WO2019128478A1 - 中低速磁浮列车多总线混合网络列车控制和管理系统 - Google Patents

中低速磁浮列车多总线混合网络列车控制和管理系统 Download PDF

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WO2019128478A1
WO2019128478A1 PCT/CN2018/114272 CN2018114272W WO2019128478A1 WO 2019128478 A1 WO2019128478 A1 WO 2019128478A1 CN 2018114272 W CN2018114272 W CN 2018114272W WO 2019128478 A1 WO2019128478 A1 WO 2019128478A1
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network
train
bus
mvb
level
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PCT/CN2018/114272
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English (en)
French (fr)
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曾云峰
于延霞
敖建安
丁锋
王嵩淞
张晓雨
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中车大连机车车辆有限公司
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Publication of WO2019128478A1 publication Critical patent/WO2019128478A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • 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
    • B61L15/0018—Communication with or on the vehicle or train
    • 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
    • B61L15/0072—On-board train data handling
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network

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  • the invention relates to the technical field of medium and low speed maglev trains, in particular to a multi-bus hybrid network train control and management system for medium and low speed maglev trains.
  • the vehicle control unit VCU represents a vehicle control unit
  • the HMI represents a human machine interface
  • the RIOM represents a remote input and output module
  • the GW represents an MVB gateway.
  • the existing train control and monitoring system TCMS generally adopts Multifunction Vehicle Bus (MVB).
  • MVB Multifunction Vehicle Bus
  • most of the domestic maglev train subsystems use communication technology instead of MVB. It is necessary to convert the message sent by the subsystem through the MVB gateway. Into the MVB data frame.
  • the existing train control and monitoring system TCMS technology needs to increase the gateway device to convert data packets in order to realize the interoperability of train equipment, increase the delay of signal transmission, and reduce the safety and operability of the train network system. Maintainability, etc., increase train weight, cost, and complexity of communication cable routing during manufacturing.
  • the invention provides a problem that the prior art has the problems of large signal transmission delay, low safety, operability and maintainability, and reduces the weight of the train.
  • the invention expands the TCMS function of the train control and monitoring system, integrates the train reversing image system, the real-time monitoring system and the wireless uploading system, and realizes functions such as remote real-time monitoring, reversing imaging and wireless uploading.
  • the technical solution adopted by the invention is a medium-low speed maglev train multi-bus hybrid network train control and management system, comprising a two-level network and three subsystems, wherein the first-level network in the two-level network is composed of a multi-function vehicle bus MVB And ECN dual bus constitute redundant backbone network, mainly used for vehicle-level monitoring, control and management of the entire vehicle control network, ECU communication is preferred, multi-function vehicle bus MVB is used as redundant backup; another level network is RS-485 and The CANopen bus constitutes a device-level network for device-level data communication.
  • the three subsystems include a reversing image subsystem, a wireless uploading subsystem, and a multi-function monitoring platform.
  • the reversing image subsystem includes an IP located at the rear of the train.
  • the camera, the switch, the human-machine interface HMI, and the human-machine interface HMI are used to receive the video stream transmitted by the IP camera through the Ethernet switch and displayed on the display page;
  • the multi-function monitoring platform MCC includes the server and the monitoring software and the database.
  • Software, debugging software, simulation software and expert diagnostic software for realizing the status of running trains Monitoring, and can control the train through the Ethernet TRDP protocol to achieve automatic debugging.
  • the wireless uploading system includes a multi-function monitoring platform MCC, a wireless access point AP and an Ethernet two-layer management switch CS for collecting trains. Data is sent wirelessly to the ground data central server and provides local data downloads to provide remote expert technical support and remote diagnostics for train operations.
  • the invention has the beneficial effects that the invention eliminates seven MVB gateways, one power board and one RIOM chassis compared to the prior art.
  • the cost savings are about 146,000/column; since some equipment is reduced, the weight of the vehicle is reduced, and energy saving is achieved; the related software of the present invention is independently developed and achieves 100% localization.
  • FIG. 1 is a topological diagram of a prior art TCMS network.
  • FIG. 2 is a topological diagram of a multi-bus hybrid network according to the present invention.
  • Figure 3 is a schematic diagram of the CANopen protocol conversion.
  • Figure 4 is a schematic diagram of the MVB protocol conversion.
  • Figure 5 is a schematic diagram of the RS-485 protocol conversion.
  • FIG. 6 is a schematic diagram of the Ethernet TRDP protocol conversion.
  • FIG. 7 is a schematic structural diagram of a wireless uploading system.
  • the multi-bus hybrid network topology diagram of the present invention includes: AP-wireless access point, APS-auxiliary power source, BCG-battery charger, BMS-battery management System, EBCU-Brake Control Unit, EDCU-Door Control Unit, HMI-Human Machine Interface, HVAC-Air Conditioning System, MSCU-Maglev Control Unit, MVB-Multi-Function Vehicle Bus, DIO-Digital Input and Output Board, SDPS-Speed Positioning system, CS-Ethernet two-layer managed switch, TCU-traction control unit, VCU-vehicle control unit, CVB-CAN board, Camera IP camera.
  • the train control and management system TCMS consists of a two-level network.
  • the MVB and ECN dual buses form a redundant backbone network.
  • the MVB complies with the IEC 61375-3-1 standard.
  • the ECN complies with IEC 61375-2-3 and IEC61375-3-4 standards and is mainly used for vehicle-level monitoring, control and the entire vehicle control network. Management, ECU communication is preferred, and MVB is used as redundant backup.
  • RS-485 and CANopen buses form a device-level network for device-level data communication.
  • CANopen complies with the documents IEC 61375-3-3, ISO 11898 and CiA DS 301.
  • the system includes a reversing image subsystem, a wireless uploading subsystem and a multi-function monitoring platform.
  • the reversing image subsystem consists of an IP camera, switch, human-machine interface HMI at the rear of the train and video display software running on the HMI.
  • the human machine interface HMI receives the video stream transmitted by the IP camera through the Ethernet switch and displays it on the display page.
  • the MCC is a multi-functional monitoring platform consisting of a server and corresponding monitoring software, database software, debugging software, simulation software and expert diagnostic software.
  • the system monitors the status of the running train in real time through charts, curves, etc., and can control the train through the Ethernet TRDP protocol to realize automatic debugging, or realize the semi-physical simulation of TCMS through simulation software.
  • the MCC, AP and CS form a wireless uploading system.
  • the main function of the wireless uploading system is to collect train data, send it to the ground data centralized server wirelessly, and provide local data download, thus providing remote expert technical support and remote diagnosis for train operation.
  • the vehicle control unit VCU consists of the following components:
  • the vehicle control unit VCU realizes the integration of multi-bus hybrid network through CPS with RS-485 and Ethernet interface and integrated MVB and CAN board.
  • the MVB and CVB boards realize fast and CPS through VME backplane bus. Data exchange enables seamless integration of Ethernet, MVB, CAN and RS-485 multi-bus.
  • the vehicle control unit VCU realizes the integration of RIOM through VME bus and DIO board, saves RIOM MVB gateway board, power board and chassis, and integrates event recorder by selecting large-capacity 4G NAND memory.
  • the vehicle control unit VCU realizes CANopen, MVB, RS-485 and TRDP Ethernet communication through the CAN board, MVB board, RS-485 board and Ethernet network card on the chassis respectively, wherein the CAN board integrates the CANopen protocol stack.
  • the Ethernet network card integrates the TRDP protocol stack.
  • the CANopen, MVB, RS-485, and TRDP protocol conversion principles are shown in Figures 3, 4, 5, and 6, respectively.
  • the CVB board CPU transmits and receives CANopen data frames through the CAN controller and the medium access unit, and accesses the data through the DPRAM shared memory.
  • the CPU board of the vehicle control unit VCU is transmitted and received through the VME backplane bus and the DPRAM shared memory. CANopen signal.
  • the MVB board CPU transmits and receives MVB data frames through the MVBC02MVB controller and the medium access unit, and accesses data through the DPRAM shared memory.
  • the CPU board of the vehicle control unit VCU is transmitted and received through the VME backplane bus and the DPRAM shared memory. MVB signal.
  • the main CPU of the vehicle control unit VCU transmits and receives RS-485 data frames through the serial interface Serial I/F, and is decoded/encoded by the HDLC/UART protocol stack.
  • the CPU board of the vehicle control unit VCU packs/unpacks UDP/TCP packets through the TRDP protocol stack to implement Ethernet communication based on the TRDP protocol.
  • FIG. 7 a schematic diagram of a wireless uploading system communicating with a ground receiving station, wherein the real-time fault and status of the train is transmitted to the ground server through the 3G/4G wireless network, and the non-real-time fault and running status information of the train can be transmitted through WLAN or 3G/4G. Go to the ground server.
  • the ground server analyzes the real-time display of train status and faults, and provides non-real-time data download function.
  • the reversing image function can be realized by an IP camera, switch and human-machine interface HMI located at the rear of the train.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Small-Scale Networks (AREA)
  • Traffic Control Systems (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

本发明公开了一种中低速磁浮列车多总线混合网络列车控制和管理系统，包括两级网络和三个子系统，其中，所述的两级网络中的一级网络由多功能车辆总线MVB和ECN双总线组成冗余主干网，主要用于车辆级监视、控制和整个车辆控制网络的管理，优先采用ECU通信，多功能车辆总线MVB作为冗余备份；另一级网络由RS-485和CANopen总线构成设备级网络，用于设备级数据通信，所述的三个子系统包括倒车影像子系统、无线上传子系统和多功能监控平台，与现有技术相比本发明取消了7个MVB网关、一个电源板卡和一个RIOM机箱。节约成本约14.6万/列；由于减少了部分设备，降低了车重，实现了节能。

Description

中低速磁浮列车多总线混合网络列车控制和管理系统 技术领域
本发明涉及中低速磁浮列车技术领域，具体涉及一种中低速磁浮列车多总线混合网络列车控制和管理系统。
背景技术
目前国内新一代中低速磁浮列车正处于发展阶段，其最重要的列车控制和监视系统TCMS(Train Control and Management System)主要采用轻轨、地铁等车辆现有技术，大多采用MVB、CANopen等总线。由于新一代中低速磁浮列车尚未制订相应的通信标准，其悬浮、牵引、制动、车门和测速定位等子系统采用的通信技术存在不兼容的问题。
如图1所示，其中车辆控制单元VCU表示车辆控制单元，HMI表示人机接口，RIOM表示远程输入输出模块，GW表示MVB网关。现有列车控制和监视系统TCMS一般采用多功能车辆总线MVB(Multifunction Vehicle Bus)，而目前国内的大部分磁浮列车子系统采用通信技术并不是MVB，需要通过MVB网关将子系统发出的报文转换成MVB数据帧。
现有列车控制和监视系统TCMS技术，为实现列车设备的互操作性需要增加网关设备进行数据报文的转换，增加了信号传输的时延，降低了列车网络系统的安全性、可操作性和可维护性等，增加了列车重量、成本和生产制造过程中通信线缆布线的复杂性。
发明内容
本发明提供一种,本发明解决了现有技术存在的信号传输时延大，安全性、可操作性和可维护性低等问题，减轻了列车重量。另外，本发明拓展了列车控制和监视系统TCMS功能，集成了列车倒车影像系统、实时监视系统和无线上传系统，实现了远程实时监控、倒车成像和无线上传等功能。
本发明所采用的技术方案是中低速磁浮列车多总线混合网络列车控制和管理系统，包括两级网络和三个子系统，其中，所述的两级网络中的一级网络由多功能车辆总线MVB和ECN双总线组成冗余主干网，主要用于车辆级监视、控制和整个车辆控制网络的管理，优先采用ECU通信，多功能车辆总线 MVB作为冗余备份；另一级网络由RS-485和CANopen总线构成设备级网络，用于设备级数据通信，所述的三个子系统包括倒车影像子系统、无线上传子系统和多功能监控平台，所述的倒车影像子系统包括位于列车后部的IP摄像头、交换机、人机接口HMI和，人机接口HMI用于接收IP摄像头通过以太网交换机传输的视频流并在显示页面上显示；所述的多功能监控平台MCC包括由服务器和监控软件、数据库软件、调试软件、仿真软件和专家诊断软件，用于对运行中的列车的状态进行实时监视，并可通过以太网TRDP协议对列车进行控制，实现自动化调试，所述的无线上传系统包括多功能监控平台MCC、无线接入点AP和以太网二层管理型交换机CS，用于收集列车数据，通过无线方式发送到地面数据集中服务器，并提供本地数据下载，为列车运行提供远程专家技术支持和远程诊断。
本发明的有益效果是：与现有技术相比本发明取消了7个MVB网关、一个电源板卡和一个RIOM机箱。节约成本约14.6万/列；由于减少了部分设备，降低了车重，实现了节能；本发明相关软件都为自主开发，实现了100％国产化。
附图说明
图1为现有技术TCMS网络拓扑图。
图2为本发明多总线混合网络拓扑图。
图3为CANopen协议转换原理图。
图4为MVB协议转换原理图。
图5为RS-485协议转换原理图。
图6为以太网TRDP协议转换原理图。
图7为无线上传系统结构示意图。
具体实施方式
现结合附图对发明做进一步的说明，如图2所示，本发明多总线混合网络拓扑图，其中：AP-无线接入点，APS-辅助电源，BCG-电池充电机，BMS-电池管理系统，EBCU-制动控制单元，EDCU-车门控制单元，HMI-人机接口，HVAC-空调系统，MSCU-磁浮控制单元，MVB-多功能车辆总线，DIO-数字输入输出板卡，SDPS-测速定位系统，CS-以太网二层管理型交换机，TCU-牵引控制单元，VCU-车辆控制单元，CVB-CAN板卡，Camera IP摄像头。
列车控制和管理系统TCMS由两级网络构成。MVB和ECN双总线组成冗余主干网，MVB符合IEC 61375-3-1标准，ECN符合IEC 61375-2-3和IEC61375-3-4标准，主要用于车辆级监视、控制和整个车辆控制网络的管理，优先采用ECU通信，MVB作为冗余备份。
RS-485和CANopen总线构成设备级网络，用于设备级数据通信，CANopen符合文件IEC 61375-3-3、ISO 11898和CiA DS 301标准。
中低速磁浮列车多总线混合网络列车控制和管理系统该系统包括了倒车影像子系统、无线上传子系统和多功能监控平台。倒车影像子系统由位于列车后部的IP摄像头、交换机、人机接口HMI和运行于人机接口HMI之上的视频显示软件组成。人机接口HMI接收IP摄像头通过以太网交换机传输的视频流并在显示页面上显示。
MCC为由服务器和相应的监控软件、数据库软件、调试软件、仿真软件和专家诊断软件组成的多功能监控平台。该系统通过图表、曲线等方式对运行中的列车的状态进行实时监视，并可通过以太网TRDP协议对列车进行控制，实现自动化调试，或通过仿真软件实现TCMS的半实物仿真。
MCC、AP和CS组成了无线上传系统，无线上传系统主要功能是收集列车数据，通过无线方式发送到地面数据集中服务器，并提供本地数据下载，从而为列车运行提供远程专家技术支持和远程诊断。
车辆控制单元VCU由以下部分组成：
● 1xCPS2258-处理器板卡；
● 1xMVB1820A_EMD MVB板卡；
● 2xCVB1621A-CAN板卡；
● 2xDIO2378A板卡；
● 1x PSV1018A供电模块；
● 1x PIU2219A电源输入模块；
● 1xRack44TE_3U机箱。
车辆控制单元VCU通过带有RS-485和以太网接口的CPS及集成的MVB和CAN板卡实现了多总线混合网络的集成，其中MVB和CVB板卡通过VME背板总线实现了与CPS的快速数据交换，从而实现了以太网、 MVB、CAN和RS-485多总线的无缝集成。
车辆控制单元VCU通过VME总线和DIO板卡实现了对RIOM的集成，节省了RIOM的MVB网关板卡、电源板卡和机箱等设备，通过选用大容量4G NAND存储器对事件记录仪进行了集成。
车辆控制单元VCU通过机箱上的CAN板卡、MVB板卡、RS-485板卡和以太网网卡分别实现的CANopen、MVB、RS-485和TRDP以太网通信，其中CAN板卡集成了CANopen协议栈，以太网网卡集成了TRDP协议栈。CANopen、MVB、RS-485和TRDP协议转换原理分别如图3、4、5和6所示。
如图3所示，CVB板卡CPU通过CAN控制器和介质访问单元收发CANopen数据帧，并通过DPRAM共享存储器存取数据，车辆控制单元VCU的CPU板卡通过VME背板总线和DPRAM共享存储器收发CANopen信号。
如图4所示，MVB板卡CPU通过MVBC02MVB控制器和介质访问单元收发MVB数据帧，并通过DPRAM共享存储器存取数据，车辆控制单元VCU的CPU板卡通过VME背板总线和DPRAM共享存储器收发MVB信号。
如图5所示，车辆控制单元VCU的主CPU通过串行接口Serial I/F收发RS-485数据帧，并由HDLC/UART协议栈进行解码/编码。
如图6所示，车辆控制单元VCU的CPU板卡通过TRDP协议栈对UDP/TCP报文进行打包/解包从而实现基于TRDP协议的以太网通信。
如图7所示，无线上传系统与地面接收站通信的示意图，其中列车实时故障及状态通过3G/4G无线网络发送到地面服务器，列车非实时故障及运行状态信息可通过WLAN或3G/4G传输到地面服务器。地面服务器解析后进行列车状态及故障的实时显示，并提供非实时数据的下载功能。通过位于列车后部的IP摄像头、交换机和人机接口HMI可实现倒车影像功能。

Claims (1)

  1. 中低速磁浮列车多总线混合网络列车控制和管理系统，其特征在于：包括两级网络和三个子系统，其中，所述的两级网络中的一级网络由多功能车辆总线MVB和ECN双总线组成冗余主干网，主要用于车辆级监视、控制和整个车辆控制网络的管理，优先采用ECU通信，多功能车辆总线MVB作为冗余备份；另一级网络由RS-485和CANopen总线构成设备级网络，用于设备级数据通信，所述的三个子系统包括倒车影像子系统、无线上传子系统和多功能监控平台，所述的倒车影像子系统包括位于列车后部的IP摄像头、交换机、人机接口HMI和，人机接口HMI用于接收IP摄像头通过以太网交换机传输的视频流并在显示页面上显示；所述的多功能监控平台MCC包括由服务器和监控软件、数据库软件、调试软件、仿真软件和专家诊断软件，用于对运行中的列车的状态进行实时监视，并可通过以太网TRDP协议对列车进行控制，实现自动化调试，所述的无线上传系统包括多功能监控平台MCC、无线接入点AP和以太网二层管理型交换机CS，用于收集列车数据，通过无线方式发送到地面数据集中服务器，并提供本地数据下载，为列车运行提供远程专家技术支持和远程诊断。
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