also configured to reset after starting or judging that a fault occurs, and the slave node is also configured to reset after starting, judging that a fault occurs or receiving a reset command sent by the master node.
In some alternative implementations of the present embodiment,
the master node is also configured to start a first timing when sending a control data frame to the slave node, and judge whether a state data frame is received before the first timing is ended, if so, the master node checks the received state data frame and sends the next control data frame, and if not, the master node judges that a fault occurs;
and the slave node is also configured to start second timing when returning the state data frame to the master node, judge whether a next control data frame is received before the second timing is finished, if so, judge that the communication is correct according to a connection number contained in the next control data frame, process traction drive control data contained in the next control data frame and return the next state data frame to the master node, and if not, judge that a fault occurs.
In some optional implementation manners of this embodiment, the slave node is further configured to determine whether at least one bit of data of a received next control data frame is different from a previous control data frame, and if so, determine that the received next data frame is the next data frame, and process traction drive control data included in the next control data frame after determining that communication is correct according to a connection number included in the next control data frame.
In some optional implementations of this embodiment, the master node implements the first timing by its own watchdog timer, and the slave node implements the second timing by its own watchdog timer.
It should be noted that the principle and the working flow of the communication system of the ultra-high speed train traction driving device provided in this embodiment are similar to those of the communication method of the ultra-high speed train traction driving device, and reference may be made to the above description for relevant points, which are not described herein again.
In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
It is further noted that, in the description of the present invention, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations and modifications can be made on the basis of the above description, and all embodiments cannot be exhaustive, and all obvious variations and modifications belonging to the technical scheme of the present invention are within the protection scope of the present invention.
Claims (10)
1. A communication method for traction driving equipment of an ultra-high-speed train is characterized by comprising the following steps:
s10, the master node sends a first message containing the address of the slave node to at least one slave node, and the slave node returns a second message containing the address of the slave node to the master node when judging that the address of the slave node in the received first message is the address of the slave node, so as to realize the handshake between the master node and the slave node, wherein the master node is a controller of a train operation control system, and the slave node is a controller of a traction drive device;
s20, the master node sends a third message containing the address and the connection number of the slave node to the slave node, and the slave node receiving the third message returns a fourth message containing the address and the connection number of the slave node to the master node so as to realize the connection between the master node and the slave node, wherein the connection number is uniquely corresponding to the slave node;
s30, the master node sends a fifth message containing the connection number and the communication parameters to the slave node, the slave node receiving the fifth message carries out communication configuration according to the communication parameters after judging that the communication is correct according to the connection number, and returns a sixth message containing the connection number and the configuration data to the master node so as to realize the communication configuration of the slave node;
and S40, the master node sends a control data frame containing the connection number and the traction drive control data to the slave node, and the slave node receiving the control data frame processes the traction drive control data and returns a state data frame containing the connection number and the operation data to the master node after judging that the communication is correct according to the connection number.
2. The method of claim 1, wherein before step S10, the method further comprises the steps of:
and S05, resetting the master node after starting or judging the fault, and resetting the slave node after starting, judging the fault or receiving a reset command sent by the master node.
3. The method according to claim 2, wherein step S40 further comprises:
the master node starts first timing when sending the control data frame to the slave node, and judges whether the state data frame is received before the first timing is finished, if so, the master node sends the next control data frame after checking the received state data frame, if not, the master node judges that a fault occurs and goes to step S05;
and the slave node starts second timing when returning the state data frame to the master node, judges whether a next control data frame is received before the second timing is finished, processes traction drive control data contained in the next control data frame and returns the next state data frame to the master node after judging that communication is correct according to a connection number contained in the next control data frame if the next control data frame is received, and judges that a fault occurs if the next state data frame is not received and then the process goes to step S05.
4. The method of claim 3, wherein processing the traction drive control data included in the next control data frame after determining that the communication is correct according to the connection number included in the next control data frame further comprises: and judging whether at least one bit of data of the next received control data frame is different from the previous control data frame, if so, judging that the next received data frame is the next data frame, judging that the communication is correct according to a connection number contained in the next control data frame, and then processing traction drive control data contained in the next control data frame.
5. The method of claim 3, wherein the master node implements the first timing by its own watchdog timer and the slave node implements the second timing by its own watchdog timer.
6. A communication system of ultra-high speed train traction driving equipment comprises a train operation control system and at least one traction driving equipment,
a controller of the train operation control system is used as a master node, and a controller of the traction driving equipment is used as a slave node;
the master node is configured to send a first message containing a slave node address to at least one slave node, and the slave node is configured to return a second message containing the slave node address to the master node when judging that the slave node address in the received first message is the self address, so as to realize handshake between the master node and the slave node;
the master node is further configured to send a third message containing a slave node address and a connection number to the slave node, and the slave node receiving the third message is further configured to return a fourth message containing the slave node address and the connection number to the master node so as to realize the connection between the master node and the slave node, wherein the connection number uniquely corresponds to the slave node;
the master node is further configured to send a fifth message containing the connection number and the communication parameters to the slave nodes, the slave nodes receiving the fifth message are further configured to perform communication configuration according to the communication parameters after judging that the communication is correct according to the connection number, and return a sixth message containing the connection number and the configuration data to the master node to realize the communication configuration of the slave nodes;
the master node is further configured to send a control data frame including the connection number and the traction drive control data to the slave node, and the slave node receiving the control data frame is further configured to process the traction drive control data and return a state data frame including the connection number and the operation data to the master node after judging that the communication is correct according to the connection number.
7. The system of claim 6,
the master node is also configured to reset after starting or judging that a fault occurs, and the slave node is also configured to reset after starting, judging that a fault occurs or receiving a reset command sent by the master node.
8. The system of claim 7,
the master node is also configured to start a first timing when sending a control data frame to the slave node, and judge whether a state data frame is received before the first timing is ended, if so, the master node checks the received state data frame and sends the next control data frame, and if not, the master node judges that a fault occurs;
and the slave node is also configured to start second timing when returning the state data frame to the master node, judge whether a next control data frame is received before the second timing is finished, if so, judge that the communication is correct according to a connection number contained in the next control data frame, process traction drive control data contained in the next control data frame and return the next state data frame to the master node, and if not, judge that a fault occurs.
9. The system of claim 8, wherein the slave node is further configured to determine whether at least one bit of data of a next received control data frame is different from a previous control data frame, and if so, determine that the next received control data frame is received and process the traction drive control data included in the next control data frame after determining that the communication is correct according to a connection number included in the next control data frame.
10. The system of claim 8, wherein the master node implements the first timing by its own watchdog timer and the slave node implements the second timing by its own watchdog timer.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010111371.2A CN113291355B (en) | 2020-02-24 | 2020-02-24 | Communication method and system for ultra-high speed train traction driving equipment |
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