CN1632702A - Traction control system for stationary reconnection locomotive - Google Patents
Traction control system for stationary reconnection locomotive Download PDFInfo
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- CN1632702A CN1632702A CN 200410061469 CN200410061469A CN1632702A CN 1632702 A CN1632702 A CN 1632702A CN 200410061469 CN200410061469 CN 200410061469 CN 200410061469 A CN200410061469 A CN 200410061469A CN 1632702 A CN1632702 A CN 1632702A
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Abstract
This invention relates to a fixed connecting engine driving control system composed of two engines. Each engine has the same controlling system composed of central control unit, driving control unit, logic control unit, display unit, operation safety monitoring unit and electrical braking logic unit. It is characterized by the following: each engine control system adopts local network bus to make the data communication between module plates in each unit.
Description
Technical field
The invention belongs to a kind of railway locomotive driving control system, the particularly a kind of main traction control of SS3B fixed-interlock electric locomotive and driving control system that the car load digitizing is monitored automatically of being used for.
Background technology
Railroad train need be realized traction with two locomotives sometimes simultaneously in when operation, and the cab that is provided with two locomotive connection places is controlled the normal operation of two each unit of locomotive respectively by the driver, and this control mode is more loaded down with trivial details to the driver.
Summary of the invention
The purpose of this invention is to provide and a kind ofly adopt up-to-date train communication standard to carry out data communication in the locomotive control, finish functions such as main traction control, electric logic control, electric pneumatic breaking control, security monitoring and communication-cooperation control, to overcome above-mentioned deficiency.
To achieve these goals, the present invention is connected and composed by two locomotives, wherein every locomotive has identical control system, respectively by central control unit (CCU), motion control unit (DCU), logic control element (LCU), display unit (IDU), operation safety monitoring unit (TAX2) and electric pneumatic breaking logic control element (DKL) are formed, be characterized in: each unit in every locomotive control is inner to adopt control area net (CAN) bus to carry out data communication between template, adopt MVB (MVB) to carry out data communication between each unit, adopt stranded vehicle bus WTB to realize heavily connection data communication between the locomotive between two locomotives;
Above-mentioned every locomotive inner control internal system adopts the MVB communication interface that each functional unit is interconnected, is equipped with MVB communication template in each unit, and design has the connector of standard on the template, selects for use redundant channel multiple twin shielded cable to connect each unit with bus mode;
Above-mentioned central controller is a two-shipper cold standby redundancy structure, and two CCU unit are installed in same cabinet, each CCU unit by central control unit, TCN gateway, heavily join signal I/O template and power template and constitute;
Above-mentioned logic control element is made of two identical logic control element LCU1 and LCU2 of structure, be installed in respectively in two low tension gas holders, each logic control element all is designed to the dual-computer redundancy cold standby, change power supply by conversion and back up switching, each logic control element is by power template, the master cpu template, the digital quantity input template, the digital quantity output template template of communicating by letter with MVB is formed, adopt CAN to carry out exchanges data between the template, the communication of the collaborative master cpu template control of MVB communication template internal data, and control two LCU1, exchanges data between LCU2 and the CCU.
Above-mentioned motion control unit is made up of master cpu template, pulse control template, pulsed drive template, analog input output template, switching value input and output template, MVB communication template and power template, the traction control unit adopts the dual-host backup mode of failure removal and replacement, motion control unit is realized unit internal mode board communications and exchanges data by the CAN bus, motion control unit is connected on the vehicle bus MVB by MVB communication template, with other elements exchange data.
Above-mentioned display unit adopts the PC104 bus to connect internal module, external interface is included as MVB communication interface, RS485 interface, RS2 32 interfaces, CAN communication interface, USB interface and IC-card read-write interface, and the CPU module in the display unit, demonstration (driving) module and display screen are the outsourcing standard module;
Above-mentioned MVB communication template is the conversion module of RS485 data communication in grid MVB data communication and the TAX2 supervising device, and the data by RS485 receives the TAX2 system send to these data on the MVB network then.
The present invention is easy to expand, and digital control unit adds MVB communication template, behind the update system communication software, can connecting system among.For example, can in system, increase the auxiliary inversion power supply unit, realize data transmission by the MVB interface.
Description of drawings
Fig. 1 is a principle of the invention block diagram
Fig. 2 connects block diagram for the every joint locomotive control of the present invention internal network.
Fig. 3 is a central control unit structural principle block diagram of the present invention.
Fig. 4 is a logic control element structural principle block diagram of the present invention.
Fig. 5 is the communication of the MVB in the logic control element of the present invention formwork structure theory diagram.
Fig. 6 is a traction control unit construction principle block diagram of the present invention.
Fig. 7 is a display cell structure theory diagram of the present invention.
Embodiment
The invention will be further described below in conjunction with drawings and Examples, but following embodiment should not be construed as limitation of the present invention
The present invention is made of through improvement and design two former SS3 electric locomotives, promptly cancels the cab of two locomotive connection places and increases interface channel, constitutes the SS3B fixed multi-locomotive.At two joint structures of improved SS3B fixed multi-locomotive, the present invention is that two joints divide the locomotive design two cover control system, adopts TCN to weigh joint control system.Every joint locomotive has identical control system, is made up of central control unit (CCU), motion control unit (DCU), logic control element (LCU), display unit (IDU), operation safety monitoring unit (TAX2) and electric pneumatic breaking logic control element (DKL).Inner each control module of locomotive is finished function separately and is adopted vehicle bus (MVB) to carry out data communication.The network topology structure of control system as shown in Figure 1.The three-layer network structure is adopted in data communication, promptly carries out data communication between template in the inner CAN bus that adopts of control module, adopts MVB to realize data communication between the control module, adopts WTB to realize heavily connection data communication between the locomotive.
Central controller of the present invention (CCU) finish network service management, heavily join information processing, exchange and control, to the detection of functional module and fault diagnosis, to the functions such as principal and subordinate's identification of multi-locomotive control; Motion control unit (DCU) is finished functions such as the network service exchange, circuit protection of control, pulling figure control, braking characteristic, control command, the status information of main traction rectifier device; Functions such as the network service that logic control element (LCU) is finished major loop electric logic control, locomotive utility appliance electric logic control, the electric pneumatic valve logic control of air damping loop, control command, status information exchanges, protection control; Synthetical restraint effect logic controls such as electric pneumatic breaking control module (DKL) finishes and accept electric empty controller signals, realize overcharging, alleviate, braking, pressurize, with the functions such as message exchange of supervising device and other device; Display unit (IDU) is finished functions such as the demonstration of locomotive operation parameter, the setting of locomotive control parameter, network state diagnosis and display reminding, system state demonstration and fault handling prompting, the demonstration of control system Debugging message, failure logging, data dump, MVB network service; Monitoring unit (TAX2) MVB communication template is finished the functions such as monitor data transition of communications of MVB external communication interface, RS485 intercommunication interface, software realization regulation agreement.
The present invention's every joint locomotive system intraconnection such as Fig. 2, native system adopt the MVB communication interface that each functional unit is interconnected.Be equipped with MVB communication template in each unit, design has the connector of standard on the template, selects for use redundant channel multiple twin shielded cable to connect each unit with bus mode.The transmission of network data meets the regulation of IEC 61375 standards.The present invention adopts the WTB communication interface to be connected two joint locomotives with the multiple twin shielded cable, realizes the heavy UNICOM of network letter.The WTB cable is that the featuring diplonema redundancy structure connects four gateway interfaces with bus mode.Adopt control area net network CAN interconnected communication between the template in the control module.For MVB communication template, have CAN communication interface and two-port RAM parallel data Fabric Interface with communicating by letter of inside, unit, the flexible selection the when design of functional unit data communication software is provided.
Central control unit of the present invention (CCU) is the dual-computer redundancy structure, and two CCU unit are installed in same cabinet; CCU unit by the TCN gateway, heavily join signal I/O template and power template and form, as shown in Figure 3.Heavily join reliability for reaching, CCU adopts two-shipper cold standby Redundancy Design.Central control unit (CCU) comprises power supply: power supply power supply nominal voltage and rated current are respectively+5V, 5A and+12V, 5A; TCN gateway: comprise power module, processor module, MVB module and WTB module.Adopt and introduce gateway template and base arrangement, it is installed in the newly-designed cabinet.Handler mould board contains 32 bit CPUs and real time operating system, and application programming instrument ISaGRAF software is programmed to gateway, carries out network service control and information processing; Department controls and heavily joins signal I/O template: comprise digital quantity input template, digital quantity output template, analog quantity I/O template and Control on Communication template.The I/O template is handled driver controller and is heavily joined signal, and the Control on Communication template inserts the TCN gateway with process information by MVB.The communication template adopts the microprocessor of 16 bit, the I/O template adopts 8 bit processors, I/O quantity configuration should be satisfied the requirement of the given number of signals of the control circuit of Ziyang internal combustion engine depot " SS3B type fixed multi-locomotive electrical schematic diagram ", the digital signal modular design is input 32 road and output 32 tunnel, the simulating signal modular design is input 8 road and output 8 tunnel, and each passage is equipped with photoelectricity isolates.
Logic control element of the present invention (LCU) has two logic control element LCU1 and LCU2 that structure is identical, is installed in respectively in two low tension gas holders.Each logic control element all is designed to the dual-computer redundancy cold standby, changes power supply by conversion and backs up switching.Logic control element (LCU) is made up of power template, master cpu template, digital quantity input template, the digital quantity output template template of communicating by letter with MVB.Adopt CAN to carry out exchanges data between the template.The collaborative master cpu template of MVB communication template is controlled internal data communication, and controls the exchanges data between two LCU1, LCU2 and the CCU.The structure of logic control element (LCU) as shown in Figure 4.
The function of MVB communication template of the present invention is to realize LCU and the exchanges data of CCU and the data communication between two LCU; This MVB communication template constitutes by 16 bit processors, CAN control unit interface, dual-port reservoir with based on the MVB communication interface board of PC104 bus, as shown in Figure 5.
Motion control unit of the present invention (DCU) is made up of master cpu template, pulse control template, pulsed drive template, analog input output template, switching value input and output template, MVB communication template and power template, and it is formed as shown in Figure 6.Motion control unit (DCU) adopts the dual-host backup mode of failure removal and replacement, under the normal operation, and two motion control unit DCU1 and DCU2 is independent that two bogie traction motors are controlled; When one of them breaks down, then with fault person's excision, and by the controlling two bogie traction motors simultaneously of normal motion control unit wherein.Realize unit internal mode board communications and exchanges data by the CAN bus; Gear unit (DCU) is connected on the vehicle bus MVB by MVB communication template, with other elements exchange data.The host CPU template is finished traction, the braking ability control of locomotive; The I/O template is handled simulating signal and switching signal; The pulse control template is adjusted the trigger angle of thyristor gating pulse according to the control signal of host CPU template; The pulse signal that pulsed drive template paired pulses control template produces carries out power amplification, sends pulse train to each thyristor of rectifier.The pulsed drive template has conversion and control function, when breaking down to be implemented in one of them traction control assembly, carries out the conversion of signals between DCU1 and the DCU2.
The present invention's empty logic control element of electricity (DKL) designs the electric pneumatic breaking logic controller voluntarily according to the design data of Ziyang internal combustion engine depot and strain state electric locomotive factory.Carry out hardware design with reference to the electric locomotive logical block; The pneumatic logic schematic diagram that provides according to locomotive designing unit carries out the logic control software design.
The conversion module of RS485 data communication in MVB communication template system network MVB data communication in the TAX2 supervising device of the present invention and the TAX2 supervising device; Data by RS485 reception TAX2 system send to these data on the MVB network then.Hardware design adopt with logic control element (LCU) in the MVB identical method of template of communicating by letter, but the size of printed board should be consistent with the TAX2 product with the base plate plug-in unit; Software design must realize protocol conversion according to the regulation of " SS3B fixed-interlock electric locomotive network control system basic communication agreement and data flow " V1.0 that in April, 2003, the Ministry of Railways passed through.The RS485 interface of communicating by letter with TAX2 in the MVB communication template must pass through photoelectricity isolation method swap data.
Display unit of the present invention (IDU) is a human interface device important in the locomotive control, must have reliable operating characteristic and stable graphical display performance.For operation, condition monitoring and the maintenance of locomotive, following function is finished in this unit: the setting of locomotive control parameter, the demonstration of locomotive operation parameter, the demonstration of system debug parameter, system fault diagnosis and processes and displays prompting, failure logging and data dump and MVB network service.Display unit IDU adopts the PC104 bus to connect internal module, and external interface is included as MVB communication interface, RS485 interface, RS232 interface, CAN communication interface, USB interface and IC-card read-write interface, and the composition frame chart of display unit IDU as shown in Figure 7.CPU module among the IDU, demonstration (driving) module and display screen are the outsourcing standard module; The MVB interface adopts the product of duagon company, carries out the integrated design of hardware and software; Serial communication module, storage read-write interface (or module) and power module design voluntarily.
Central control unit CCU of the present invention adopts the dual-computer redundancy design, and when the CCU that is moving broke down, display unit showed that this CCU is in malfunction, and alert is carried out the switching of CCU.This failover will be recorded, and keep switching state to show, manually be reset to after fault CCU repairs and end.When this car CCU broke down, LCU and DCU all can detect this communication failure, and locomotive is carried out real-time guard.
The MVB template of WTB template of the present invention and each unit is the passage Redundancy Design, when arbitrary passage of template breaks down, can switch in real time automatically, and channel failure information is pointed out on display unit, and the fault information is eliminated until repairing the back.
Logic control element LCU of the present invention adopts the dual-computer redundancy structure, and CCU and IDU all can detect the fault that operating LCU occurs; And carry out fault by IDU and show that alert is carried out LCU and switched.Before the switching, operating grip returns zero-bit, removes the control control command.
Motion control unit DCU of the present invention adopts two control module DCU1 and DCU2 respectively the bogie traction motor independently to be controlled, and CCU and IDU can detect operating DCU fault.When certain DCU broke down, alert resetted and hand-off process to fault DCU.Continue locomotive traction control by normal DCU, and the motor signal of former fault unit controls is shown monitoring.
The content that is not described in detail in this instructions belongs to this area professional and technical personnel's known prior art.
Claims (7)
1, a kind of fixed multi-locomotive pull-in control system, connect and compose by two locomotives, wherein every locomotive has identical control system, respectively by central control unit (CCU), motion control unit (LCU), logic control element (LCU), display unit (IDU), operation safety monitoring unit (TAX2) and electric pneumatic breaking logic control element (DKL) are formed, it is characterized in that: each unit in every locomotive control is inner to adopt control area net (CAN) bus to carry out data communication between template, adopt vehicle bus (MVB) to carry out data communication between each unit, adopt WTB to realize heavily connection data communication between the locomotive between two locomotives.
2, fixed multi-locomotive pull-in control system as claimed in claim 1, it is characterized in that: every locomotive inner control internal system adopts the MVB communication interface that each functional unit is interconnected, in each unit, be equipped with MVB communication template, template is provided with the connector of standard, selects for use redundant channel multiple twin shielded cable to connect each unit with bus mode.
3, fixed multi-locomotive pull-in control system as claimed in claim 1, it is characterized in that: central controller is a two-shipper cold standby redundancy structure, two CCU unit are installed in same cabinet, each CCU unit by central control unit, TCN gateway, heavily join signal I/O template and power template and constitute.
4, fixed multi-locomotive pull-in control system as claimed in claim 1, it is characterized in that: logic control element is made of two identical logic control element LCU1 and LCU2 of structure, be installed in respectively in two low tension gas holders, each logic control element all is designed to the dual-computer redundancy cold standby, change power supply by conversion and back up switching, each logic control element is by power template, the master cpu template, the digital quantity input template, the digital quantity output template template of communicating by letter with MVB is formed, adopt CAN to carry out exchanges data between the template, the communication of the collaborative master cpu template control of MVB communication template internal data, and control two LCU1, exchanges data between LCU2 and the CCU.
5, fixed multi-locomotive pull-in control system as claimed in claim 1, it is characterized in that: motion control unit is made up of master cpu template, pulse control template, pulsed drive template, analog input output template, switching value input and output template, MVB communication template and power template, motion control unit adopts the dual-host backup mode of failure removal and replacement, unit internal mode board communications and exchanges data are realized by the CAN bus in the traction control unit, motion control unit is connected on the vehicle bus MVB by MVB communication template, with other elements exchange data.
6, fixed multi-locomotive pull-in control system as claimed in claim 1, it is characterized in that: display unit adopts the PC104 bus to connect internal module, external interface is included as MVB communication interface, RS485 interface, RS232 interface, CAN communication interface, USB interface and IC-card read-write interface, and CPU module, display module and display screen in the display unit are the outsourcing standard module.
7, fixed multi-locomotive pull-in control system as claimed in claim 2, it is characterized in that: MVB communication template is the conversion module of RS485 data communication in grid MVB data communication and the TAX2 supervising device, data by RS485 reception TAX2 system send to these data on the MVB network then.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004100614692A CN100334512C (en) | 2004-12-31 | 2004-12-31 | Traction control system for stationary reconnection locomotive |
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| CNB2004100614692A CN100334512C (en) | 2004-12-31 | 2004-12-31 | Traction control system for stationary reconnection locomotive |
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| CN1632702A true CN1632702A (en) | 2005-06-29 |
| CN100334512C CN100334512C (en) | 2007-08-29 |
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| CN102023575A (en) * | 2010-10-25 | 2011-04-20 | 中国北车股份有限公司大连电力牵引研发中心 | Simulation alternating current electric locomotive |
| CN102156509A (en) * | 2011-03-04 | 2011-08-17 | 青岛四方车辆研究所有限公司 | Human-machine interface unit of train network control system |
| CN102156409A (en) * | 2010-12-21 | 2011-08-17 | 中国北车集团大连机车车辆有限公司 | Method for controlling multi-locomotive reconnection computer of railway locomotive |
| CN102774364A (en) * | 2012-01-05 | 2012-11-14 | 铁道部运输局 | Multifunctional expansion board and control system for braking system of rail transit vehicle |
| CN103264705A (en) * | 2013-05-20 | 2013-08-28 | 南车资阳机车有限公司 | PAC (poly aluminum chloride) controller-based CAN (controller area network) bus locomotive double heading system and realization method thereof |
| CN103702878A (en) * | 2011-07-04 | 2014-04-02 | 克诺尔-布莱姆斯轨道系统(英国)有限公司 | Braking system |
| CN103770795A (en) * | 2014-01-22 | 2014-05-07 | 宝鸡南车时代工程机械有限公司 | Two-unit reconnection control system for railway railcar |
| CN104301080A (en) * | 2014-09-18 | 2015-01-21 | 株洲南车时代电气股份有限公司 | Locomotive reconnection communication device and control method |
| CN104309612A (en) * | 2014-11-21 | 2015-01-28 | 南车资阳机车有限公司 | Internal combustion locomotive double-heading traction drive device |
| CN104309598A (en) * | 2014-10-23 | 2015-01-28 | 南车株洲电力机车有限公司 | Locomotive brake controlling method and system |
| CN104683227A (en) * | 2013-11-28 | 2015-06-03 | 北车大连电力牵引研发中心有限公司 | HDLC (High-level Data Link Control)-based locomotive re-connection gateway |
| CN104683226A (en) * | 2013-11-28 | 2015-06-03 | 北车大连电力牵引研发中心有限公司 | Locomotive reconnection gateway based on Ethernet (ETH) |
| CN105128874A (en) * | 2015-08-25 | 2015-12-09 | 宝鸡南车时代工程机械有限公司 | Man-machine interaction system for transfixion operation platform of contact net comprehensive overhauling cart |
| CN106054864A (en) * | 2016-07-04 | 2016-10-26 | 成都运达牵引技术有限公司 | Train traction control system |
| CN106527117A (en) * | 2016-12-19 | 2017-03-22 | 交控科技股份有限公司 | Full-automatic driving vehicle-on-board controller and train redundancy control system and method |
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| CN110254447A (en) * | 2019-05-21 | 2019-09-20 | 中车永济电机有限公司 | Locomotive traction system control logic method and device |
| CN112068532A (en) * | 2020-09-10 | 2020-12-11 | 中车大连电力牵引研发中心有限公司 | Test bed and test method for network control system of multi-locomotive |
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| RU2328384C2 (en) * | 2001-10-17 | 2008-07-10 | Дженерал Электрик Компани | False signal detection in railway radio communication system |
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| CN102023575A (en) * | 2010-10-25 | 2011-04-20 | 中国北车股份有限公司大连电力牵引研发中心 | Simulation alternating current electric locomotive |
| CN102156409A (en) * | 2010-12-21 | 2011-08-17 | 中国北车集团大连机车车辆有限公司 | Method for controlling multi-locomotive reconnection computer of railway locomotive |
| CN102156409B (en) * | 2010-12-21 | 2012-08-15 | 中国北车集团大连机车车辆有限公司 | Method for controlling multi-locomotive reconnection computer of railway locomotive |
| CN102156509A (en) * | 2011-03-04 | 2011-08-17 | 青岛四方车辆研究所有限公司 | Human-machine interface unit of train network control system |
| CN103702878A (en) * | 2011-07-04 | 2014-04-02 | 克诺尔-布莱姆斯轨道系统(英国)有限公司 | Braking system |
| CN103702878B (en) * | 2011-07-04 | 2016-05-04 | 克诺尔-布莱姆斯轨道系统(英国)有限公司 | For the brak control unit of rolling stock |
| CN102774364A (en) * | 2012-01-05 | 2012-11-14 | 铁道部运输局 | Multifunctional expansion board and control system for braking system of rail transit vehicle |
| CN102774364B (en) * | 2012-01-05 | 2015-03-04 | 中国铁路总公司 | Multifunctional expansion board and control system for braking system of rail transit vehicle |
| CN103264705A (en) * | 2013-05-20 | 2013-08-28 | 南车资阳机车有限公司 | PAC (poly aluminum chloride) controller-based CAN (controller area network) bus locomotive double heading system and realization method thereof |
| CN103264705B (en) * | 2013-05-20 | 2015-09-09 | 南车资阳机车有限公司 | Based on CAN locomotive double heading system and the implementation method of PAC controller |
| CN104683227B (en) * | 2013-11-28 | 2018-01-09 | 中车大连电力牵引研发中心有限公司 | Locomotive double heading gateway based on High-Level Data Link Control HDLC |
| CN104683226B (en) * | 2013-11-28 | 2018-01-05 | 中车大连电力牵引研发中心有限公司 | Locomotive double heading gateway based on Ethernet ETH |
| CN104683227A (en) * | 2013-11-28 | 2015-06-03 | 北车大连电力牵引研发中心有限公司 | HDLC (High-level Data Link Control)-based locomotive re-connection gateway |
| CN104683226A (en) * | 2013-11-28 | 2015-06-03 | 北车大连电力牵引研发中心有限公司 | Locomotive reconnection gateway based on Ethernet (ETH) |
| CN103770795A (en) * | 2014-01-22 | 2014-05-07 | 宝鸡南车时代工程机械有限公司 | Two-unit reconnection control system for railway railcar |
| CN104301080B (en) * | 2014-09-18 | 2018-09-18 | 株洲南车时代电气股份有限公司 | A kind of locomotive double heading communication device and control method |
| CN104301080A (en) * | 2014-09-18 | 2015-01-21 | 株洲南车时代电气股份有限公司 | Locomotive reconnection communication device and control method |
| CN104309598A (en) * | 2014-10-23 | 2015-01-28 | 南车株洲电力机车有限公司 | Locomotive brake controlling method and system |
| CN104309612A (en) * | 2014-11-21 | 2015-01-28 | 南车资阳机车有限公司 | Internal combustion locomotive double-heading traction drive device |
| CN105128874A (en) * | 2015-08-25 | 2015-12-09 | 宝鸡南车时代工程机械有限公司 | Man-machine interaction system for transfixion operation platform of contact net comprehensive overhauling cart |
| CN106054864A (en) * | 2016-07-04 | 2016-10-26 | 成都运达牵引技术有限公司 | Train traction control system |
| CN106527117B (en) * | 2016-12-19 | 2019-12-03 | 交控科技股份有限公司 | A kind of full-automatic driving Vehicle Controller and train redundancy control system and method |
| CN106527117A (en) * | 2016-12-19 | 2017-03-22 | 交控科技股份有限公司 | Full-automatic driving vehicle-on-board controller and train redundancy control system and method |
| CN107985331A (en) * | 2017-11-24 | 2018-05-04 | 中车株洲电力机车有限公司 | The control method and control system of a kind of large-scale maintenance machinery |
| CN110254447A (en) * | 2019-05-21 | 2019-09-20 | 中车永济电机有限公司 | Locomotive traction system control logic method and device |
| CN112068532A (en) * | 2020-09-10 | 2020-12-11 | 中车大连电力牵引研发中心有限公司 | Test bed and test method for network control system of multi-locomotive |
| CN112068532B (en) * | 2020-09-10 | 2022-04-15 | 中车大连电力牵引研发中心有限公司 | Test bed and test method for network control system of multi-locomotive |
| WO2023103556A1 (en) * | 2021-12-09 | 2023-06-15 | 中车大连机车车辆有限公司 | Permanent magnet direct-drive torpedo ladle car and control method therefor |
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| CN100334512C (en) | 2007-08-29 |
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