CN201818176U - Intelligent door controller for doors of railway train - Google Patents
Intelligent door controller for doors of railway train Download PDFInfo
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Abstract
An intelligent door controller for doors of a railway train is characterized in that a door control system network constituted by field buses is arranged between a train top layer bus and a train door system; the door control system network comprises a gateway module, node modules and a CAN (Controller Area Network) bus; the gateway module is connected with the train top layer bus and used for receiving control signals transmitted by the train top layer bus and converting the signals into CAN bus signals capable of being identified by the node modules; the node modules transmit the CAN bus signals to motor-driven modules in train door systems in a CAN communication manner; the motor-driven modules drive the doors of the train to act; a gateway module corresponds to a group of node modules and motor-driven modules as well as doors of the train which are the same with the node modules in number; an independent monitoring and diagnosis module is further arranged in the door control system network; and maintenance and repair software can be ran to service a door control system through a servicing interface reserved on the monitoring and diagnosis module.
Description
Technical field
The control system that the utility model relates to the track train car door opening, closes relates in particular to a kind of track train car door intelligence gating device that is used on the city railway train, belongs to technical fields such as automation control, network service.
Background technology
The track train gating device is mainly used in the control of track train car doors such as subway and light rail: receive the signals such as opening the door, close the door that transmits on the bus in the train top layer control system, in conjunction with some sensor signals in the train car door such as signals such as travel switch, position sensor and safe light curtain realize the train car door unlatching, operation such as close.Because the distance between city railway train operating line station and the station is short, single-unit compartment car door quantity is more, the opening and closing that the train car door is frequent, cause the electrical equipment of door control system and the component of machine of door device to damage easily, and then cause the car door fault of operation train to take place frequently, gently then this car door was cut after these faults took place, when fault is heavier train go offline, the proteges of the powerful who stay with their benefactions like parasites or rescue.The problem that the control section of car door (abbreviation gating device) occurs is mainly reflected in the following aspects: 1) reliability does not reach corresponding requirement, and the mean free error time of existing gating device is less, and some unit failure rate is high unusually in actual use.2) antijamming capability a little less than, serial communications such as RS232, RS485 are adopted in communication between existing part gating device and the train, influenced greatly by the common mode disturbances in the environment.3) circuit of existing gating device is as a whole on physical layer architecture, make that the maintenance difficulties of gating device is big, the poor operability of upgrading, intercouple between each parts of gating device system, as long as the some parts of system break down, whole system is with regard to cisco unity malfunction, because coupling is serious, causes time of overhauling and repairing longer.4) intelligent relatively poor, can not adopt relative measures according to the rank of fault after breaking down, can not independently fix a breakdown, in case the back gating device that breaks down just quits work, just send warning by sound and indicator lamp etc. simply.5) reconfigurability and universal are poor, and existing track train gating device product just is applicable to the train of a certain or a certain style number of certain production firm, does not possess good reconfigurability and universality.
Summary of the invention
The deficiency that the utility model exists at existing track train gating device adopts that modular design method proposes that a kind of reliability is higher, antijamming capability strong, easy upgrade maintenance and can independently carry out the track train car door intelligence gating device of fault diagnosis functions.
In order to achieve the above object, the utility model is by the following technical solutions: a kind of track train car door intelligence gating device, by receiving opening the door of transmitting on the bus in the train top layer control system, close gate control signal, drive motors is realized the unlatching of train car door, close, it is characterized in that: between train top layer bus and train door device, the door control system network that fieldbus constitutes is set, this door control system network is provided with and comprises gateway module, node module and CAN bus, gateway module is connected with train top layer bus, receive the control signal of train top layer bus transfer and convert thereof into the CAN bus signals of discerning for node module, node module is transferred to motor drive module in the train door device with this CAN bus signals with the CAN communication modes, and motor drive module drives the action of train car door; A corresponding group node module of gateway module and motor drive module and the train car door quantity identical with node module quantity; Described gateway module, node module all are that main body constitutes with the microcontroller.
Also be provided with the monitoring, diagnosing module that adopts two microcontroller architectures in the described door control system network, this module also is connected with node module with gateway module by the CAN bus; When train is in running order, the monitoring, diagnosing module receives the vehicle door status information of gateway module control signals transmitted and the transmission of each node module and above-mentioned information data is stored in the memory, in the monitoring, diagnosing module, be provided with corresponding fault diagnosis algorithm, after door control system breaks down, this module is made fault diagnosis, and diagnostic result is sent to train bus-line by gateway module is transferred to before the train in the bench control system again; When train was in maintenance state, by the maintenance interface of reserving on the monitoring, diagnosing module, operation maintenance was repaired software door control system is overhauled;
Node module sends control signal corresponding with various sensor signals in signal after the gateway module conversion and the door device to motor drive module on the one hand, by the motion of motor drive module control car door; Send corresponding instruction to motor drive module on the other hand, inquire about electric current, the rotating speed of motor, the signals such as temperature of driver in real time, the status information of monitoring node, and the status information that monitors is sent in the monitoring, diagnosing module.
Described gateway module, node module and motor drive module are independent design, and each module wiring board is reserved with standard interface.
Advantage of the present utility model and remarkable result:
1) the utility model adopts modular design method in design, gating device is divided into several big modules, and be the independent designed lines plate of each module, each module is self-existent in Physical layer, and, can be follow-up module connection combination and prepare at the standard interface that each module wiring board is reserved.
2) increase the intelligent of door control system by increasing the monitoring, diagnosing module, off-line and online two-layer diagnosis algorithm in fault diagnosis algorithm, have been designed, corresponding fault is carried out grade sort out, independently get rid of some simple faults, and some important components are set up the failure predication model.Be provided with corresponding maintenance interface in the monitoring, diagnosing module, after breaking down, can diagnose and safeguard door control system by the maintenance interface, door control system has used the stronger differential bus signal of antijamming capability, can well remove some common mode disturbances in the environment.
3) at the communications protocol disunity that uses in the current track train top layer, design gateway module separately, this module adopts replaceable design principles, only needs simple this module of replacement or reconfigure software resource to make door control system adapt to the track train of different bus agreement.
4) the utility model adopts on-site bus type control scheme, for each car door is equipped with a node module, is used for directly controlling motor driver on the car door.Node module, gateway module and monitoring, diagnosing module are formed the door control system network by fieldbus, control when can realize a gating device to a plurality of car door, because node module directly is articulated on the network of fieldbus, to the quantity of concrete control car door without limits, as long as be no more than the maximum node number of fieldbus, have good universal, this performance makes the utility model can be used on the track train of different model.
The utility model both can be used in the more urban railway transit train of car door, and it is one group that the car door in a joint compartment is compiled, and organized car door for each and set up a door control system network, so that car door control; Also can be used in the less middle-long distance trolley coach of car door, can incorporate the car door in some joints compartment into a door control system network, or be door control system network of car door configuration of a train marshalling list, so have good versatility.
Description of drawings
Fig. 1 is a principle schematic of the present utility model;
Fig. 2 is the general structure block diagram of the utility model hardware system;
Fig. 3 is monitoring, diagnosing module and peripheral circuit structured flowchart thereof;
Fig. 4 is the program flow diagram of train monitoring, diagnosing module MC9S12XS128 chip operation when in running order;
Fig. 5 is the program flow diagram of train monitoring, diagnosing module S3C2440A chip operation when in running order;
The runnable interface of monitoring, diagnosing module Maintenance and Repair software when Fig. 6 is in maintenance state for train;
Fig. 7 is the off-line of monitoring, diagnosing module and the flow chart of online two-layer fault diagnosis algorithm.
The specific embodiment
Below in conjunction with accompanying drawing embodiment of the present utility model is described in detail.
With reference to figure 1, the utility model adopts modular design method, the gating device of design mainly is made up of gateway module, node module and door device (comprising motor drive module and car door), gateway module and node module are directly formed the door control system network by the CAN bus, and gateway module is used for bridge joint train bus-line and door control system network.Because the CAN bus adopts non-destruction bus arbitration technology, support how main many from the formula structure, use the short frame data structure, so transmit reliable and stable, has very high communication speed (can reach 1Mbps within the 40m) in short-distance transmission, and have error detection mechanism automatically monitoring node whether break away from bus, can close the node of permanent fault automatically.The utility model is provided with the basic function that gateway module, node module and motor drive module just can be realized the track train gating device---and open the door, close the door, emergency release and door excision function, these functions also are the track train most important function.But for the better reliability that guarantees the gating device basic function, follow simple and reliable ground principle, with some reserve functions, realize in the monitoring, diagnosing module as functions such as fault monitoring, diagnosing, repair and maintenances, the realization of these functions need be used some comparatively complicated components and parts, to compare other modules just low for the reliability of this module like this, adopts the independent design principle in design, and this module can independently not produce restriction to other modules as a module.After this module breaks down, because the CAN bus can carry out fault monitoring automatically,, permanent fault directly closes this node if appearring in this module, close the realization that does not influence the basic function of door control system behind this node, so reliability of the present utility model is higher.
The effect of monitoring, diagnosing module is in two kinds of situation: 1) when train is in running order, mainly accept the status information of gateway module control signals transmitted and the transmission of each node module, above-mentioned information data is stored in the memory; And in this module the corresponding fault diagnosis algorithm of design, after door control system broke down, this module can be made fault diagnosis, and diagnostic result is sent to train bus-line by gateway module was transferred to before the train in the bench control system again.2) when train is in maintenance state, can be by the maintenance interface of reserving on this module, door control system is overhauled, the maintenance tool that uses among the present invention at present is the LCDs that has touch function, display screen is received on the maintenance interface, software is repaired in operation maintenance in this module, can tentatively carry out some simple detections and maintenance to door control system.
Gateway module links to each other with train bus-line, receive the train bus-line control signals transmitted, and convert thereof into the CAN bus signals that the door control system node can be discerned, this module mainly plays between the different communications protocol function served as bridge of conversion mutually, and will receive the train bus-line control signals transmitted and be transferred in the monitoring, diagnosing module and preserve signal data.
Node module sends control signal corresponding with various sensors (stroke, position, light curtain) signal in signal after the gateway module conversion and the door device to motor drive module on the one hand, by the motion of motor drive module control car door; Send corresponding instruction to motor drive module on the other hand, inquire about electric current, the rotating speed of motor, the signals such as temperature of driver in real time, the status information of monitoring gate node, and the status information that monitors is sent in the monitoring, diagnosing module.
Motor drive module is exactly executive component---the motor of each gate node of control, the motion of driven by motor car door, using the CAN bus to carry out communication between door control system node and the motor-driven, mainly is that the CAN bus adopts the anti-common mode disturbances ability of differential signal stronger, and stability is higher.
Reconfigurability of the present utility model is embodied in following 2 points: 1) gating device to the concrete car door number in every joint compartment without limits.Because this gating device CAN bus is as connection basis between the inner gate node, the CAN bus be a kind of support much much more main from fieldbus, each door control system node directly is articulated on the CAN bus gets final product, so require the car door number in every joint compartment to be no more than the maximum node number of being supported 110 (the car door number in actual every joint compartment is far smaller than this value) of CAN bus, the car door number to every joint compartment does not limit to some extent, the single-unit compartment car door number of the train that present different track train production firm produces is generally 6,8 and 10 do not wait, so the present invention can better adapt to the production difference of different vendor.2) present train bus-line standard is unified, and this multibus and the present situation of depositing require the door control system network to carry out bridge joint with different train bus-lines, thereby host computers such as realization control unit for vehicle are by the control of train bus-line to door control system.The gating device of the utility model design can just can adapt to different train bus-lines by changing gateway module or this module being reconfigured corresponding software and hardware resources.
By using modularized design method, the layer of structure of hardware can clearly show, thereby has reduced development difficulty.By reasonably dividing module, the reliability and stability of system can be improved, and also provide condition for the upgradability that realizes hardware components simultaneously.When system broke down, modular design helped improving the speed and the accuracy of Fault Diagnosis, can directly replace the module that breaks down during maintenance, thus the efficient that makes raising repair and maintenance easy to maintenance work.
Referring to Fig. 2, mainly introduce the control chip of each control module specific implementation of the utility model and selection etc.
The mainboard of monitoring, diagnosing module adopts two microcontroller architectures, the concrete microcontroller of selecting is respectively the Samsung S3C2440A that is used for data analysis and processing ARM nuclear and is mainly used in the Freescale MC9S12XS128 that handles communication protocol S12X nuclear, wherein the S3C2440A microcontroller moves Windows CE operating system, be mainly used in data acquisition and analysis, the operation troubles diagnosis algorithm provides the maintenance interface of liquid crystal display of band touch function.The MC9S12XS128 microcontroller is that the configuration operation system is not used for the preliminary treatment of various control signals and communication data for the high real-time of realizing system designs.The monitoring, diagnosing module is finished by the MC9S12XS128 processor with communicating by letter of door control system network, bus frequency is arranged on the MC9S12XS128 of 40MHz except handling the relevant work of communication protocol, can also there be enough free system resources to be used to handle and independent send some basic car door control signals, and not need to focus on the intervention of the S3C2440A microcontroller of data analysis and processing.This is very necessary, if the work of communications portion, the processing that comprises communication protocol is all finished by ARM nuclear microcontroller, simultaneously, the monitoring, diagnosing module will be handled the data of all door control system nodes, therefore as a rule, especially number of nodes is more for a long time in the door control system network, the S3C2440A microcontroller system resource that there is not much left may be not enough to satisfy the service requirement of communication protocol, thereby influence the real-time of system, even lose response fully in the door control system application program that causes under Windows CE operating system, moving.
Node module adopts the Freescale MC9S12DG128 microcontroller of S12 nuclear, receives various sensor signals in the door device, realizes Electric Machine Control, and with the communicating by letter of door control system network.The door control system network that utilization CAN bus is set up couples together door control system gateway, door control system node and system monitoring diagnosis, is used to transmit car door control signal and vehicle door status parameter.The door control system node need be connected to the door control system network, promptly needs to possess CAN bus communication function.As the car door controller, node also should be able to be controlled the operation of car door motor and the work of other external equipments, as indicator lamp, buzzer etc.The present invention is to use the strong CAN bus communication mode of antijamming capability at control car door motor, so in this module, need to use two CAN controllers, the Freescale MC9S12DG128 microcontroller that the present invention selects, its built-in MSCAN module comprises the requirement to the gate system node of two CAN controllers, a large amount of very suitable the present invention of general purpose I/O port, the door control system node need accurately detect the physical location of car door, and on the car door motion path situation of obstruction.Here select two diffuse reflection type optoelectronic switches for use, be respectively applied for the position probing at car door two ends.Select the correlation optoelectronic switch for use, be used to detect the obstruction between the car door.
Gateway module is used for bridge joint train bus-line and door control system network.What the door control system network used is the CAN bus, the present disunity of train bus-line, and Siemens and Bombadier Inc produce track train and adopt MVB more, and the Alstom of France and Faiveley etc. adopt WORLDFIP.All data that need be sent to train bus-line are all by the gateway module forwarding in the door control system, and gateway module receives the car door control signal on the train bus-line simultaneously, and passes through the door control system forwarded to other node devices in the system.What gateway module adopted is the design that is easy to replace, and adapts to the applied environment of variety classes train bus-line.Use the main control chip of FPGA,, only need the different configurators of fpga chip programming are got final product in order to adapt to different train bus-lines as this module.
In conjunction with Fig. 3 some the peripheral circuit specific implementation and the effects of using in the monitoring, diagnosing modular unit in the utility model are described, it is mainly by liquid crystal display, JTAG emulator, BDM emulator, the CAN transceiver of processor unit 1, processor unit 2, SD card, band touch function.
The microprocessor chip of processor unit 1 is selected the S3C2440A of 32 of ARM920T systems of high-performance, the low-power consumption of Samsung for use.It is the SD card of 1GB that the SD card is selected the memory capacity of Kingston for use.Reset circuit is selected the MAX811 chip for use.Utilize the hand-reset input of MAX811.In the UART-RS232 circuit, the UART0 interface module of S3C2440A chip is converted to the RS232 level through the MAX3232 chip.
The microprocessor chip of processor unit 2 is selected the MC9S12XS128 of Freescale for use.Need connect a CAN transceiver to CAN controller module in the MC9S12XS128 chip can be connected on the physical bus of CAN.Here select PCA82C250 for use, it is mainly that high-speed CAN communication (reaching as high as 1Mbps) is used and design, meets " ISO11898 " standard.The interference that the CAN transceiver is produced needs and the isolation of CAN controller, adopt the 6N137 high speed photo coupling to isolate, in isolation, use the B0505-1W chip power isolation module of Jin Shengyang company, realize that circuit is isolated fully in CAN bus transmission circuit signal and the system fault diagnosis behind the cooperation optocoupler.
Two microcontrollers of S3C2440A and MC9S12XS128 are respectively taken charge of its duty, and the car door control task is finished in the division of labor clearly, has established the basis of the high real-time of system, so the communication of efficient stable is the key that finally realizes the high-performance target between two microcontrollers.Make full use of two asynchronous serial communication modules that microcontroller is built-in, the proper short distance of this communication modes, single task transmission course here.In hardware connects, in theory can be directly the transmitting-receiving lead-in wire of the asynchronous serial communication module of two microcontrollers be intersected butt joint and just can realize communication between them, but because the communication level voltage of S3C2440A is 3.3V, and the communication level of MC9S12XS128 is 5.0V, need to connect a level translator in the practical operation, select for use 74LVC4245 here as the bus level switching device.
The system monitoring diagnostic effect is in two kinds of situation: 1) when train is in running order, mainly accept the status information of each node module transmission, on the one hand above-mentioned information data is stored in the SD card memory, in liquid crystal display, shows the status information of each node on the other hand.The corresponding fault diagnosis algorithm of design in this module, after door control system broke down, this module can be made fault diagnosis, and diagnostic result is sent to train bus-line by gateway module was transferred to before the train in the bench control system again.2) when train is in maintenance state, can be by the maintenance interface of reserving on this module, door control system is overhauled, the maintenance tool that uses among the present invention at present is the LCDs that has touch function, display screen is received on the maintenance interface, operation maintenance maintenance software in this module can tentatively carry out some simple detections and maintenance to door control system.
Chip and the connected mode selected according to embodiment one, the functional sequence that above-mentioned system monitoring diagnostic module is realized is discussed in two kinds of situation.
First when train is in running order, and the program flow diagram of the MC9S12XS128 chip operation in this module mainly adopts the method for interrupting programming to guarantee real-time as shown in Figure 4.May further comprise the steps:
Step 1 processor cores is finished initialization task, comprises internal storage and initialization of register, I/O port initialization, MSCAN module initialization and SCI1 module initialization.
After step 2 processor was finished initialization, foreground program entered the circular wait state, and program is ceaselessly with watchdog reset.
When entering circular wait, processor is wanted the interruption of corresponding MSCAN module interruption and SCI1 module, and wherein the interrupt priority level of MSCAN module is than SCI1 module interrupt priority level height.
The interruption of MSCAN is to accept interruption, accept the node status information (comprising the state of two travel switches of gate node, the state of correlation optoelectronic switch, the electric current of motor, the speed of motor and the temperature of motor driver) transmitted in the CAN network, MC9S12XS128 is being transmitted to S3C2440A by the SCI1 mouth with the node status information that receives.
The interruption of SCI1 also is to accept interruption, accepts the fault diagnosis result information of S3C2440A by the UART1 module transmission of self.MC9S12XS128 sends in each node of CAN network will receiving fault diagnosis result by the MSCAN port.
The program flow diagram of the S3C2440A chip operation in this module may further comprise the steps as shown in Figure 5:
Step 1 processor cores is finished initialization work, comprises the initialization of internal storage and initialization of register, I/O port initialization, UART1 module initialization, liquid crystal display.
Step 2 is provided with some global variables, and being kept at needs some data of using in the fault diagnosis, and these global variable data are upgraded at any time.
Step 3 operation troubles diagnosis algorithm draws fault diagnosis result, upgrades the status information of gate node in the liquid crystal display according to diagnostic result.
Step 4, the wait-for-response time (diagnosis need not to carry out in real time, only needs to get final product every a period of time), enters in the diagnosis of next time to MC9S12XS128 chip transmission fault diagnostic result by the UART1 module.
Wherein UART 1 interrupts mainly accepting the node status information that the MC9S12XS128 chip sends for accepting interruption, according to the temporal information of the increase of the real-time clock module among S3C2440A data, and these information is deposited in the SD card.
Second when train is in maintenance state, at this moment at S3C2440A operation maintenance maintenance software, can realize the Maintenance and Repair function.Shown in being implemented as follows:
Fig. 6 is the runnable interface of Maintenance and Repair software, can observe the state of associated gate node by some buttons in the click interface, wherein " #0～#9 " button is represented in requisition for 10 gate nodes that detect, and " open, close, stop " expression opposite house node opens the door, closes the door and shut-down operation.Increase node corresponding state display box in each node, be used to show node state, all show " static state " during initialization.Below with a simple case explanation maintenance flow process: after clicking " #0～#9 " button, click " unlatching " button again, can control the action of opening the door of 10 gate nodes, under the situation of monitoring, diagnosing module true(-)running, if certain door is not carried out corresponding actions after carrying out aforesaid operations, illustrate that there is fault in this node, follow-uply can carry out detailed inspection, find out basic failure cause this node.Find out some faults easily by the simple repair and maintenance function that this module provides, bring certain convenience to the maintenance personal.
Fig. 7 is the flow chart of the two-layer fault diagnosis algorithm that uses in the utility model, and fault diagnosis system of the present utility model is primarily aimed at the electric part design of door device, comprises the diagnosis of motor etc.Require the two-layer fault diagnosis system of design according to reality:
First floor adopts online system failure diagnosis, parameters when the main door control system of monitoring in real time moves, data according to the monitoring of current rank are carried out simple fault diagnosis in the master control system module, the reason that analysis may be broken down, adopt FTA, fault to diagnosis is carried out classification according to the order of severity, directly takes corresponding measure to fix a breakdown to some simple faults, and the indeterminable fault of self diagnosis is sent fault-signal prompting attendant by Warning Mark.
The second layer adopts the off-line fault diagnosis system, the data that this system mainly moves door control system the parameters after a period of time are recorded in the memory (select for use this class power down of SD card can obliterated data memory device), door control system provides the interface (as serial ports) with upper machine communication, with the storage transfer of data in the stronger host computer of computing capabilitys such as PC or work station, in host computer, design accurate more, reliable fault diagnostic program, door control system is broken down do accurate location.Simultaneously can introduce some faults that related prediction model predicts that further the door control system back may occur.
Power-supply system constitutes in last simple declaration the utility model, and each parts is accepted the 110VDC power supply of train system in the utility model, needs uses+5V and+two kinds of voltage sources of 3.3V.At first use VICOR company to be specifically designed to DC/DC converter on the railroad track train, concrete model is V110A12C400BF, and the 110VDC power supply on the train is converted to 12VDC.Select the fixedly output version of LM2596 then for use, the LM2596 regulator is a voltage-dropping type power management monolithic integrated optical circuit, can export the drive current of 3A, has good linearity and load regulation characteristic simultaneously, and input voltage can be up to 40V.12VDC can obtain the 5.0V supply voltage by LM2596S-5.0 again; 12VDC obtains the 3.3V supply voltage through LM2596S-3.3V.
More than though embodiment of the present utility model has been described in conjunction with the accompanying drawings, but those skilled in the art can make various changes and modifications in the scope of described claim, as the concrete use of the utility model is the CAN bus, realize that according to the utility model thought door control system or door control system node receive the sensor signal of using in the door device for adopting some similar fieldbus, by communication modes corresponding control command is transferred to motor drive module, can also adopt PWM for the Electric Machine Control mode, analog quantity etc., the utility model has been selected communication modes for use in realization, as uses other modes also can become track train gating device of the present invention.
Claims (3)
1. track train car door intelligence gating device, by receiving opening the door of transmitting on the bus in the train top layer control system, close gate control signal, drive motors is realized the unlatching of train car door, close, it is characterized in that: between train top layer bus and train door device, the door control system network that fieldbus constitutes is set, this door control system network is provided with and comprises gateway module, node module and CAN bus, gateway module is connected with train top layer bus, receive the control signal of train top layer bus transfer and convert thereof into the CAN bus signals of discerning for node module, node module is transferred to motor drive module in the train door device with this CAN bus signals with the CAN communication modes, and motor drive module drives the action of train car door; A corresponding group node module of gateway module and motor drive module and the train car door quantity identical with node module quantity; Described gateway module, node module all are that main body constitutes with the microcontroller.
2. according to the described track train car door intelligence of claim 1 gating device, it is characterized in that: also be provided with the monitoring, diagnosing module that adopts two microcontroller architectures in the door control system network, this module also is connected with node module with gateway module by the CAN bus, is reserved with the maintenance interface on the monitoring, diagnosing module.
3. according to the described track train car door intelligence of claim 2 gating device, it is characterized in that: gateway module, node module and motor drive module are independent design, and each module wiring board is reserved with standard interface.
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| CN2010205096417U CN201818176U (en) | 2010-08-27 | 2010-08-27 | Intelligent door controller for doors of railway train |
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| CN101936110A (en) * | 2010-08-27 | 2011-01-05 | 东南大学 | Intelligent door control system for rail train doors |
| CN102536033A (en) * | 2011-12-23 | 2012-07-04 | 南京理工大学 | Intelligent door control system of rail train |
| CN102658828A (en) * | 2012-03-29 | 2012-09-12 | 南京康尼机电股份有限公司 | Rail vehicle door signal acquisition and transmission device and transmission method |
| CN102800221A (en) * | 2011-05-25 | 2012-11-28 | 天津市维科车辆技术有限公司 | Falseness and trueness cooperated practical training method and device of metro passenger car door system |
| CN105239859A (en) * | 2015-10-26 | 2016-01-13 | 株洲天利铁路机车车辆配件有限公司 | Intelligent door control method and device for locomotive |
| CN105511453A (en) * | 2016-01-20 | 2016-04-20 | 无锡威孚力达催化净化器有限责任公司 | Service aid for SCR (Selective Catalytic Reduction) post-processing system |
| CN106027350A (en) * | 2016-05-23 | 2016-10-12 | 株洲时代电子技术有限公司 | Large-scale road maintenance machine network control system design method |
| CN108035649A (en) * | 2017-12-07 | 2018-05-15 | 湖南磁浮交通发展股份有限公司 | Train door control system and train |
| CN112901010A (en) * | 2021-03-17 | 2021-06-04 | 南京康尼电子科技有限公司 | Train door control network communication system |
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| CN101936110B (en) * | 2010-08-27 | 2013-07-03 | 东南大学 | Intelligent door control system for rail train doors |
| CN101936110A (en) * | 2010-08-27 | 2011-01-05 | 东南大学 | Intelligent door control system for rail train doors |
| CN102800221B (en) * | 2011-05-25 | 2015-05-20 | 天津市维科车辆技术有限公司 | Falseness and trueness cooperated practical training method and device of metro passenger car door system |
| CN102800221A (en) * | 2011-05-25 | 2012-11-28 | 天津市维科车辆技术有限公司 | Falseness and trueness cooperated practical training method and device of metro passenger car door system |
| CN102536033B (en) * | 2011-12-23 | 2014-07-16 | 南京理工大学 | Intelligent door control system of rail train |
| CN102536033A (en) * | 2011-12-23 | 2012-07-04 | 南京理工大学 | Intelligent door control system of rail train |
| CN102658828A (en) * | 2012-03-29 | 2012-09-12 | 南京康尼机电股份有限公司 | Rail vehicle door signal acquisition and transmission device and transmission method |
| CN105239859A (en) * | 2015-10-26 | 2016-01-13 | 株洲天利铁路机车车辆配件有限公司 | Intelligent door control method and device for locomotive |
| CN105239859B (en) * | 2015-10-26 | 2017-09-12 | 株洲天利铁路机车车辆配件有限公司 | A kind of intelligent gate control method of locomotive and device |
| CN105511453A (en) * | 2016-01-20 | 2016-04-20 | 无锡威孚力达催化净化器有限责任公司 | Service aid for SCR (Selective Catalytic Reduction) post-processing system |
| CN106027350A (en) * | 2016-05-23 | 2016-10-12 | 株洲时代电子技术有限公司 | Large-scale road maintenance machine network control system design method |
| CN106027350B (en) * | 2016-05-23 | 2022-01-21 | 株洲时代电子技术有限公司 | Design method of network control system of large road maintenance machine |
| CN108035649A (en) * | 2017-12-07 | 2018-05-15 | 湖南磁浮交通发展股份有限公司 | Train door control system and train |
| CN112901010A (en) * | 2021-03-17 | 2021-06-04 | 南京康尼电子科技有限公司 | Train door control network communication system |
| CN112901010B (en) * | 2021-03-17 | 2022-09-20 | 南京康尼电子科技有限公司 | Train door control network communication system |
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