CN113771915A - Train fusion control system and method - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B61L15/0054—Train integrity supervision, e.g. end-of-train [EOT] devices
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Abstract
The embodiment of the application provides a train fusion control system and method, and the system comprises: the TSN switch, the fusion control unit and the execution control unit are respectively arranged in the train and are in communication connection through a TSN network; the TSN switch is a main clock issuing source of the TSN network; the integrated control unit is used for carrying out centralized control on the whole train and each subsystem of the train and is connected to the TSN through the TSN switch; the execution control unit is used for executing and controlling the execution mechanism of the subsystem corresponding to the execution control unit, and is connected to the TSN network through the TSN switch. According to the method and the device, timeliness and reliability of train control can be effectively improved, costs such as hardware overhead of a control unit can be effectively reduced, and communication instantaneity and reliability of train control can be effectively improved.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to a train fusion control system and method.
Background
With the development of technology, the network control system of urban rail vehicles is developed from an early simple vehicle-mounted monitoring system to a networked train control and management system. A Train Control and Management System (TCMS) constructs a Control and Management System of a whole Train through a Train communication network technology, realizes the Control, monitoring and diagnosis functions of all trains, and completes all Control tasks of urban rail vehicles. The control function of the whole vehicle is realized by a central control unit, the control of each subsystem is realized by the control unit of each subsystem, the central control unit and each subsystem realize information interaction by adopting network communication, and the control method has wide application of buses such as a TCN bus (a twisted wire train bus WTB and a multifunctional vehicle bus MVB), a CAN bus, an Ethernet and the like which accord with IEC61375 international standard.
However, the existing train control system has the problems of low control timeliness due to dispersed control functions, resource waste due to a large number of control units, incapability of ensuring communication reliability and the like.
Disclosure of Invention
Aiming at the problems in the prior art, the application provides a train fusion control system and method, which can effectively improve the timeliness and reliability of train control, can effectively reduce the cost of hardware overhead and the like of a control unit, and can effectively improve the communication real-time performance and reliability of train control.
In order to solve the technical problem, the application provides the following technical scheme:
in a first aspect, the present application provides a train fusion control system, including: the TSN switch, the fusion control unit and the execution control unit are respectively arranged in the train and are in communication connection through a TSN network;
the TSN switch is a main clock issuing source of the TSN network;
the integrated control unit is used for carrying out centralized control on the whole train and each subsystem of the train and is connected to the TSN through the TSN switch;
the execution control unit is used for executing and controlling the execution mechanism of the subsystem corresponding to the execution control unit, and is connected to the TSN network through the TSN switch.
Furthermore, each subsystem corresponds to at least one execution control unit, so that the fusion control unit sends a control instruction to the execution control unit of one subsystem through the TSN network, and the execution control unit controls a corresponding execution mechanism based on the control instruction and sends a corresponding control result to the fusion control unit through the TSN network; and then the fusion control unit continuously calculates and generates a new control command for the execution control unit corresponding to the subsystem according to the control effect, and the new control command is respectively sent to the corresponding execution control units through the TSN, so that the execution control unit receiving the new control command completes the target control function.
Furthermore, the TSN switches are multiple, and each TSN switch is arranged in each compartment in the train;
the TSN switches are connected through a cascade line.
Further, the TSN switch includes: a TSN switching module;
the TSN switching module is provided with a target channel for accessing the equipment and is used for carrying out flow scheduling on the service data with different priority levels.
Furthermore, the TSN switch is provided with two TSN switch modules connected by a cascade line, so that the two TSN switch modules in the TSN switch form redundant subnets isolated from each other.
Furthermore, the target channel is a dual-path redundant channel, and the fusion control unit is accessed to a TSN switching module in the TSN switch through the dual-path redundant channel.
Further, the fusion control unit includes: the CPU subunit and the TSN communication board card are connected with each other;
the CPU subunit is used for carrying out centralized control on the whole train and each subsystem of the train and is provided with a functional safety communication protocol;
and the CPU subunit accesses a TSN switching module in the TSN switch through the TSN communication board card.
Furthermore, two CPU subunits are arranged in the fusion control unit;
and the two CPU subunits are accessed to a TSN switching module in the TSN switch through the TSN communication board card through the two-way redundant channel.
Further, the execution control unit includes: the CPU communication subunit, the acquisition subunit and the output control subunit are respectively connected to the CPU communication subunit;
the CPU communication subunit is used for carrying out integrated processing on control software and communication functions and is respectively in communication connection with the TSN switch and the fusion control unit;
the acquisition subunit is used for configuring corresponding acquisition functions based on acquisition requirements of the corresponding subsystem, and the acquisition functions comprise digital quantity acquisition, analog quantity acquisition and PWM acquisition;
the output control subunit is used for configuring corresponding output control functions according to the output requirements of the corresponding subsystems, and the output control functions comprise digital quantity output control, analog quantity output control and PWM output control.
Furthermore, a power supply module is respectively arranged in the TSN switch, the fusion control unit and the execution control unit.
In a second aspect, the present application provides a train fusion control method implemented by applying the train fusion control system, where each subsystem corresponds to at least one execution control unit; the train fusion control method comprises the following steps:
the integration control unit sends a control instruction to the execution control unit of one subsystem through the TSN, and the execution control unit controls a corresponding execution mechanism based on the control instruction and sends a corresponding control result to the integration control unit through the TSN;
and the fusion control unit continuously calculates and generates a new control command for the execution control unit corresponding to the subsystem according to the control effect, and the new control command is respectively sent to the corresponding execution control units through the TSN so that the execution control unit receiving the new control command completes the target control function.
According to the technical scheme, the train fusion control system and the train fusion control method provided by the application comprise the following steps: the TSN switch, the fusion control unit and the execution control unit are respectively arranged in the train and are in communication connection through a TSN network; the TSN switch is a main clock issuing source of the TSN network; the integrated control unit is used for carrying out centralized control on the whole train and each subsystem of the train and is connected to the TSN through the TSN switch; the execution control unit is used for executing and controlling the execution mechanism of the corresponding subsystem, is connected to the TSN through the TSN switch, and can effectively improve the timeliness and reliability of train control by adopting a fusion control unit for performing centralized control on the whole train and each subsystem of the train to replace a central control unit and a control function module of each subsystem under the original network control system architecture; by adopting the execution control unit which only reserves the simplified control function related to the control of the execution mechanism to replace the control function module of each subsystem under the original network control system architecture, the data transmission frequency between the fusion control unit and the execution control unit can be effectively reduced, the cost of hardware overhead and the like of the control unit can be effectively reduced, and further the resource waste can be avoided; the TSN network is adopted to communicate between the fusion control unit and the subsystem execution control unit by setting the TSN switch, so that the real-time communication and the reliability of train control can be effectively improved, the control requirements of quick start and quick stop of a train, accurate stop and the like can be better met, and the train control effect is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in 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 creative efforts.
Fig. 1 is a schematic structural diagram of a train fusion control system in an embodiment of the present application.
Fig. 2 is a schematic setting diagram of a TSN switch in the train fusion control system in the embodiment of the present application.
Fig. 3 is a schematic structural diagram of a TSN switch in the train fusion control system in the embodiment of the present application.
Fig. 4 is a schematic structural diagram of a fusion control unit in the train fusion control system in the embodiment of the present application.
Fig. 5 is a schematic structural diagram of an execution control unit in the train fusion control system in the embodiment of the present application.
Fig. 6 is a schematic flow chart of a train fusion control method in the embodiment of the present application.
Fig. 7 is a schematic diagram of a fusion control unit in an application example of the present application.
Fig. 8 is a schematic diagram of an execution control unit in an application example of the present application.
Fig. 9 is a schematic diagram of a TSN switch in an example of application of the present application.
Fig. 10 is a schematic diagram of the entire network system architecture of the train fusion control system in an application example of the present application.
Fig. 11 is a schematic diagram illustrating an example of an existing ethernet network control system architecture.
Fig. 12 is a schematic diagram illustrating an example of an existing MVB network control system architecture.
Fig. 13 is a schematic diagram illustrating an example of a network system convergence architecture based on a time-sensitive network in an application example of the present application.
Fig. 14 is a schematic diagram of an exemplary implementation of an existing MVB network control system.
Fig. 15 is a schematic diagram illustrating an exemplary implementation of a network system convergence architecture based on a time-sensitive network in an application example of the present application.
Fig. 16 is a schematic structural diagram of an electronic device in the embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, 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 application.
In an early Train Monitoring System (TMS), a central control unit and a master control unit of each Train are used to control the trains, and the central control unit, each master control unit and subsystems are mostly communicated with each other by using simple serial buses such as RS485/232, etc., and the control function is realized by the central control unit and each master control unit directly through hard-wired signals, and the control unit collects states of each subsystem through a serial communication interface to realize a Monitoring function.
The existing Train Control and Management System (TCMS) constructs a Control and Management System of a whole Train through a Train communication network technology, realizes Control, monitoring and diagnosis functions of all trains, and completes all Control tasks of urban rail vehicles. The train control and management system relates to all vehicle systems, such as a traction system, a brake system, an auxiliary power supply system, an air conditioning system, a vehicle door system and the like, and cannot be directly connected to a subsystem of a network system, and the remote input and output module realizes networked control. The control function of the whole vehicle is realized by a central control unit, and the control of each subsystem is realized by the control units of each subsystem, such as a traction control unit, a brake control unit, an air conditioner control unit and the like, and a remote input and output module. The central control unit and each subsystem realize information interaction by adopting network communication, and the central control unit and each subsystem are widely applied to buses such as a TCN bus (a twisted-pair train bus WTB and a multifunctional vehicle bus MVB) which accords with IEC61375 international standard, a CAN bus, an Ethernet and the like.
The monitoring and control of all trains can be realized by both the early train monitoring system and the current train control and management system, but the following defects exist:
1. the control functions are dispersed, signals which need to be transmitted mutually among all control systems are more, calculation of part of control logic needs to wait, and the process is roundabout and repeated. For example, in the air-electric composite brake, in the control process, signals need to be transmitted to and fro in the central control unit, the traction control unit and the brake control unit, and the execution of control commands can be finally completed.
2. The number of control units is large, the design structure style of each controller is different, and in order to support the control function of each subsystem, more hardware resources need to be configured, thereby causing resource waste to a certain extent.
3. The interface design among all systems is relatively complex, and due to the decentralization of control functions, a large amount of interactive information needs to be transmitted between the central control unit and all subsystem control units, and the network transmission coordination design is relatively complex.
4. Insufficient communication bandwidth or lack of real-time performance. For example, RS485 and MVB generally have only several megabits or even lower communication rates, and cannot carry large-capacity communication data; the ethernet technology that is gradually popularized and applied at present is not a real-time ethernet technology, and although the ethernet technology often has a bandwidth of hundreds of megabytes or more and has a prominent network carrying capacity, the reliable transmission of control information cannot be guaranteed at all under the condition of a high network load rate.
Therefore, the existing urban rail train network control system architecture adopts distributed control, the quantity of transmitted signals among the whole systems is large, the relationship is complex, the number of controllers is large, the structure is various, the communication network cannot meet the requirements of high bandwidth and high real-time performance, the urban rail train network control system does not have good enough control precision in the aspects of full-automatic driving, quick start and quick stop, accurate stop and the like of urban rail vehicles, and even the ideal effect can be achieved by repeatedly debugging the matching time among the systems.
Based on this, aiming at the problems that the existing train control system has low control timeliness due to dispersed control functions, and the number of control units is large, so that resource waste and communication reliability cannot be guaranteed, and the like, the embodiment of the application provides a train fusion control system, wherein a fusion control unit which performs centralized control on the whole train and each subsystem of the train is adopted to replace a central control unit and a control function module of each subsystem under the original network control system architecture, so that the timeliness and the reliability of train control can be effectively improved; by adopting the execution control unit which only reserves the simplified control function related to the control of the execution mechanism to replace the control function module of each subsystem under the original network control system architecture, the data transmission frequency between the fusion control unit and the execution control unit can be effectively reduced, the cost of hardware overhead and the like of the control unit can be effectively reduced, and further the resource waste can be avoided; the TSN network is adopted to communicate between the fusion control unit and the subsystem execution control unit by setting the TSN switch, so that the real-time communication and the reliability of train control can be effectively improved, the control requirements of quick start and quick stop of a train, accurate stop and the like can be better met, and the train control effect is improved.
The following embodiments and application examples are specifically and individually described in detail.
In order to solve the problems that the control timeliness is low due to the fact that control functions of an existing train control system are dispersed, the number of control units is large, resource waste is caused, the communication reliability cannot be guaranteed, and the like, the application provides an embodiment of a train fusion control system, and referring to fig. 1, the train fusion control system specifically comprises the following contents:
a TSN switch 1, a fusion control unit 2 and an execution control unit 3 which are respectively arranged in the train and are in communication connection via a TSN network; the TSN switch 1 is a main clock issuing source of the TSN network; the fusion control unit 2 is used for performing centralized control on the whole train and each subsystem of the train, and is connected to the TSN through the TSN switch; the execution control unit 3 is configured to perform execution control on an execution mechanism of the subsystem corresponding to the execution control unit, and is connected to the TSN network via the TSN switch.
It is understood that a TSN (time Sensitive networking) network refers to a time Sensitive network, and particularly refers to a set of protocol standards being developed by the TSN task group in the IEEE802.1 working group. The standard defines a time-sensitive mechanism for ethernet data transmission, adding certainty and reliability to standard ethernet to ensure that ethernet can provide a consistent level of service for the transmission of critical data.
As can be seen from the above description, the train convergence control system based on the TSN network provided in the embodiment of the present application can break through the existing network control system architecture, implement centralized deployment of control functions, and implement on the same convergence control unit, the control functions of the subsystems are correspondingly migrated to the convergence control unit, the control unit of the atomic system becomes a simplified module only having a communication interface and a control execution mechanism, and the convergence control unit and the subsystem execution control units communicate with each other through the TSN network, so that high real-time performance can be implemented. By the architectural design of the invention, the unified planning of the control function can be realized, the information exchange and the waiting time delay among the systems are reduced, and higher control precision is realized. The subsystem execution control unit is simplified, unified design can be realized, a scheme with lower cost is adopted, hardware resources are saved, and the manufacturing cost of the whole control system is effectively reduced.
In order to improve the comprehensiveness and reliability of the train fusion control, in an embodiment of the train fusion control system provided in the present application, each of the subsystems includes: traction system, brake system, air conditioning system and door control system; each subsystem corresponds to at least one execution control unit, so that the fusion control unit sends a control instruction to the execution control unit of one subsystem through the TSN, and the execution control unit controls a corresponding execution mechanism based on the control instruction and sends a corresponding control result to the fusion control unit through the TSN; and then the fusion control unit continuously calculates and generates a new control command for an execution control unit corresponding to the subsystem according to the control effect, and the new control command is respectively sent to the corresponding execution control units through the TSN, so that the execution control unit receiving the new control command completes a target control function, wherein the target control can refer to a preset expected control function. Therefore, the train fusion control system can reduce the links of information interaction among the control units on the whole; the frequency of the total information transmission in the network in the function realization process can be effectively reduced; links of control instruction transmission in each subsystem internal bus can be reduced; the control functions are realized centrally and the overall time calculated at each unit can be reduced.
Based on this, the control function of the train is realized by the fusion control unit, and besides the function realized by the central control unit under the original network control system architecture, the control function also incorporates the control functions of subsystems such as a traction system, a brake system, an air conditioning system, a door control system and the like, thereby completing the centralized realization of the control function. After the control logic function of each subsystem is transferred to the fusion control unit, only the simplified control function related to the control of the execution mechanism is reserved, so that the control unit of the subsystem is simplified into an execution control unit. The integration control unit and the execution control unit are both provided with TSN communication interfaces, and the connection of each device is realized through a TSN network. The whole TSN network is a backbone network which runs through the whole row and is formed by TSN switches, and the fusion control unit and the subsystems are connected to the backbone network through redundant communication channels.
In order to improve the application reliability of the TSN switch, in an embodiment of the train fusion control system provided in the present application, referring to fig. 2, there are a plurality of TSN switches 1, and each of the TSN switches is respectively disposed in each car 4 in the train; each of the TSN switches 1 is connected to each other via a cascade line.
Specifically, the TSN switches are distributed in each compartment, two switching modules of the switches are respectively connected into a linear backbone network through cascade lines to form redundant subnets which are isolated from each other, and the normal communication of the other subnetwork is not influenced by the switch node failure of one subnetwork. The fusion control unit adopts redundancy arrangement, and the redundancy equipment is respectively accessed to the redundant switching module of the TSN switch through double channels. It can be understood that the fusion control unit is used for performing centralized control on the whole train and each subsystem of the train, and the execution control units corresponding to the subsystems are not necessarily distributed in the same carriage, so that the fusion control unit and the carriage do not need to be set in a one-to-one relationship, and can be specifically set according to actual application situations.
In order to improve the setting reliability of the TSN switch, in an embodiment of the train fusion control system provided in the present application, referring to fig. 3, the TSN switch 1 includes: a TSN switching module 11;
the TSN switching module 11 is provided with a target channel for accessing the device, and is configured to perform traffic scheduling of service data with different priority levels.
In order to further improve the setting reliability of the TSN switch, in an embodiment of the train fusion control system provided in the present application, referring to fig. 3, two TSN switch modules 11 connected by a cascade line are provided in the TSN switch 1, so that the two TSN switch modules 11 in the TSN switch 1 form a redundant subnet isolated from each other.
In order to further improve the real-time performance and reliability of TSN network communication, in an embodiment of the train fusion control system provided in the present application, the target channel is a dual-path redundant channel, and the fusion control unit is connected to the TSN switch module in the TSN switch through the dual-path redundant channel.
Particularly, the TSN switching module is provided with redundancy, and can provide reliable two-way redundant channels for each access device so as to meet the control requirement. The switch is used as a main clock issuing source of the TSN network and supports the traffic scheduling function of the business data with different priority levels. The power module supplies power for the TSN switch.
Since the fusion control unit implements the control functions originally distributed among the individual control units, the fusion control unit needs to meet higher functional safety requirements. In order to improve the application reliability of the fusion control unit, in an embodiment of the train fusion control system provided in the present application, referring to fig. 4, the fusion control unit 2 includes: the CPU subunit 21 and the TSN communication board 22 are connected with each other;
the CPU subunit 21 is used for performing centralized control on the whole train and each subsystem of the train, and is provided with a functional safety communication protocol;
the CPU subunit 21 accesses the TSN switch module 11 in the TSN switch 1 via the TSN communication board 22.
In order to further improve the application reliability of the fusion control unit, in an embodiment of the train fusion control system provided by the present application, referring to fig. 4, two CPU subunits 21 are provided in the fusion control unit;
the two CPU subunits 21 both access the TSN switch module 11 in the TSN switch 1 through the two-way redundant channel via the TSN communication board 22.
It can be understood that the fusion control unit is composed of a CPU subunit and a TSN communication board card. The CPU subunit is realized by a high-performance processor, and can support the operation of complex control logic; the TSN communication board card is provided with a TSN interface module, namely, the TSN communication board card, can realize the TSN communication function, and the communication channel is a redundant channel; the realization of safety function and non-safety function can be supported, the safety function can reach SIL2 and SIL4 grades, and the corresponding safety function adopts a functional safety communication protocol, thereby ensuring the reliable transmission of safety-related information. The fusion control unit host is in redundant arrangement.
In order to improve the application reliability of the execution control unit, in an embodiment of the train fusion control system provided in the present application, referring to fig. 5, the execution control unit 3 in the train fusion control system includes: a CPU communication subunit 31, an acquisition subunit 32 and an output control subunit 33 connected to the CPU communication subunit 31, respectively;
the CPU communication subunit 31 is configured to perform integrated processing on control software and a communication function, and is in communication connection with the TSN switch 1 and the convergence control unit 2 respectively;
the acquisition subunit 32 is configured to configure a corresponding acquisition function based on an acquisition requirement of the corresponding subsystem, where the acquisition function includes digital acquisition, analog acquisition, and PWM acquisition;
the output control subunit 33 is configured to configure corresponding output control functions according to the output requirements of the subsystem corresponding to the output control subunit, where the output control functions include digital output control and analog output control.
It can be understood that the execution control unit is composed of a CPU communication subunit, an acquisition subunit and an output control subunit. The control logic born by the execution control unit is simple mostly, an SOC chip is adopted to realize a CPU communication subunit, and control software and communication are integrated into the same module for processing. And the TSN communication function is realized, and the communication channel is a redundant channel. According to the requirements of the control function, if the safety function is realized to reach SIL2 and SIL4 grades, the corresponding safety function adopts a functional safety communication protocol. The acquisition subunit configures modules for digital quantity acquisition, analog quantity acquisition, PWM acquisition and the like according to the requirements of the subsystems for acquisition. The output control subunit also configures modules for digital output control, analog output control and the like according to the requirements acquired by each subsystem.
In order to improve the application reliability of the train fusion control system, in an embodiment of the train fusion control system provided in the present application, referring to fig. 3 to fig. 5, a power module 5 is respectively disposed in the TSN switch 1, the fusion control unit 2, and the execution control unit 3.
The power supply module 5 in the TSN switch 1 is used for supplying power to the TSN switch module 11;
the power module 5 in the fusion control unit 2 is used for supplying power to the CPU subunit 21 and the TSN communication board card 22;
the power module 5 in the execution control unit 3 is used for supplying power to the CPU communication subunit 31, the acquisition subunit 32 and the output control subunit 33.
In order to solve the problems that the existing train control system has low control timeliness due to dispersed control functions, a large number of control units causes resource waste, and the communication reliability cannot be guaranteed, the present application provides an embodiment of train fusion control implemented based on the train fusion control system, wherein each subsystem corresponds to at least one execution control unit, see fig. 6, and the train fusion control method specifically includes the following contents:
step 100: the integration control unit sends a control instruction to the execution control unit of one subsystem through the TSN, and the execution control unit controls the corresponding execution mechanism based on the control instruction and sends the corresponding control result to the integration control unit through the TSN.
Step 200: and the fusion control unit continuously calculates and generates a new control command for the execution control unit corresponding to the subsystem according to the control effect, and the new control command is respectively sent to the corresponding execution control units through the TSN so that the execution control unit receiving the new control command completes the target control function.
In order to further explain the scheme, the application example of the application provides a train fusion control system based on a TSN (traffic signal network), the system is an urban rail train multi-system fusion architecture based on the TSN, the existing network control system architecture can be broken through, centralized deployment of control functions is realized, the control functions are realized on the same fusion control unit, the control functions of all subsystems are correspondingly migrated to the fusion control unit, the control unit of an atomic system is changed into a simplified module only provided with a communication interface and a control execution mechanism, the fusion control unit and the subsystem execution control unit are communicated by adopting the TSN, and high real-time performance can be realized. By the aid of the architecture design of the application example, unified planning of control functions can be achieved, information exchange and waiting time delay among systems are reduced, and higher control accuracy is achieved. The subsystem execution control unit is simplified, unified design can be realized, a scheme with lower cost is adopted, hardware resources are saved, and the manufacturing cost of the whole control system is effectively reduced.
The train fusion control system provided by the application example is used for an urban rail train network control system. The centralized and unified arrangement of the control function can be realized, so that the control function reduces the link of interactive confirmation, a better control effect is achieved, and the control requirements of quick start and quick stop, accurate stop and the like of the urban rail train are better met.
The urban rail train multi-system fusion architecture based on the TSN realizes the control function of a train by a fusion control unit, and the control function brings the control functions of subsystems such as a traction system, a brake system, an air conditioning system, a door control system and the like into the integration of the control function besides the function realized by a central control unit under the original network control system architecture. After the control logic function of each subsystem is transferred to the fusion control unit, only the simplified control function related to the control of the execution mechanism is reserved, so that the control unit of the subsystem is simplified into an execution control unit. The integration control unit and the execution control unit are both provided with TSN communication interfaces, and the connection of each device is realized through a TSN network. The whole TSN network is a backbone network which runs through the whole row and is formed by TSN switches, and the fusion control unit and the subsystems are connected to the backbone network through redundant communication channels.
Referring to fig. 7, the fusion control unit is composed of a CPU subunit, a TSN communication board card, and a power module. The power module can be a power board card. The CPU subunit is realized by a high-performance processor, and can support the operation of complex control logic; the TSN communication system is provided with a TSN interface module to realize a TSN communication function, and a communication channel is a redundant channel; the realization of safety function and non-safety function can be supported, the safety function can reach SIL2 and SIL4 grades, and the corresponding safety function adopts a functional safety communication protocol. The power module supplies power to the whole control unit. The fusion control unit host is in redundant arrangement.
Specifically, the fusion control unit adopts a high-performance CPU subunit, the CPU subunit adopts a redundancy design, the fusion control unit also adopts equipment redundancy, the safety level of SIL2 and SIL4 can be reached totally, and the running of complex control logic can be supported. The integration control unit is provided with a TSN interface module to realize the TSN communication function, and the communication channel is a redundant channel. The control unit can support the realization of a safety function and a non-safety function, wherein the safety function and the corresponding safety function adopt a functional safety communication protocol. The power module supplies power to the whole control unit. And all modules of the fusion control unit host are connected through a backboard.
Referring to fig. 8, the execution control unit is composed of a CPU communication subunit, a collection subunit, an output control subunit, and a power module. The power module can be a power board card. The control logic born by the execution control unit is simple mostly, an SOC chip is adopted to realize a CPU communication subunit, and control software and communication are integrated into the same module for processing. And the TSN communication function is realized, and the communication channel is a redundant channel. According to the requirements of the control function, if the safety function is realized to reach SIL2 and SIL4 grades, the corresponding safety function adopts a functional safety communication protocol. The acquisition subunit configures modules for digital quantity acquisition, analog quantity acquisition, PWM acquisition and the like according to the requirements of the subsystems for acquisition. The output control subunit also configures modules for digital output control, analog output control and the like according to the requirements acquired by each subsystem. The power module supplies power to the whole execution control unit.
Specifically, the execution control unit is composed of a CPU communication subunit, a collection subunit, an output control subunit and a power module. The control logic born by the execution control unit is simple mostly, an SOC chip is adopted to realize a CPU communication subunit, and control software and communication are integrated into the same module for processing. And the TSN communication function is realized, and the communication channel is a redundant channel. According to the requirements of the control function, if the safety function is realized to reach SIL2 and SIL4 grades, the corresponding safety function adopts a functional safety communication protocol. The acquisition subunit configures modules for digital quantity acquisition, analog quantity acquisition, PWM acquisition and the like according to the requirements of the subsystems for acquisition. The output control subunit also configures modules for digital output control, analog output control and the like according to the requirements acquired by each subsystem. The power module supplies power to the whole execution control unit. And all modules of the execution control unit host are connected through a backboard.
Referring to fig. 9, the TSN switch is composed of a TSN switch module and a power supply module. The power module can be a power board card. The TSN switching module is arranged in a redundant mode, and can provide reliable double-path redundant channels for each access device so as to meet the control requirement. The switch is used as a main clock issuing source of the TSN network and supports the traffic scheduling function of the business data with different priority levels. The power module supplies power for the TSN switch. Specifically, the TSN switch is composed of a TSN switch module and a power supply module. The TSN switching module is arranged in a redundant mode, and can provide reliable double-path redundant channels for each access device so as to meet the control requirement. The switch is used as a main clock issuing source of the TSN network and supports the traffic scheduling function of the business data with different priority levels. The power module supplies power for the TSN switch.
Referring to fig. 10, the whole network system architecture of the train fusion control system provided in the application example of the present application is as follows: the TSN switches are distributed in each carriage, two switching modules of the switches are respectively connected into a linear backbone network through cascade lines to form redundant subnets which are isolated from each other, and the normal communication of the other subnet is not influenced by the switch node failure of one subnet. The fusion control unit adopts redundancy arrangement, and the redundancy equipment is respectively accessed to the redundant switching module of the TSN switch through double channels.
The existing network architecture (ethernet/MVB) is typically characterized in that vehicle control logic software is implemented in a central control unit, control functions of subsystems are dispersed in respective control units, the central control unit and the subsystem control units communicate through corresponding network media, each subsystem control unit is provided with a corresponding execution control module, control and status information transmission between the control units and the execution control modules are usually achieved through internal lines (such as a CAN bus, a backplane bus and the like), and the execution control modules are connected to subsystem execution mechanisms to finally complete control of the execution mechanisms. For example, fig. 11 shows an existing ethernet network control system architecture, and fig. 12 shows an existing MVB network control system architecture.
The network system fusion architecture based on the time-sensitive network provided by the application entity centralizes the control function of the central control unit and the control functions of all the subsystems in the fusion control unit, each subsystem only reserves the corresponding execution control unit, the fusion control unit communicates with the high-speed real-time communication and realizes information interaction with the execution control unit, and the execution control unit is connected to the execution mechanisms of all the subsystems to directly complete the control of the execution mechanisms. For example, a network system convergence architecture based on a time-sensitive network provided by the application example of the present application is shown in fig. 13.
In particular, TSN switches are distributed in each car, connected by cascaded lines as a backbone network. The fusion control unit adopts redundancy arrangement, and the redundancy equipment is respectively accessed to the redundant switching module of the TSN switch through double channels. The integrated control unit realizes the control function of the train, and the control function brings the control functions of subsystems such as a traction system, a brake system, an air conditioning system, a door control system and the like into the integrated control function besides the function realized by the central control unit under the original network control system architecture. After the control logic function of each subsystem is transferred to the fusion control unit, only the simplified control function related to the control of the execution mechanism is reserved, so that the control unit of the subsystem is simplified into an execution control unit. The integration control unit and the execution control unit are both provided with TSN communication interfaces, and the connection of each device is realized through a TSN network.
From the above description, the differences between the application example of the present application and other existing network architectures are: the control network adopts a TSN network, so that high-capacity and high-real-time transmission can be realized, and the requirement of accurate control is met. The TSN network architecture supports the common transmission of communication data with different priorities, the control data can be transmitted in real time by reasonably allocating transmission time windows, the influence of non-control data occupied by part of high bandwidth is avoided, and the problems of flow conflict, delay uncertainty and the like of the traditional network architecture are solved. Therefore, compared with the existing network, the TSN can simultaneously meet the real-time and large-capacity transmission of network transmission and meet the increasing data transmission requirements of urban rail trains.
The difference between the application example of the application example and other existing network architectures is two: the integrated control unit is adopted, so that the centralized and unified arrangement of control functions is realized, the information interaction among all systems is reduced, a better control effect can be realized, the control requirements of quick start and quick stop and accurate stop of an urban rail train are better met, and the riding comfort is improved.
The difference between the application example of the application example and other existing network architectures is three: the control units of the subsystems are simplified into execution control units, only control logics and communication interfaces necessary for mechanism execution are reserved, the control units realize unified planning design, and the acquisition and input modules can be standard interfaces and are actually selected and matched according to the subsystems. And by adopting a unified planning design, hardware resources can be saved, and the cost and the operation and maintenance cost can be reduced. The function of the execution control unit tends to be single, the reliability can be improved, and the failure rate can be effectively reduced.
The application example integrates the train control function through the fusion control system, can realize integrated control, reduces interaction links among systems, improves control precision and compresses control time. Through the TSN time sensitive network, the high real-time performance and high-capacity network transmission requirements can be met simultaneously, a transmission channel is provided for control data and non-control data simultaneously, and network equipment and network cable arrangement are saved. The functions of the subsystems are simplified, only the functions of acquisition, execution control and communication interfaces are reserved, a unified scheme can be adopted in design, standardized universal modules are designed, configuration is carried out according to needs, and manufacturing cost and operation and maintenance cost are reduced.
The application example has the most obvious effect on the fusion control system, reduces interaction, improves control efficiency, and can be realized in the fusion control system through specific functions under the existing network architecture.
For example, under the conventional network control architecture as shown in fig. 14, the central control unit, the subsystem control unit a1 and the subsystem control unit B1 together implement a certain control function, and the process is as follows:
the central control unit sends a control instruction to the subsystem control unit A1, the subsystem control unit A1 receives the control instruction, converts the control instruction into a corresponding control function through an internal bus, transmits the control function to an internal execution control module A2, and the execution control module A2 controls an execution mechanism A3 as required;
the execution control module A2 acquires the execution effect of the execution mechanism A3, transmits the execution effect to the subsystem control unit A1 through an internal bus, and transmits the subsystem control unit A1 to the central control unit through a network;
recalculating the control command by the central control unit through the execution effect of the execution mechanism A3, and sending corresponding control commands to the subsystem control unit A1 and the subsystem control unit B1 if the subsystem is required to complete the control function cooperatively after calculation;
then, after the subsystem control unit a1 and the subsystem control unit B1 receive the control command, the control command is transmitted to the respective execution control module through the internal bus, so as to control the respective execution mechanism;
the execution control module A2 sends the control effect to the subsystem control unit A1, the subsystem control unit A1 sends the control effect to the subsystem control unit B1 through the network, the subsystem control unit B1 further adjusts the control instruction to the execution mechanism after receiving the corresponding control effect, and the corresponding control function is realized together by the cooperation of the subsystem control unit A1.
Under the network system convergence architecture based on the time-sensitive network as shown in fig. 15, the control flow is simplified as follows:
the fusion control unit sends a control instruction to an execution control unit A4 through a time sensitive network, and the execution control unit A4 controls an execution mechanism A5 as required;
the execution control unit A4 feeds back the control effect to the fusion control unit through the time sensitive network;
the fusion control unit recalculates the control command, and if the execution control unit a4 and the execution control unit B4 need to cooperatively complete the control function, the fusion control unit directly sends the control command to the execution control unit a4 and the execution control unit B4 again through the time-sensitive network, the execution control unit a4 controls the execution mechanism a5, and the execution control unit B4 controls the execution mechanism B5, so as to cooperatively complete the control function.
According to the comparison of the control flows, the network system fusion architecture based on the time-sensitive network provided by the application example of the application reduces the links of information interaction among all control units; the times of information transmission in the network in the whole process of realizing the function are reduced; links of control instruction transmission in each subsystem internal bus are reduced; the control function is realized in a centralized way, and the total time calculated in each unit is reduced.
In order to solve the problems that the control timeliness is low due to the fact that control functions are dispersed, the number of control units is large, resource waste is caused, the communication reliability cannot be guaranteed and the like in the conventional train control system, the application provides an embodiment of electronic equipment for realizing a CPU (central processing unit) subunit in the train fusion control system, and the electronic equipment specifically comprises the following contents:
fig. 16 is a schematic block diagram of a system configuration of an electronic device 9600 according to an embodiment of the present application. As shown in fig. 16, the electronic device 9600 can include a central processor 9100 and a memory 9140; the memory 9140 is coupled to the central processor 9100. Notably, this fig. 16 is exemplary; other types of structures may also be used in addition to or in place of the structure to implement telecommunications or other functions.
In one embodiment, the train fusion control function may be integrated into the central processor. The central processing unit can be configured to perform centralized control on the whole train and each subsystem of the train, and is provided with a functional safety communication protocol.
In another embodiment, the portion for performing centralized control on the whole train and each subsystem of the train may be configured separately from the central processing unit 9100, for example, the portion for performing centralized control on the whole train and each subsystem of the train may be configured as a chip connected to the central processing unit 9100, and the train fusion control function is realized through the control of the central processing unit.
As shown in fig. 16, the electronic device 9600 may further include: a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, and a power supply 9170. It is noted that the electronic device 9600 also does not necessarily include all of the components shown in fig. 16; further, the electronic device 9600 may further include components not shown in fig. 16, which can be referred to in the related art.
As shown in fig. 16, a central processor 9100, sometimes referred to as a controller or operational control, can include a microprocessor or other processor device and/or logic device, which central processor 9100 receives input and controls the operation of the various components of the electronic device 9600.
The memory 9140 can be, for example, one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, or other suitable device. The information relating to the failure may be stored, and a program for executing the information may be stored. And the central processing unit 9100 can execute the program stored in the memory 9140 to realize information storage or processing, or the like.
The input unit 9120 provides input to the central processor 9100. The input unit 9120 is, for example, a key or a touch input device. Power supply 9170 is used to provide power to electronic device 9600. The display 9160 is used for displaying display objects such as images and characters. The display may be, for example, an LCD display, but is not limited thereto.
The memory 9140 can be a solid state memory, e.g., Read Only Memory (ROM), Random Access Memory (RAM), a SIM card, or the like. There may also be a memory that holds information even when power is off, can be selectively erased, and is provided with more data, an example of which is sometimes called an EPROM or the like. The memory 9140 could also be some other type of device. Memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application/function storage portion 9142, the application/function storage portion 9142 being used for storing application programs and function programs or for executing a flow of operations of the electronic device 9600 by the central processor 9100.
The memory 9140 can also include a data store 9143, the data store 9143 being used to store data, such as contacts, digital data, pictures, sounds, and/or any other data used by an electronic device. The driver storage portion 9144 of the memory 9140 may include various drivers for the electronic device for communication functions and/or for performing other functions of the electronic device (e.g., messaging applications, contact book applications, etc.).
The communication module 9110 is a transmitter/receiver 9110 that transmits and receives signals via an antenna 9111. The communication module (transmitter/receiver) 9110 is coupled to the central processor 9100 to provide input signals and receive output signals, which may be the same as in the case of a conventional mobile communication terminal.
Based on different communication technologies, a plurality of communication modules 9110, such as a cellular network module, a bluetooth module, and/or a wireless local area network module, may be provided in the same electronic device. The communication module (transmitter/receiver) 9110 is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide audio output via the speaker 9131 and receive audio input from the microphone 9132, thereby implementing ordinary telecommunications functions. The audio processor 9130 may include any suitable buffers, decoders, amplifiers and so forth. In addition, the audio processor 9130 is also coupled to the central processor 9100, thereby enabling recording locally through the microphone 9132 and enabling locally stored sounds to be played through the speaker 9131.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The principle and the implementation mode of the invention are explained by applying specific embodiments in the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (11)
1. A train fusion control system, comprising: the TSN switch, the fusion control unit and the execution control unit are respectively arranged in the train and are in communication connection through a TSN network;
the TSN switch is a main clock issuing source of the TSN network;
the integrated control unit is used for carrying out centralized control on the whole train and each subsystem of the train and is connected to the TSN through the TSN switch;
the execution control unit is used for executing and controlling the execution mechanism of the subsystem corresponding to the execution control unit, and is connected to the TSN network through the TSN switch.
2. The train fusion control system according to claim 1, wherein each subsystem corresponds to at least one execution control unit, so that the fusion control unit sends a control command to the execution control unit of one subsystem through the TSN network, and the execution control unit controls a corresponding execution mechanism based on the control command and sends a corresponding control result to the fusion control unit through the TSN network; and then the fusion control unit continuously calculates and generates a new control command for the execution control unit corresponding to the subsystem according to the control effect, and the new control command is respectively sent to the corresponding execution control units through the TSN, so that the execution control unit receiving the new control command completes the target control function.
3. The train fusion control system of claim 1, wherein the TSN switch is plural, and each TSN switch is disposed in each car of the train;
the TSN switches are connected through a cascade line.
4. The train fusion control system of claim 3, wherein the TSN switch comprises: a TSN switching module;
the TSN switching module is provided with a target channel for accessing the equipment and is used for carrying out flow scheduling on the service data with different priority levels.
5. The train fusion control system according to claim 4, wherein two TSN switch modules connected by a cascade line are provided in the TSN switch, so that the two TSN switch modules in the TSN switch form a redundant sub-network isolated from each other.
6. The train fusion control system of claim 4, wherein the target channel is a dual redundant channel, and the fusion control unit accesses a TSN switch module in the TSN switch through the dual redundant channel.
7. The train fusion control system of claim 6, wherein the fusion control unit comprises: the CPU subunit and the TSN communication board card are connected with each other;
the CPU subunit is used for carrying out centralized control on the whole train and each subsystem of the train and is provided with a functional safety communication protocol;
and the CPU subunit accesses a TSN switching module in the TSN switch through the TSN communication board card.
8. The train fusion control system of claim 7, wherein two of the CPU sub-units are provided in the fusion control unit;
and the two CPU subunits are accessed to a TSN switching module in the TSN switch through the TSN communication board card through the two-way redundant channel.
9. The train fusion control system according to claim 1, wherein the execution control unit includes: the CPU communication subunit, the acquisition subunit and the output control subunit are respectively connected to the CPU communication subunit;
the CPU communication subunit is used for carrying out integrated processing on control software and communication functions and is respectively in communication connection with the TSN switch and the fusion control unit;
the acquisition subunit is used for configuring corresponding acquisition functions based on acquisition requirements of the corresponding subsystem, and the acquisition functions comprise digital quantity acquisition, analog quantity acquisition and PWM acquisition;
the output control subunit is used for configuring corresponding output control functions according to the output requirements of the corresponding subsystems, and the output control functions comprise digital quantity output control and analog quantity output control.
10. The train fusion control system according to any one of claims 1 to 9, wherein a power supply module is provided in each of the TSN switch, the fusion control unit, and the execution control unit.
11. A train fusion control method, which is implemented by applying the train fusion control system of any one of claims 1 to 10, wherein each subsystem corresponds to at least one execution control unit; the train fusion control method comprises the following steps:
the integration control unit sends a control instruction to the execution control unit of one subsystem through the TSN, and the execution control unit controls a corresponding execution mechanism based on the control instruction and sends a corresponding control result to the integration control unit through the TSN;
and the fusion control unit continuously calculates and generates a new control command for the execution control unit corresponding to the subsystem according to the control effect, and the new control command is respectively sent to the corresponding execution control units through the TSN so that the execution control unit receiving the new control command completes the target control function.
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