CN113320568B - Train network control system based on multi-system fusion and control method thereof - Google Patents
Train network control system based on multi-system fusion and control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
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Abstract
The invention provides a train network control system based on multi-system fusion and a working method thereof, wherein the train network control system comprises a fusion CPU board, an MVB board card, an ETH board card, a memory and a display screen which are connected through a bus; the fusion CPU board is used for fusing a CCU module, an ERM module and an HMI module and realizing data information sharing among the CCU module, the ERM module and the HMI module; the fusion CPU board is connected with the memory through the ETH module, and the memory stores vehicle running data information in the data information according to the MVB board card or the ETH board card which is in communication; the memory is used for storing the vehicle operation data information in the data information; the display screen is used for displaying the vehicle state data information in the data information. The problems that in the prior art, data recording of a train network control system is inaccurate and the failure rate is high are solved.
Description
Technical Field
The invention relates to the technical field of rail vehicle control, in particular to a train network control system and a train network control method based on multi-system fusion.
Background
In the existing rail transit system, main devices of the train network control system include a CCU (central control unit), an ERM (event logging module), an HMI (human machine interface display) and other discrete devices. The CCU is a logic processing and bus management controller of the train, which is equivalent to the brain of the vehicle, and the ERM is responsible for recording the data of the vehicle level bus (MVB or ETH) in real time and recording the data into a hard disk so as to inquire the vehicle state in the following. The HMI acts as a machine-to-user interface, displaying vehicle status, and allowing the driver to query vehicle status and control vehicle part functions through a touch screen.
In the prior art, the ERM mainly records data of a vehicle bus level, while an intermediate variable of the CCU cannot be recorded, a sampling period of the bus is also long (generally 100ms), or the recording is not based on uniform time, a vehicle bus communication period is sometimes ms level or even us level, and the non-uniform time is not beneficial to subsequent data statistics and analysis. Meanwhile, the existing HMI is generally designed as a structure integrating a CPU and a display screen, and because the structure is an independent system and an independent power supply and exists in a single closed environment, the problems of unreasonable thermal design, high failure rate and the like exist.
Although the prior art has a multi-CPU fusion technology and a single-CPU multi-process fusion technology, certain technical problems exist. For the multi-CPU fusion technology, the controller is large in size, the inter-system communication is complex and low in efficiency, and the board card resources are not maximally applied. For the single-CPU multi-process fusion technology, coexistence of applications with different SIL levels cannot be achieved, for example, the current network system generally has a requirement of safety level SIL2 for a Central Control Unit (CCU), but has no requirement of safety level for an ERM and an HMI, and the conventional technology in which devices with different safety levels share one CPU cannot be achieved. Therefore, the invention considers the improvement of the existing train network control system so as to solve the problems of inaccurate data recording and high failure rate of the train network control system in the prior art.
Disclosure of Invention
The invention aims to provide a train network control system based on multi-system fusion, and aims to solve the problems that in the prior art, the data recording of the train network control system is inaccurate and the failure rate is high.
In order to realize the purpose, the invention adopts the following technical scheme:
a train network control system based on multi-system fusion comprises,
the system comprises a CPU board, an MVB board card, an ETH board card, a memory and a display screen which are connected through a bus;
the fusion CPU board is used for fusing a CCU module, an ERM module and an HMI module and realizing data information sharing among the CCU module, the ERM module and the HMI module;
the fusion CPU board is connected with the memory through the ETH module, and the memory stores vehicle running data information in the data information according to the MVB board card or the ETH board card which is in communication;
the memory is used for storing the vehicle operation data information in the data information;
the display screen is used for displaying the vehicle state data information in the data information.
In some embodiments of the present application, the fused CPU board comprises:
the FPGA module is in communication connection with the converged CPU board and is used for power-on time sequence management and running state monitoring of the converged CPU board;
and the GPU module is in communication connection with the fusion CPU board and is used for driving the display screen.
In some embodiments of the present application, the fused CPU board comprises:
the USB module is in communication connection with the converged CPU board;
and the PCI module is in communication connection with the fusion CPU board and is used for connecting the ETH board card and the memory.
In some embodiments of the present application, the converged CPU board employs 4-core CPUs including CPU1, CPU2, CPU3, and CPU 4;
the fusion CPU board is divided into a first part, a second part and a third part based on the virtual machine technology and the function requirements, and operating systems are respectively deployed for the first part, the second part and the third part;
wherein the first portion includes the CPU1 and CPU2, the second portion includes CPU3, and the third portion includes CPU 4.
In some embodiments of the present application, the operating system comprises a first operating system and a second operating system;
the first operating system is deployed on the first part and is used for realizing the logic function of the CCU module;
the second operating systems are respectively deployed on the second part and the third part and are respectively used for realizing logic functions of the ERM module and the HMI module.
In some embodiments of the present application, the first operating system is a QNX operating system, and the second operating system is a LINUX operating system.
In some embodiments of the present application, data information sharing is implemented between the first operating system and the second operating system through a VMM.
In some embodiments of the present application, further comprising:
the power supply board card is connected with the fusion CPU board and the MVB board card, and the power supply board card is arranged in a redundant mode.
A control method of a train network control system based on multi-system fusion comprises the following steps:
s1: controlling the system to be powered on and operated;
s2: the VMM distributes kernel and storage resources of a fusion CPU board to a first operating system of the CCU module, a second operating system of the ERM module and a second operating system of the HMI module;
s3: the first operating system and the second operating system load software from the hard disk and start corresponding peripheral equipment;
s4: judging whether the first operating system and the second operating system are started normally,
if so, the first operating system and the second operating system cooperate with each other;
if not, the first operating system and the second operating system execute S3 again.
In some embodiments of the present application, the step S2 specifically includes:
in a QNX system that maps PCI module drivers and ETH module drivers to CCU modules,
mapping GPU (VGA) module drivers into the LINUX system of the HMI module,
and the PCIe (storage expansion) and USB module drivers are mapped into the LINUX system of the ERM module.
The invention has the technical effects or advantages that:
the invention provides a train network control system based on multi-system fusion, which comprises an MVB board card, a fusion CPU board, a memory and a display screen, wherein the fusion CPU board, the memory and the display screen are connected through the MVB board card; the fusion CPU board is used for fusing the CCU module, the ERM module and the HMI module and realizing data information sharing among the CCU module, the ERM module and the HMI module; the memory is used for storing the vehicle operation data information in the data information; the display screen is used for displaying the vehicle state data information in the data information. Therefore, the control system with the CCU module, the ERM module and the HMI module highly integrated improves the integration level of the system, overcomes the defect that the original ERM module can only record bus data, improves the heat dissipation condition of the HMI module, reduces the hardware cost and improves the product performance. The problems that in the prior art, data recording of a train network control system is inaccurate and the failure rate is high are solved. Meanwhile, the coexistence of the devices with different safety levels can be realized in the same integrated CPU by adopting the control system.
Drawings
Fig. 1 is a block diagram of a train network control system in the prior art;
fig. 2 is a schematic structural diagram of a train network control system based on multi-system convergence according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a fusion CPU board of a train network control system based on multi-system fusion according to an embodiment of the present invention;
fig. 4 is a software architecture diagram of a train network control system based on multi-system convergence according to an embodiment of the present invention;
fig. 5 is a control method of a train network control system based on multi-system fusion according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. 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 invention.
The technical solution of the present invention will be described in detail below with reference to the specific embodiments and the accompanying drawings.
The train network control system based on multi-system fusion comprises a fusion CPU board, an MVB board card, an ETH board card, a memory and a display screen, wherein the MVB board card, the ETH board card, the memory and the display screen are connected through a bus; the fusion CPU board is used for fusing a CCU module, an ERM module and an HMI module and realizing data information sharing among the CCU module, the ERM module and the HMI module; the fusion CPU board is connected with the memory through the ETH module, and the memory stores vehicle running data information in the data information according to the MVB board card or the ETH board card which is in communication; the memory is used for storing the vehicle operation data information in the data information; the display screen is used for displaying the vehicle state data information in the data information. In this embodiment, the power board card is provided with redundancy.
More specifically, in the fusion scheme, the mode of a commercial PC is used for reference, and a fusion CPU board and a display system are separated. The HMI module no longer receives the information of the MVB slave card, but directly obtains the information from the inside of the CCU module, and transmits video data to a display screen through a standard video transmission cable.
As shown in fig. 1, in the existing train network system, a CCU module, an ERM module, and an HMI module are used as core devices of the network system, the CCU module is used as a main controller to manage an MVB/ETH bus, and the ERM module and the HMI module are mounted on the MVB/ETH bus. However, in the prior art, the ERM module can only record the bus level data of MVB/ETH, and the CCU module can not record the intermediate variable of internal logic operation, and even if the intermediate variable is recorded, complete synchronization in real time cannot be realized. In a traditional HMI module, information of an MVB/ETH bus is received and relevant interface information is projected to a display screen through an LVDS/CGA or other interfaces, and because the scheme generally needs an independent integrated CPU board and power supply, a system is relatively closed, and the heat dissipation condition is poor.
As shown in fig. 2, in the existing CCU module, the external devices include an MVB card and an ethernet card, and besides, the main function of the present invention is logical operation, so that the fused CPU board has relatively many resources to perform logical operation. The above module functions are integrated, all the operation resources are integrated into the same integrated CPU board, and the peripheral board cards merge the same items to form the technical scheme shown in FIG. 2. That is, in the train control system in the prior art, the CCU module, the ERM module, and the HMI module belong to three independent devices respectively and are connected through an external bus, however, in the present application, the three modules are integrated, and the same integrated CPU board is used to configure different peripherals, thereby saving hardware cost. Meanwhile, the external bus connection mode of the 3 modules adopts a CPCI internal bus mode fused into the same system. Therefore, by adopting the technical scheme, the ERM module directly applies the relevant data of MVB/ETH in the CCU module, and simultaneously can also record the intermediate variable of the CCU module, namely, because the CCU module and the ERM module are fused into the same system, the synchronous calculation of internal data and external data can be realized, and the accuracy and the efficiency of data recording are improved. Meanwhile, the fused ERM module needs an expandable storage device, and the system can support the storage function of the ERM module. Meanwhile, the HMI module is only a display panel, the function of the processor is integrated into the CCU module, the CCU module has good heat dissipation conditions and strong operation capacity, and the operation unit and the display unit are relatively separated, so that the reliability of the system is improved.
Furthermore, the fusion CPU board also comprises a multi-core CPU module, an FPGA module, a GPU module, an ETH module, a USB module and a PCI module. The FPGA module is connected with the multi-core CPU module through PCIe and is used for power-on time sequence management and running state monitoring of the fusion CPU board; the GPU module is connected with the multi-core CPU module through PCIe and used for driving the display screen; the PCI module is connected with the multi-core CPU module through PCIe and is used for connecting the ETH board card and the memory, and the memory stores vehicle operation data information in the data information according to the MVB board card or the ETH board card which is in communication; the USB module is connected and fused with the CPU board through PCIe.
Specifically, as shown in fig. 3, the fusion CPU board employs a high-performance 4-core CPU module, and the CPU module expands a 4G memory space through a DDR4 controller; the CPU module communicates with the FPGA through PCIe (peripheral component interface express), the FPGA completes power-on time sequence management, running state monitoring, CAN (controller area network) bus expansion and IO (input/output) resource expansion of a CPU system, and the FPGA monitors the temperature of the CPU module through an LM75 temperature sensor externally hung on an I2C bus; the CPU module realizes the management of the PCI bus through a PCIe-to-PCI bridge chip; NVMe storage of the CPU module plug-in M.2 interface is used as a storage medium of a system and an application program; the CPU module realizes two paths of USB through a chip for converting PCIe into USB; the CPU module realizes a double-path Ethernet interface through an RGMII interface; the CPU module is externally connected with the GPU module through PCIe, and the CPU module drives the display screen through a VGA/LVDS bus.
As shown in fig. 4, the converged CPU board is divided into a first part, a second part, and a third part based on the virtual machine technology and the functional requirements, and operating systems are respectively deployed for the first part, the second part, and the third part. Specifically, a computing unit scheduling mechanism integrated with a CPU board is adopted to realize physical isolation of 4-core CPU modules, that is, a first part includes a CPU1 and a CPU2, a second part includes a CPU3, and a third part includes a CPU4, wherein a CPU1 and a CPU2 are allocated to a central control unit CCU module, a CPU3 is allocated to an HMI module, and a CPU4 is allocated to an ERM module. The operating system comprises a first operating system and a second operating system; the first operating system is deployed on the first part and used for realizing the logic function of the CCU module; and the second operating systems are respectively deployed on the second part and the third part and are respectively used for realizing the logic functions of the ERM module and the HMI module. And the first operating system is a QNX operating system, and the second operating system is a LINUX operating system. Specifically, in terms of software, the CCU module is considered as a control center of a whole vehicle, the reliability requirement is high, and if the CCU module and the ERM module and the HMI module are completely made into an operating system, instability of the operating system can be caused, so that the application adopts a virtual machine technology to logically divide an X86 system of the comprehensive control platform into three independent operating systems through software on a software level, each operating system physically comprises a physical core, different operating systems are deployed and respectively distributed to the CCU module, the ERM module and the HMI module, and different peripheral devices are mounted on the relevant operating systems. The original CCU module is used as a control center of a whole vehicle, the requirements on real-time performance and reliability are high, so that an embedded real-time operating system QNX is adopted, an ERM module and an HMI module are considered for software compatibility and expansibility, the adopted operating system is LINUX, after fusion, the CCU module still deploys the QNX operating system through a virtual machine technology, the LINUX operating system is still run on the ERM module and the HMI module, and three cores perform inter-core communication in a memory sharing mode. The three devices with different cores ensure the relative independence among the systems, and if one operating system has software problems, the functions of other operating systems are not influenced. And the fusion controller adopts a modularized flexibly configurable scheme, an MVB board card can be configured on the occasion of needing an MVB bus, different modules are selected and configured under the condition of needing Ethernet, 4G, GPS and I/O, and all the modules are mounted on the fusion CPU board through CPCI, so that the flexibility of the configuration of the operating system is ensured to meet the requirements of different projects. Therefore, the multi-core CPU module is virtualized into a plurality of independent processors by adopting a virtual machine technology, different operating systems are deployed in different processors, inter-core communication is guaranteed through an internal fast bus, multi-system fusion is realized, and the independence of each system is guaranteed. The Ethernet, 4G, GPS and I/O in the system all adopt a modularized configuration scheme, can be flexibly configured, is convenient to deploy the system, and ensures the flexibility of the controller.
Further, data information sharing is achieved between the first operating system and the second operating system through the VMM. Specifically, a VMM (virtual machine monitor) is middle-layer software running between a basic physical multi-core processor and an operating system, and allows a plurality of operating systems to share hardware, a VMM system adopted in the system performs logical partitioning on cores and storage resources of a hardware system, different operating systems run on different CPU cores, and a memory also belongs to different operating systems. That is, the use of hardware resources by a plurality of operating systems is not overlapped, so that the mutual independence of the systems is ensured, for example, when the ERM module has a software fault, although the CCU module and the HMI module belong to the same hardware, the operation of the CCU module and the HMI module is not influenced. Namely, the VMM ensures the independence of the operation units according to the configuration and ensures the complementary interference of each system no matter in the system starting process or the system operation process.
Specifically, a memory management unit of the VMM divides a physical memory into three logically independent memory intervals, each system can only operate a space allocated by the VMM system, and the VMM monitors the memory access range of each system in real time to ensure system complementary interference. Meanwhile, inter-core communication between the respective systems is performed by an inter-core communication unit managed by the VMM.
The VMM loads the drive of each peripheral after the system is started, then maps the corresponding peripheral to different user layer operating systems through virtualization technology, specifically, the PCI bus drive and the ETH module drive are mapped to a QNX system of a CCU module, a GPU (VGA) drive is mapped to a LINUX system of an HMI module, and a PCIe (storage expansion) and USB module drive is mapped to a LINUX system of an ERM module. The VMM realizes physical isolation among the systems through the management method of the CPU core, the memory resource and the peripheral resource, and ensures that the systems are mutually independent and mutually interfered in the running process.
The invention also provides a control method of the train network control system based on multi-system fusion, which specifically comprises the following steps,
s1: controlling the system to be powered on and operated;
s2: the VMM distributes kernel and storage resources of a fusion CPU board to a first operating system of the CCU module, a second operating system of the ERM module and a second operating system of the HMI module;
s3: the first operating system and the second operating system load software from the hard disk and start corresponding peripheral equipment;
s4: judging whether the first operating system and the second operating system are started normally,
if so, the first operating system and the second operating system cooperate with each other;
if not, the first operating system and the second operating system execute S3 again.
Wherein, the step of S2 specifically comprises the following steps:
in a QNX system that maps PCI module drivers and ETH module drivers to CCU modules,
the gpu (vga) module driver is mapped into the LINUX system of the HMI module,
and the PCIe (storage expansion) and USB module drivers are mapped into the LINUX system of the ERM module.
As shown in fig. 5, specifically, the starting process of the entire control system includes that the control system is started after being powered on, the VMM reads and controls the configuration of each module, the configuration information includes resource configuration information allocation of each operating system, then system resources are allocated according to the configuration information, and each virtual operating system loads the system on the allocated hardware resources and starts the peripheral resources allocated to itself. After each virtual system is started, the VMM monitors the virtual systems, and if the operating systems are not started successfully or errors occur in the running process, the first operating system and the second operating system load software from the hard disk and start corresponding peripheral equipment.
Claims (10)
1. A train network control system based on multi-system fusion is characterized by comprising,
the system comprises a CPU board, an MVB board card, an ETH board card, a memory and a display screen which are connected through a bus;
the fusion CPU board is used for fusing a CCU module, an ERM module and an HMI module and realizing data information sharing among the CCU module, the ERM module and the HMI module;
the fusion CPU board is connected with the memory through the ETH module, and the memory stores vehicle running data information in the data information according to the MVB board card or the ETH board card which is in communication;
the memory is used for storing the vehicle operation data information in the data information;
the display screen is used for displaying the vehicle state data information in the data information.
2. The multi-system convergence based train network control system according to claim 1, wherein the convergence CPU board comprises:
the FPGA module is in communication connection with the converged CPU board and is used for power-on time sequence management and running state monitoring of the converged CPU board;
and the GPU module is in communication connection with the fusion CPU board and is used for driving the display screen.
3. The multi-system convergence based train network control system according to claim 1 or 2, wherein the convergence CPU board includes:
the USB module is in communication connection with the converged CPU board;
and the PCI module is in communication connection with the fusion CPU board and is used for connecting the ETH board card and the memory.
4. The multi-system convergence based train network control system of claim 1,
the fusion CPU board adopts 4-core CPU, and comprises a CPU1, a CPU2, a CPU3 and a CPU 4;
the fusion CPU board is divided into a first part, a second part and a third part based on the virtual machine technology and the function requirements, and operating systems are respectively deployed for the first part, the second part and the third part;
wherein the first portion includes the CPU1 and CPU2, the second portion includes CPU3, and the third portion includes CPU 4.
5. The multi-system fusion based train network control system of claim 4, wherein the operating system comprises a first operating system and a second operating system;
the first operating system is deployed on the first part and is used for realizing the logic function of the CCU module;
the second operating systems are respectively deployed on the second part and the third part and are respectively used for realizing logic functions of the ERM module and the HMI module.
6. The multi-system convergence based train network control system of claim 5, wherein the first operating system is a QNX operating system and the second operating system is a LINUX operating system.
7. The multisystem fusion-based train network control system according to claim 5 or 6, wherein data information sharing is achieved between the first operating system and the second operating system through a VMM.
8. The multi-system convergence-based train network control system according to claim 1, further comprising:
the power supply board card is connected with the fusion CPU board and the MVB board card, and the power supply board card is arranged in a redundant mode.
9. A control method of a train network control system based on multi-system convergence according to any one of claims 5 to 7, comprising:
s1: controlling the system to be powered on and operated;
s2: the VMM distributes kernel and storage resources of a fusion CPU board to a first operating system of the CCU module, a second operating system of the ERM module and a second operating system of the HMI module;
s3: the first operating system and the second operating system load software from the hard disk and start corresponding peripherals;
s4: judging whether the first operating system and the second operating system are started normally,
if so, the first operating system and the second operating system cooperate with each other;
if not, the first operating system and the second operating system execute S3 again.
10. The method for controlling the train network control system based on multi-system convergence according to claim 9, wherein the step S2 specifically includes:
in a QNX system that maps PCI module drivers and ETH module drivers to CCU modules,
mapping GPU (VGA) module drivers into the LINUX system of the HMI module,
and the PCIe (storage expansion) and USB module drivers are mapped into the LINUX system of the ERM module.
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