WO2020143243A1 - Procédé et système de commutation de sauvegarde à chaud à double système appliqués à un système de fonctionnement automatique de train - Google Patents

Procédé et système de commutation de sauvegarde à chaud à double système appliqués à un système de fonctionnement automatique de train Download PDF

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WO2020143243A1
WO2020143243A1 PCT/CN2019/105218 CN2019105218W WO2020143243A1 WO 2020143243 A1 WO2020143243 A1 WO 2020143243A1 CN 2019105218 W CN2019105218 W CN 2019105218W WO 2020143243 A1 WO2020143243 A1 WO 2020143243A1
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unit
logic unit
logical unit
logical
logic
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PCT/CN2019/105218
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English (en)
Chinese (zh)
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周荣
黄彬彬
郭荣
严敢
李旭
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北京全路通信信号研究设计院集团有限公司
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Publication of WO2020143243A1 publication Critical patent/WO2020143243A1/fr

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control

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  • the present disclosure belongs to the field of rail transit, and particularly relates to a dual-system hot backup switching method and system applied to an automatic train running system.
  • the existing dual-machine hot backup structure of the automatic train running system includes a main system, a backup system, and a reverse (management) unit. Therefore, the switching method of the dual-system hot backup is: when the main system fails, the reverse cutting unit cuts off the output of the main system, and the backup system is upgraded to the main system. However, when the communication between the host, the backup machine and the reverse cutting unit is faulty and other functions are normal, the reverse (management) unit cuts off the output of the main backup system and exits the ATO, or when the communication failure of the removal unit itself also affects the system function , Which leads to withdrawal from ATO, so the existing dual-machine hot backup has low reliability.
  • the technical problem to be solved by the present disclosure is to overcome the shortcomings of the prior art, and provides a dual-system hot backup switching method and system applied to the train automatic operation system, and realizes the main-standby system switching through the functions between the dual-system hot backup, There is no need to add a reverse cutting (management) unit or a device with a function similar to a reverse cutting (management) unit to improve the reliability of the system.
  • the purpose of the present disclosure is to provide a dual-system hot standby switching method applied to the automatic train running system, adopting the following technical solutions:
  • a dual-system hot backup switching method applied to an automatic train running system includes:
  • the logical unit of this department competes with the main logical unit of the logical unit;
  • the logical unit of the local system or the logical unit of the opposing system competes for the primary system, it controls output and communication, and outputs the status signal of the primary system.
  • the logical unit of the system is the backup system, and the logical unit of the system is not the backup system, then the logical unit of the system is to determine whether the logical unit of the system is competing for the main system;
  • the logical unit of the local system determines whether the logical unit of the local system is competing for the primary and backup systems.
  • the competition between the logical unit of the system and the logical unit of the system through the card identification number includes:
  • the board identification number of the logical unit of this system corresponds to the main system, then the logical unit of this system is the main system.
  • the logical unit of the system can determine whether the logical unit of the system is competing for the main system and the primary system includes,
  • the logical unit of the opposite system is the main system, the logical unit of the system is the standby system;
  • the native logic unit detects whether the communication with the opposite logic unit is interrupted, and if the communication is not interrupted, the native logic unit continues to acquire the If the communication is interrupted, the logical unit of the system will detect whether the logical unit of the system outputs the status signal of the primary system. If the status signal of the primary system is detected, the logical unit of the system will be the standby system. If the status signal of the primary system is not detected , The logical unit of this department is upgraded to the main department.
  • the logical unit of the local system determines whether the logical unit of the primary system is competing for the primary and secondary systems by determining whether the logical unit of the primary system includes,
  • the dual logical unit is the primary system, the dual-system hot standby is in a fault state, and both the local logical unit and the dual logical unit perform downtime;
  • the logical unit of the opposite system is not the main system, the logical unit of the current system is the main system.
  • the logical unit of the system and the logical unit of the corresponding system respectively obtain one or more of the following operating information of the system,
  • the native logic unit and the twin logic unit obtain their own board identification numbers, the native logic unit and twin logic unit respectively acquire their respective communication information with the twin system, the native logic unit and twin system The logic unit self-tests itself.
  • the initialization states of the logical unit of the local system and the logical unit of the corresponding system are both standby systems.
  • the method further includes,
  • the logical unit as the main system When the logical unit of the corresponding system or the logical unit of the corresponding system fails as the main system, the logical unit as the main system performs automatic shutdown and cuts off the output and communication. At the same time, the logical unit as the backup system detects whether the main system outputs the main unit If the system status signal cannot be detected, the logical unit as the backup system is upgraded to the main system, taking over control output and communication and generating and outputting the main system status signal.
  • the self-checking of the logic unit of the department and the logic unit of the department includes,
  • the output and communication of the own logic unit and/or pair logic unit are cut off, and downtime is executed.
  • the purpose of the present disclosure is also to provide a dual-system hot standby system applied to an automatic train operation system, which includes a local logic unit and a counterpart logic unit that are mutually redundant, wherein the local logic unit and the counterpart logic Units include,
  • the main-standby competition module is used for the main-standby competition between the logical unit of the department and the logical unit of the department;
  • the signal generation module is used to generate and output the status signal of the main system when the logical unit of the corresponding system or the logical unit of the corresponding system competes for the main system.
  • the logical unit of the system and the logical unit of the system also include,
  • the board identification acquisition module is used to obtain the board identification number of the logic unit of the system and the logic unit of the system;
  • the first communication module is used to realize the communication between the logical unit of the system and the logical unit of the system and the system of the system;
  • the self-check module is used for self-check of the logic unit of this department and the logic unit of this department.
  • the logical unit of the system and the logical unit of the system also include,
  • the fault processing module is used to cut off the output and communication of the logic unit of the system and the logic unit of the system, and perform downtime.
  • the logical unit of the system and the logical unit of the system also include,
  • the second communication module is used to realize the output and communication between the logic unit of the system and the logic unit of the system.
  • the purpose of the present disclosure is also to provide an automatic train running system, which includes an output unit, a communication unit, an interface unit, and the above-mentioned logic unit and counterpart logic unit described above.
  • the logic unit, output unit, and communication unit are all connected to the interface unit, where,
  • the local logic unit and the counterpart logic unit are used to implement the above-mentioned switching method
  • the output unit is used to realize the output between the logic unit of the current department and the logic unit of the opposite department;
  • the communication unit is used to realize the communication between the logic unit of the current department and the logic unit of the opposite department;
  • the interface unit is used to realize the output and communication between the logic unit of the system and the logic unit of the system and the output unit and the communication unit, respectively.
  • the automatic operation system further includes a power supply unit, an input unit, and a recording unit connected to the interface unit, wherein,
  • the power supply unit is used to supply power to the automatic operation system
  • the input unit is used to realize input collection of the automatic operation system
  • the recording unit is used to realize data recording of the automatic operation system.
  • the interface unit includes a 2-way power bus, a 2-way communication bus that are mutually redundant, and a board identification.
  • the dual-system hot backup of the present disclosure realizes the switching method of the dual-system hot backup only by the logical judgment of the logical unit of the system and the logical unit of the system, which improves the reliability of the switching of the dual-system hot backup.
  • Both the logical unit of the standby system can generate the status signal of the primary system, and the logical unit as the primary system outputs the status signal of the primary system, and the logical unit of the standby system or the downtime unit does not output the status signal of the primary system.
  • the relationship between the main logic unit and the backup logic unit is further determined by detecting the main system status signal, so that the switching method of the dual system hot standby is more logical, and the dual system thermal Switching safety.
  • FIG. 1 shows a schematic flowchart of a dual-system hot standby switching method applied to an automatic train running system in an embodiment of the present disclosure
  • FIG. 2 shows a schematic flow chart of a method for switching a logic unit of a local system in a dual-system hot backup in an embodiment of the present disclosure
  • FIG. 3 shows a schematic diagram of a dual-system hot backup system applied to an automatic train running system in an embodiment of the present disclosure
  • FIG. 4 shows a schematic structural diagram of a train automatic operation system in an embodiment of the present disclosure.
  • an embodiment of the present disclosure introduces a dual-system hot standby switching method applied to an automatic train running system.
  • the switching method includes, first, the main logic unit and the counter logic unit
  • the standby system competes; then, when the logical unit of the local system or the logical unit of the opposing system competes for the primary system, it controls output and communication, and outputs the status signal of the primary system.
  • the logic unit of the main system controls the output unit and the communication unit to realize the operation control of the automatic train running system.
  • the main logical unit and the main logical unit compete for the main logical unit, it also includes obtaining one or more operating information of the main unit respectively.
  • the main logical unit and the main logical unit respectively obtain their own The board identification number.
  • the local logic unit and the counterpart logic unit respectively obtain the communication information of the counterpart system, and then, the local logic unit and the counterpart logic unit respectively perform self-checks on themselves.
  • the local logic unit and the counterpart logic unit respectively obtain their own board identification numbers, and the board identification number is used to distinguish the local logic unit from the counterpart logic unit.
  • the board identification number is acquired
  • the logic unit of the system and the system logic unit read the backplane board identification number through the 4 IO pins of the CPU.
  • the system logic unit and the system logic unit are obtained if the system logic unit and the system logic unit are not inserted into the backplane
  • the board identification number is 1111.
  • the logic unit of this department and the counterpart logic unit are inserted into the backplane, the logic unit of this department and the logic unit of the other department are distinguished by grounding different pins, such as the board of the logic unit of the said department
  • the identification number is 1110, and the board identification number of the logic unit is 1101.
  • the communication information includes (but is not limited to) the active/standby state, the number of platform synchronization cycles, the application task cycle, and application cycle synchronization data.
  • the logic unit of the system and the logic unit of the system perform self-test on the system.
  • the self-test includes (but not limited to) FRAM self-test, Flash self-test, RTC read-write self-test, external communication initialization self-test, and the system Communication initialization self-test, when the logical unit of the system and/or the logical unit of the system fails the self-test, the logical unit of the system and/or the logical unit of the system cuts off the communication and output between itself and the external unit And communication with itself and the counterpart system, and perform downtime; when the native logic unit and/or the counterpart logic unit passes the self-test, the native logic unit competes with the counterpart logic unit .
  • the primary logical unit state of the primary logical unit is determined first, and then the primary logical unit state of the primary logical unit is determined.
  • the states of the primary and secondary logical units of the logical units of the corresponding system and the logical units of the corresponding system include one or more of the following: the logical units of the logical system and the logical system of the primary system are both the logical units of the primary system, the logical units of the logical system and the logical system of the logical system All of them are backup systems.
  • the logical units of this system are backup systems.
  • the logical units of this system cannot determine the status of the primary and secondary systems of the logical units of this system.
  • the logical units of this system are the backup systems.
  • the logical units of this system are the primary systems.
  • the logical unit of the system is the main system, and the logical unit of the system is the standby system. among them,
  • Both the local logic unit and the counterpart logic unit are the master system, then the dual-system hot standby is a failure mode, and the local logic unit and the counterpart logic unit both perform downtime.
  • the local logic unit and the counterpart logic unit are both backup systems, and the local logic unit and the counterpart logic unit compete for the primary and secondary systems through the board identification number.
  • the board identification number of the local logic unit is Corresponding to the main department, the logical unit of this department is the main department.
  • the board identification number corresponding to the main system is 1110 and the board identification number corresponding to the standby system is 1101, if the board identification number of the logical unit of the system is 1110, the system defaults to the Department of logical units is the main department.
  • the native logic unit is a standby system, and the native logic unit cannot determine the status of the active and standby systems of the opposite logic unit.
  • the native logic unit determines whether the communication with the opposite logic unit is interrupted. If the communication between the logic unit and the counterpart logic unit is not interrupted, the native logic unit re-executes the above-mentioned switching method.
  • the native logic unit reacquires the communication information with the counterpart system; If the communication between the logical unit of the system and the logical unit of the system is interrupted, the logical unit of the system detects whether the logical unit of the system outputs the status signal of the main system, and if the logical unit of the logical system detects the output of the logical unit of the system
  • the main system status signal, the opposite logic unit is the main system, and the local logic unit is the backup system; if the main system status signal output from the opposite system logic unit is not detected, the local logic unit is upgraded to the main system .
  • the status signal of the primary system is not generated and output. Therefore, when the logical unit of the corresponding system or the logical unit of the corresponding system detects whether the respective system outputs the status signal of the main system, if the status signal of the main system of the system is detected, it means that the system is the main system, if the system is not detected If the main system status signal exists, the other functions of the system are invalid.
  • the system is upgraded to the main system, taking over control output and communication, and implementing the redundant switching function of dual-system hot standby; preferably, the main system status signal can It is a pulse signal issued by a logic unit competing for the main system.
  • the pulse signal may be (but not limited to) a PWM vital signal.
  • the initial states of the primary logical unit and the secondary logical unit are both standby systems.
  • the logic unit as the main system collects the state signal of the main system as the logic unit of the standby system in real time. If the frequency of the state signal of the collected main system is consistent with the preset frequency, it indicates that the logic unit as the standby system is the main system. .
  • the logic unit of this department is taken as an example for illustration.
  • the steps of the switching method of the logic unit of this department are as follows,
  • the logic unit of this department obtains the board identification number of this department
  • the logic unit of the department acquires the communication information between the department and the counterpart;
  • step S3 The logic unit of this department performs a self-check. If the self-check fails, step S3-1 is executed; if the self-check passes, step S4 is executed;
  • step S4-1 determines whether the system is the backup system. If the logic unit of the system is not the backup system, step S4-1 is executed; if the logic unit of the system is the backup system, step S5 is executed;
  • step S4-1 the logic unit of this department is the main department, then step S4-2 is executed;
  • step S4-2 The logic unit of the system determines whether the opposite system is the main system. If the opposite system is the main system, the dual-system hot standby is a failure mode, and the logic unit of the corresponding system and the opposite logic unit perform downtime; If the logical unit of the opposite system is not the main system, step S7 is executed;
  • the logical unit of the system determines whether the logical unit of the system is a backup system. If the logical unit of the system is not a backup system, step S5-1 is executed; if the logical unit of the system is a backup system, step S6 is executed. ;
  • the logical unit of the system determines whether the logical unit of the system is the main system. If the logical unit of the system is the main system, the logical unit of the system is the standby system; if the logical unit of the system is not the main system, step S5 is executed. -2;
  • step S5-2 The logical unit of the system determines whether the communication between the logical unit of the system and the logical unit of the system is interrupted. If the communication between the logical unit of the system and the logical unit of the system is not interrupted, step S2 is executed; If the communication state of the logic unit is interrupted, step S5-3 is executed;
  • the logical unit of the system determines whether the main logic state signal is generated by the corresponding logical unit. If the main logic state signal is not generated by the corresponding logical unit, step S7 is executed; The logical unit is the standby system;
  • the logic unit of this system controls output and communication, and generates and outputs the status signal of the main system.
  • the above-mentioned logical units of the system and the pair of logic units, the series and the pair of systems, the main system and the standby system are relative concepts, and any of the logic units of the dual-system hot standby is relative to It is the logical unit or the corresponding system of itself, and it is the logical unit or the corresponding system of the other logical unit.
  • the logical unit of this system and the logical unit of the opposite system are the opposite system.
  • the logical units of the system and the system of the system determine the status of the system or the system of the main system and the system of the system, it also includes the use of global variables to define the system and the system of the system, for example, the main system is 0xAA, the system of the system 0x55, the logical unit of the system and/or the logical unit of the system are all the backup system 0x55 during initialization. If the logical unit of the system or the logical unit of the backup system becomes the main system after the main-standby competition, it will be the logical unit of the main system The global variable is modified to 0xAA. At the same time, the logical unit of the corresponding department or the logical unit of the opposite department communicates with the opposite department to obtain the global variable data of the opposite department and determine the status of the active and standby systems of the opposite department.
  • the main system is 0xAA
  • the system of the system 0x55 the system of the system 0x55
  • an embodiment of the present disclosure introduces a dual-system hot-standby system applied to an automatic train operation system, which includes a local logic unit and a counterpart logic unit that are mutually redundant.
  • Both the logic unit and the counterpart logic unit include: the main and standby system competition module is used for the local logic unit and the counterpart logic unit to compete with the counterpart system; the signal generation module is used to generate and output the local logic unit and the counterpart system The main system status signal of the logic unit. Further, the signal generation module is also used to collect the main system status signal output from the system. Therefore, the signal generation module of the logic system unit and the signal generation module of the system logic unit Communicate through wireless signals.
  • the signal generation module is used to generate the main system status signal of the own department and collect the main system status signal of the opposite system.
  • the frequency of the collected main system status signal is consistent with the preset value, it indicates that the opposite system is The main system, further, the signal is directly generated and checked by the CPU of the logic unit, and the signal is output when the logic unit of the own department or the logic unit of the opposite system competes for the master system, and the signal is not generated when it is down or as a standby system.
  • the main system status signal may be a PWM pulse signal.
  • the local logic unit and the counterpart logic unit also include a board identification acquisition module, a first communication module, and a self-test module, wherein the board identification acquisition module is used to acquire the local logic unit and the counterpart logic unit.
  • the board identification number is used to distinguish the relationship between the main logical unit and the backup logical unit, and further used to distinguish other functional units connected externally by the main logical unit.
  • the first communication module is used to realize the communication between the logic unit of the system and the logic unit of the system and the system of the logic system of the system, further, the A communication channel.
  • the first communication channel is a redundant 2-way SBP communication bus, and the 2-way SBP communication buses are SBP1 and SBP2, respectively.
  • the self-inspection module is used for self-inspection of the logic unit of the system and the logic unit of the system.
  • the self-inspection includes (but not limited to) FRAM self-inspection, Flash self-inspection, RTC read-write self-inspection, external CAN communication initialization self-inspection, and initial SBP communication initiation self-inspection; when the logic unit of the department and/or When the system logic unit fails the self-check, the system logic unit and/or the system logic unit cuts off the output and communication of the system department, and performs downtime.
  • the logical unit of the system and the logical unit of the system also include a fault processing module and a second communication module.
  • the fault processing module is used to cut off the output and communication of the logical unit of the system and the logical unit of the system, and perform downtime;
  • second The communication module is used to realize the output and communication between the logic unit of the system and the logic unit of the system.
  • the dual-system hot standby implements functions such as input data collection, external output control, and external communication.
  • the active-standby system competition module performs the active-standby system based on one or a combination of a signal generation module, a board identification acquisition module, a first communication module, a self-test module, a fault processing module, and a second communication module Competition, the logic unit of the main system of competition gets control of output and communication, and the logic unit of the competition of the standby system is in hot standby state.
  • an embodiment of the present disclosure also introduces an automatic train operation system.
  • the automatic train operation system includes an output unit, a communication unit, an interface unit, and the above-mentioned logic unit and alignment logic Unit, the local logic unit, the counterpart logic unit, the output unit, and the communication unit are all connected to the interface unit, wherein the local logic unit and the counterpart logic unit are mutually redundant and used to realize the claims The mentioned switching method.
  • the logic unit of the local system and the logic unit of the opposite system are connected to each other through two redundant SBP buses to realize data exchange between the active and standby systems.
  • the two SBP communication buses are SBP1.
  • SBP2 With SBP2.
  • the native logic unit and the counterpart logic unit also communicate wirelessly.
  • the native logic unit and the counterpart logic unit can output and collect the master system status signal output by the counterpart system.
  • the master The system status signal is the PWM life dynamic signal.
  • the output unit is used to realize the external output of the logic unit of the system and the logic unit of the system;
  • the communication unit is used to communicate between the logic unit of the system and the logic unit of the system and the outside;
  • the interface unit includes Two-way power bus, two-way redundant communication bus and board identification are used to realize the output and communication between the logic unit of this system and the logic unit of the system and the output unit and communication unit respectively.
  • the power bus includes 5V and 24V power buses; the two redundant communication buses that are mutually redundant are two CAN communication buses that are mutually redundant, preferably, the two mutually redundant CAN buses
  • the communication buses are CAN0 and CAN1 respectively, where CAN0 is the main bus and CAN1 is the backup bus.
  • CAN0 is the main bus
  • CAN1 is the backup bus.
  • the logic unit of the system is connected to the output unit and input through the CAN0 communication bus.
  • Unit, communication unit and other units to control the output and communication of the automatic train running system as the system's counterpart logic unit, it connects the output unit, input unit, and communication unit through the CAN1 communication bus, and the system receives communication information from the input unit and communication unit , But no data is sent.
  • the system further includes a power supply unit connected to the interface unit, an input unit, and a recording unit, wherein the power supply unit is used to supply power to the train automatic operation system; the input unit is used to implement the train automatic Input collection of the running system; the recording unit is used to realize data recording of the automatic train running system.
  • the local logic unit, the counterpart logic unit, the output unit, the communication unit, the input unit, and the recording unit are all connected to the 2-way power bus, the redundant 2-way communication bus, and the interface identification bus of the interface unit ,
  • the power supply units are respectively connected to the power supply bus of the interface unit to realize the control of the automatic train running system.

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Abstract

La présente invention concerne un procédé et un système de commutation de sauvegarde à chaud à double système appliqués à un système de fonctionnement automatique d'un train. Le procédé comprend les étapes suivantes : premièrement, une unité logique de système actuel et une unité logique de système homologue effectuent une contention de système primaire/de sauvegarde ; puis, lorsqu'elle devient un système primaire au moyen de la contention, l'unité logique de système actuel ou l'unité logique de système homologue commande des sorties et des communications, et émet un signal d'état de système primaire. Une commutation de système primaire/de sauvegarde est mise en œuvre au moyen d'une commutation de sauvegarde à chaud à double système, sans ajout d'une unité de commutation inverse ou d'un dispositif ayant une fonction similaire à celle de l'unité de commutation inverse, ce qui permet d'améliorer la fiabilité du système.
PCT/CN2019/105218 2019-01-07 2019-09-10 Procédé et système de commutation de sauvegarde à chaud à double système appliqués à un système de fonctionnement automatique de train WO2020143243A1 (fr)

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CN109823375A (zh) * 2019-01-07 2019-05-31 北京全路通信信号研究设计院集团有限公司 一种应用于列车自动运行系统的双系热备切换方法及系统
CN110380911B (zh) * 2019-08-14 2022-05-31 北京交大思诺科技股份有限公司 一种冗余系统主备识别的方法
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CN111003024B (zh) * 2020-03-06 2020-07-31 北京全路通信信号研究设计院集团有限公司 一种用于热备车载设备的列车接口数据的处理方法
CN111891192B (zh) * 2020-08-17 2022-06-03 青岛海信微联信号有限公司 列车超速防护设备、控制方法和双机热备系统
CN115158402A (zh) * 2022-07-05 2022-10-11 河南思维自动化设备股份有限公司 地铁列车可编程逻辑控制系统及控制方法
CN115276922B (zh) * 2022-07-15 2023-10-31 卡斯柯信号有限公司 一种适用于全电子系统的主备状态控制方法

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