CN115384579A - Dual-computer hot standby redundancy control system and method for electronic guide rubber-tyred vehicle - Google Patents
Dual-computer hot standby redundancy control system and method for electronic guide rubber-tyred vehicle Download PDFInfo
- Publication number
- CN115384579A CN115384579A CN202211134107.6A CN202211134107A CN115384579A CN 115384579 A CN115384579 A CN 115384579A CN 202211134107 A CN202211134107 A CN 202211134107A CN 115384579 A CN115384579 A CN 115384579A
- Authority
- CN
- China
- Prior art keywords
- machine
- standby
- host
- state
- standby machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 101
- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 230000009977 dual effect Effects 0.000 claims 2
- 230000006854 communication Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
Images
Classifications
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Hardware Redundancy (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
The invention provides a dual-machine hot standby redundancy control system and a method for an electronic guide rubber-tyred vehicle, which are applied to the technical field of mechanical control and comprise the following steps: the system comprises two controllers and a switcher, wherein one of the two controllers is a main machine, the main machine is used for receiving an input signal under the condition of being in a working state and sending an output signal outwards based on the input signal, the other controller of the two controllers is a standby machine, the standby machine is used for receiving the input signal under the condition of being in a hot standby state and monitoring whether the heartbeat of the main machine is normal or not in real time, and the switcher is used for sending a state switching command to the standby machine under the condition that the main machine is in a fault state, and the state switching command is used for enabling the standby machine to be the main machine.
Description
Technical Field
The application relates to the technical field of mechanical control, in particular to a dual-machine hot standby redundancy control system and method for an electronic guide rubber-tyred vehicle.
Background
An electronic guide rubber-tyred vehicle is a new traffic system for urban rail traffic, and the electronic guide rubber-tyred vehicle mainly utilizes an electronic control mode to control a guide rubber-tyred system. Compared with a mechanical guide type rubber wheel system, the electronic guide rubber wheel vehicle has great difference in the aspects of a rail structure, a vehicle structure, a control system and the like. At present, a train safety control system of urban rail transit requires a central controller to have a redundant structure and a redundant system, and a redundant strategy in the prior art cannot be applied to an electronic guide rubber-tyred vehicle. Therefore, designing a redundant control system suitable for an electronic guide rubber-tyred vehicle is very important to ensure the driving safety of the electronic guide rubber-tyred vehicle.
Disclosure of Invention
The main purpose of the present application is to provide a dual-computer hot standby redundancy control system and method for an electronic guided rubber-tyred vehicle, which aims to solve the technical problem that the electronic guided rubber-tyred vehicle in the prior art is insufficient in reliability and safety during driving.
In order to achieve the above object, a first aspect of the embodiments of the present application provides a dual-computer hot standby redundancy control system for an electronic guided rubber-tyred vehicle, including:
two controllers and a switch;
one of the two controllers is a host, and the host is used for receiving an input signal under the condition of working state and sending an output signal outwards based on the input signal;
the other controller of the two controllers is a standby machine, and the standby machine is used for receiving the input signal under the condition of being in a hot standby state and monitoring whether the heartbeat of the host machine is normal or not in real time;
the switch is configured to send a state switching instruction to the standby device when the host device is in a failure state, where the state switching instruction is used to enable the standby device to become the host device.
Optionally, the first controller and the second controller communicate with each other through an ethernet and a CAN bus.
Optionally, the standby machine is configured to detect whether the standby machine is in a failure state when the state switching instruction is received and/or the heartbeat of the host machine is not detected, synchronize states of all processes of the host machine and states of links around all the processes if the standby machine is not in the failure state, switch the standby machine to the host machine, and send corresponding failure prompt information if the standby machine is in the failure state;
the host is used for synchronizing the states of all processes and all signals of the host under the condition that the host is in a fault state, and the host sends out corresponding fault prompt information to switch the host to be the standby.
Optionally, the controller is configured to control a whole vehicle control process, a steering control process, and a sensor acquisition process;
the signal output channels of the whole vehicle control process, the steering control process and the sensor acquisition process of the host computer are kept in an open state;
and signal output channels of the whole vehicle control process, the steering control process and the sensor acquisition process of the standby machine are kept in a closed state.
Optionally, the switch is configured to send a message requesting forced braking to the electronic rubber-tyred system when both the main machine and the standby machine are in a failure state.
A second aspect of the embodiments of the present application provides a redundancy control method, which is applied to a dual-computer hot standby redundancy control system of an electronic guided rubber-tyred vehicle, where the redundancy control system includes two controllers and a switch, and the method includes:
one of the two controllers is used as a host, the host is utilized to receive an input signal under the condition of working state, and an output signal is sent outwards based on the input signal;
the other controller of the two controllers is used as a standby machine, the standby machine is utilized to receive the input signal under the condition of a hot standby state, whether the heartbeat of the host machine is normal or not is monitored in real time, and the output signal is not sent outwards;
and sending a state switching command to the standby machine by using the switcher under the condition that the host machine is in a fault state, wherein the state switching command is used for enabling the standby machine to become the host machine.
Optionally, the first controller and the second controller communicate with each other through an ethernet and a CAN bus.
Optionally, the method further includes:
detecting whether the standby machine is in a fault state or not by using the standby machine under the condition that the state switching instruction is received and/or the heartbeat of the host machine cannot be detected, switching the standby machine to be the host machine if the standby machine is not in the fault state, and sending corresponding fault prompt information if the standby machine is in the fault state;
and switching the host machine to be the standby machine under the condition that the host machine is in a fault state, and sending corresponding fault prompt information.
Optionally, the controller is configured to control a whole vehicle control process, a steering control process, and a sensor acquisition process, and the method further includes:
opening signal output channels of a whole vehicle control process, a steering control process and a sensor acquisition process of the host;
and closing signal output channels of the whole vehicle control process, the steering control process and the sensor acquisition process of the standby machine.
Optionally, the method further includes:
sending a message requesting forced braking by the switch in case both the host machine and the standby machine are in a failure state.
Known from the above-mentioned this application embodiment, the double-computer hot standby redundant control system and method for electronic guide rubber-tyred car that this application provided, including two controllers and switch, two one controller in the controller is the host computer, the host computer is used for receiving input signal under the condition that is in operating condition, based on input signal outwards sends output signal, two another controller in the controller is for preparing the machine, prepare the machine and be used for receiving input signal under the condition that is in hot standby condition, and real-time supervision whether the heartbeat of host computer is normal, the switch is used for under the condition that the host computer is in fault condition, to prepare the machine and send the state switching instruction, the state switching instruction is used for making prepare the machine becomes the host computer. When one controller breaks down, the controller can be quickly switched to the other controller, and the running safety of the whole vehicle is guaranteed.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a dual-computer hot standby redundancy control system for an electronic guided rubber-tyred vehicle according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of controller identity determination according to an embodiment of the present application;
fig. 3 is a schematic diagram of a dual-computer hot-standby redundancy control system for an electronic steering rubber-tyred vehicle according to an embodiment of the present disclosure;
fig. 4 is a control schematic diagram of a dual-locomotive hot-standby redundancy control system for an electronic steering rubber-tyred vehicle according to an embodiment of the present disclosure;
fig. 5 is a flowchart illustrating a redundancy control method according to an embodiment of the present application.
Detailed Description
In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the 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.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a redundant control system for an electronic guided rubber-tyred vehicle according to an embodiment of the present disclosure, which can be built in the electronic guided rubber-tyred vehicle.
One of the two controllers is a host which is used for receiving an input signal under the condition of working state and sending an output signal outwards based on the input signal.
The other controller of the two controllers is a standby machine which is used for receiving the input signal under the condition of a hot standby state and monitoring whether the heartbeat of the host machine is normal or not in real time.
The switch is used for sending a state switching command to the standby machine under the condition that the host is in a fault state, wherein the state switching command is used for enabling the standby machine to become the host.
In the invention, the main machine and the standby machine in the electronic guide rubber wheel train are both controllers with the same parameters. As shown in fig. 2 and 3, when the vehicle control system is in operation, one controller can quickly send its own identity signal to the other master controller after receiving the signal, and determine whether the identity of the other controller is determined. When the identity of the other main controller is determined, the controller sending the identity signal judges whether the identity conflicts with the identity of the controller, if so, the host and the standby machine exist in the control system at the same time in a mode of resetting the identity of the controller, and if not, the current identity is kept. When the identity of the other main controller is not determined, the controller sending the identity signal judges whether the opposite side heartbeat can be received, if the opposite side heartbeat can be received, the identity of the opposite side is judged according to the opposite side heartbeat, and the identity of the controller is adjusted. If the heartbeat of the opposite party cannot be received, the controller which sends the identity signal confirms the identity of the controller as the host. In the whole redundant control system, one host machine and one standby machine in the two controllers are ensured.
In one example, the standby may first obtain the native state and send the native state to the host. And after the standby machine acquires the state of the host machine, switching judgment of the main machine and the standby machine is carried out. If the host computer has a heartbeat and is in a fault state, the standby computer judges whether the state of the standby computer is normal or not. If the standby machine is normal, sending a takeover request instruction to the host machine; if the standby machine is in a fault state, the main standby machine reports the fault to the whole vehicle and requests forced braking. If the host has no heartbeat and the standby machine is normal, the standby machine sends a message for stopping the host process to the bus, compares the current state quantity with the output quantity of the standby machine to carry out smooth output, and finally opens the output channel of the local machine.
In the present invention, as shown in fig. 3, in a normal situation, the host operates, the standby device is in a hot standby state, the input signal output by the input device is input to the host and the standby device at the same time, and the switch determines that the output signal of the host can be continuously transmitted. When the main machine is in failure, the standby machine can replace the main machine to work. The two controllers (the main machine and the standby machine) of the invention have self-checking function inside, when the main machine is in failure, the main machine is switched to the standby machine to work through the switcher, and the main machine and the standby machine can keep the synchronization of the two machines through the jumper wire and the related signal communication circuit. The input device is an execution mechanism, an angle sensor, an attitude sensor and the like of the electronic guide rubber-tyred vehicle, and the output device is an execution mechanism of the electronic guide rubber-tyred vehicle, such as a Network Controller Unit (NCU), a Vehicle Control Unit (VCU), a steering controller unit (EPS), other software control processes or communication processes and the like.
In an embodiment of the present invention, the first controller and the second controller communicate with each other through an ethernet and a CAN bus. That is, the communication between the host and the standby machine is realized through the Ethernet network and the CAN network, each sensor and the actuator are communicated through the CAN network, the fluency of signals in the transmission process is ensured, and the reliability of the communication CAN be improved by the simultaneous working of the two links. Meanwhile, in all CAN message and Ethernet communication lines, all messages CAN enter the host and the standby machine at the same time, and the output signals of the host and the standby machine to the actuating mechanism are synchronous.
In an embodiment of the present invention, the standby machine is configured to detect whether the standby machine is in a failure state when receiving the state switching instruction and/or detecting no heartbeat of the host, synchronize states of all processes of the host and states of links around all the processes if the standby machine is not in the failure state, switch the standby machine to be the host, and send out corresponding failure notification information if the standby machine is in the failure state. The host is used for synchronizing the states of all processes and all signals of the standby machine under the condition of a fault state, switching the host to the standby machine and sending corresponding fault prompt information.
In the invention, the condition of the host machine can be monitored in real time, whether the standby machine is in a fault state is judged under the condition that the host machine fails or meets an abnormal condition, namely the host machine is in the fault state, if the standby machine is not in the fault state, namely the standby machine is normal, the host machine and the standby machine are switched, and if the standby machine is in the fault state, a fault notice is sent to the whole vehicle. More, whether a forced braking request is initiated or not can be determined according to the fault grade, and the safety of the whole vehicle is ensured.
In an embodiment of the present invention, as shown in fig. 4, the controller is configured to control a vehicle control process, a steering control process, and a sensor acquisition process, signal output channels of the vehicle control process, the steering control process, and the sensor acquisition process of the host computer maintain an open state, and signal output channels of the vehicle control process, the steering control process, and the sensor acquisition process of the standby computer maintain a closed state.
In the invention, under the condition that the host is in a fault state, the host closes the whole vehicle control process, the steering control process and the process signal output channel collected by the sensor, and the switcher sends a state switching instruction to the standby machine. And if the state of the standby machine is abnormal, sending corresponding fault prompt information.
In the invention, after the host is judged to be in a fault state, the fault host is prohibited from outputting information or the corresponding process is stopped from outputting messages. After the message output by the corresponding process is stopped, the standby machine is controlled to start the corresponding output channel, and the standby machine and the host machine are synchronized by relevant information, so that the switching work between the host machine and the standby machine is completed. The host machine and the standby machine are mainly communicated in a CAN network message mode, and the communication contents comprise the states of the host machine and the standby machine, key system information, function code information and heartbeat information. The host and the standby machine execute related instructions to judge whether switching is needed or not according to the function codes, wherein the function codes are mainly divided into the steps of giving up the host, requesting the host and sharing information and the like. The heartbeat is used for keeping the main machine and the standby machine synchronous, and can judge whether the main machine and the standby machine work online or not. In the switching process, the fault host can send host abandoning information and become a standby host, the standby host detects the self state after receiving a state switching instruction and/or failing to detect the heartbeat of the host, if the self state is normal, the host is switched, and if the self state is abnormal, a corresponding fault message is sent.
In an embodiment of the present invention, the switch is configured to send a message requesting forced braking if the host and the standby are both in a failure state.
Referring to fig. 5, fig. 5 is a schematic flow chart of a redundancy control method according to an embodiment of the present application, the method is applied to a redundancy control system of the electronic guided rubber-tyred vehicle shown in fig. 1, the redundancy control system includes two controllers and a switch, and the method mainly includes the following steps:
s501, using one of the two controllers as a host, receiving an input signal by the host when the host is in an operating state, and sending an output signal to the outside based on the input signal.
And S502, taking the other controller of the two controllers as a standby machine, receiving the input signal by using the standby machine under the condition of a hot standby state, monitoring whether the heartbeat of the host machine is normal in real time, and not sending an output signal outwards.
S503, sending a state switching command to the standby device by using the switch when the host is in a failure state, wherein the state switching command is used to enable the standby device to become the host.
In an embodiment of the present invention, the first controller and the second controller communicate with each other through an ethernet and a CAN bus.
In an embodiment of the present invention, the method further includes:
detecting whether the standby machine is in a fault state or not by utilizing the standby machine under the condition that the state switching instruction is received and/or the heartbeat of the host machine cannot be detected, synchronizing the states of all processes of the host machine and the states of links around all the processes if the standby machine is not in the fault state, switching the standby machine to be the host machine, and sending out corresponding fault prompt information if the standby machine is in the fault state;
and synchronizing the states of all processes of the standby machine and the states of links around all the processes under the condition that the host is in the fault state, switching the host to the standby machine, and sending corresponding fault prompt information.
In an embodiment of the present invention, the controller is configured to control a whole vehicle control process, a steering control process, and a sensor acquisition process, and the method shown in fig. 5 further includes: opening signal output channels of a whole vehicle control process, a steering control process and a sensor acquisition process of the host; and closing signal output channels of the whole vehicle control process, the steering control process and the sensor acquisition process of the standby machine.
In an embodiment of the present invention, the method shown in fig. 5 further includes: the switch is used to send out a message requesting forced braking in case both the host and the standby are in a failure state.
It should be noted that each functional module in each embodiment of the present disclosure may be integrated into one processing module, or each module may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, or a part or all of the technical solution that substantially contributes to the prior art.
It should be noted that for simplicity and convenience of description, the above-described method embodiments are shown as a series of combinations of acts, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art will appreciate that the embodiments described in this specification are presently considered to be preferred embodiments and that no single act or module is essential to the invention.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the above description, for those skilled in the art, there are variations to the specific implementation and application scope according to the ideas of the embodiments of the present invention, and in summary, the contents of the present specification should not be construed as limiting the present invention.
Claims (10)
1. The utility model provides a two-machine hot standby redundant control system for electronic guide rubber-tyred car which characterized in that includes:
two controllers and a switch;
one of the two controllers is a host, and the host is used for receiving an input signal under the condition of working state and sending an output signal outwards based on the input signal;
the other controller of the two controllers is a standby machine which is used for receiving the input signal under the condition of a hot standby state and monitoring whether the heartbeat of the host machine is normal or not in real time;
the switch is configured to send a state switching instruction to the standby device when the host device is in a failure state, where the state switching instruction is used to enable the standby device to become the host device.
2. The dual hot-standby redundant control system for an electronic-steering rubber-tyred vehicle according to claim 1, wherein the first controller communicates with the second controller via ethernet and CAN bus.
3. The dual hot-standby redundancy control system for an electronic steering rubber-tyred vehicle according to claim 1, wherein,
the standby machine is used for detecting whether the standby machine is in a fault state or not under the condition that the state switching instruction is received and/or the heartbeat of the host machine cannot be detected, synchronizing the states of all processes of the host machine and the states of links around all the processes if the standby machine is not in the fault state, switching the standby machine to be the host machine, and sending out corresponding fault prompt information if the standby machine is in the fault state;
and the host is used for synchronizing the states of all processes and all signals of the standby machine under the condition of a fault state, switching the host into the standby machine and sending corresponding fault prompt information.
4. The dual-computer hot-standby redundancy control system for the electronic-steering rubber-tyred vehicle as claimed in claim 1, wherein the controller is configured to control a vehicle control process, a steering control process, and a sensor acquisition process;
the signal output channels of the whole vehicle control process, the steering control process and the sensor acquisition process of the host computer are kept in an open state;
and signal output channels of the whole vehicle control process, the steering control process and the sensor acquisition process of the standby machine are kept in a closed state.
5. The dual-locomotive hot-standby redundancy control system for the electronically-guided rubber-tyred vehicle as claimed in claim 1, wherein said switch is configured to send a message requesting forced braking to the electronically-guided rubber-tyred vehicle in case both the host machine and the standby machine are in a failure state.
6. A redundancy control method is characterized by being applied to a dual-computer hot standby redundancy control system for an electronic guide rubber-tyred vehicle, wherein the redundancy control system comprises two controllers and a switcher, and the method comprises the following steps:
one of the two controllers is used as a host, the host is utilized to receive an input signal under the condition of working state, and an output signal is sent outwards based on the input signal;
the other controller of the two controllers is used as a standby machine, the standby machine is utilized to receive the input signal under the condition of being in a hot standby state, whether the heartbeat of the host machine is normal or not is monitored in real time, and the standby machine does not send the output signal outwards;
and sending a state switching instruction to the standby machine by using the switcher under the condition that the host machine is in a failure state, wherein the state switching instruction is used for enabling the standby machine to become the host machine.
7. The redundant control method according to claim 6, wherein the first controller and the second controller communicate with each other through an ethernet and a CAN bus.
8. The redundancy control method of claim 6, further comprising:
detecting whether the standby machine is in a fault state or not by using the standby machine under the condition that the state switching instruction is received and/or the heartbeat of the host machine cannot be detected, switching the standby machine to be the host machine if the standby machine is not in the fault state, and sending corresponding fault prompt information if the standby machine is in the fault state;
and switching the host machine to be the standby machine under the condition that the host machine is in a fault state, and sending corresponding fault prompt information.
9. The redundant control method according to claim 6, wherein the controller is configured to control a vehicle control process, a steering control process, and a sensor acquisition process, and the method further comprises:
opening signal output channels of a whole vehicle control process, a steering control process and a sensor acquisition process of the host;
and closing signal output channels of the whole vehicle control process, the steering control process and the sensor acquisition process of the standby machine.
10. The redundancy control method of claim 6, further comprising:
sending a message requesting forced braking by the switch in case both the host machine and the standby machine are in a failure state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211134107.6A CN115384579A (en) | 2022-09-16 | 2022-09-16 | Dual-computer hot standby redundancy control system and method for electronic guide rubber-tyred vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211134107.6A CN115384579A (en) | 2022-09-16 | 2022-09-16 | Dual-computer hot standby redundancy control system and method for electronic guide rubber-tyred vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115384579A true CN115384579A (en) | 2022-11-25 |
Family
ID=84126573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211134107.6A Pending CN115384579A (en) | 2022-09-16 | 2022-09-16 | Dual-computer hot standby redundancy control system and method for electronic guide rubber-tyred vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115384579A (en) |
-
2022
- 2022-09-16 CN CN202211134107.6A patent/CN115384579A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106375072B (en) | Redundancy control method for locomotive communication network | |
| CN107995079B (en) | Hot standby vehicle-mounted ATP (automatic train protection) equipment based on MVB (multifunction vehicle bus) | |
| CN101916218B (en) | Double-CPU redundancy control system based on analysis redundancy mechanism | |
| CN106648997A (en) | Master-salve switching method based on non-real-time operating system | |
| CN103647781A (en) | Mixed redundancy programmable control system based on equipment redundancy and network redundancy | |
| WO2012009960A1 (en) | Dual-channel hot standby system and method for achieving dual-channel hot standby | |
| WO2019206146A1 (en) | Computer interlocking system, and switching control method and device thereof, and storage medium | |
| CN107248933A (en) | A kind of method of the double main protection of rail traffic signal system | |
| CN114523992B (en) | Intelligent platform door control system based on vehicle-to-vehicle communication | |
| WO2021031692A1 (en) | Dual-redundancy control method for main processing unit of locomotive | |
| CN104268037A (en) | Hot redundancy interlocking subsystem and main and standby switching method thereof | |
| CN110758489A (en) | Automatic protection system of train | |
| CN111186463A (en) | Board-level redundant full-electronic computer interlocking system | |
| CN103176870A (en) | Multi-mode information interaction redundancy safety computer platform | |
| JP7206410B2 (en) | Safety systems and methods of operating safety systems | |
| CN104401365A (en) | Realization method of ATO (automatic train operation) hot standby and ATO hot standby | |
| CN110412862B (en) | Computer interlocking system and switching control method, equipment and storage medium thereof | |
| CN105334729A (en) | Method for redundancy switch of two independent PLC systems in railway locomotive depot signal control | |
| CN109991899A (en) | Half dynamic synchronization method of data between the active and standby controller of Rail Transit System | |
| CN109306875A (en) | A kind of synchronous hot backup redundancy switching device of steam turbine DEH dual controller and method | |
| CN112172879B (en) | Main/standby control center switching method and rail transit comprehensive monitoring system | |
| Wen et al. | Design and analysis of double one out of two with a hot standby safety redundant structure | |
| CN115384579A (en) | Dual-computer hot standby redundancy control system and method for electronic guide rubber-tyred vehicle | |
| CN108363644A (en) | The distributed active and standby selection method of fax asynchronous working flight control computer | |
| CN111522698A (en) | Automatic switching system and method of front-end processor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |