WO2020199658A1

WO2020199658A1 - Intelligent controller for permanent magnet maglev turnout

Info

Publication number: WO2020199658A1
Application number: PCT/CN2019/126263
Authority: WO
Inventors: 樊宽刚; 杨杰; 邓永芳; 唐宏
Original assignee: 赣州德业电子科技有限公司; 江西理工大学
Priority date: 2019-04-04
Filing date: 2019-12-18
Publication date: 2020-10-08
Also published as: CN109932975B; CN109932975A

Abstract

An intelligent controller for a permanent magnet maglev turnout, comprising a main controller and several sub-controllers. The main controller and the sub-controllers communicate by means of UWB communication units; the main controller and the sub-controllers each comprises a logic processing unit, a strong current unit, a power supply unit, and a UWB communication unit; the strong current unit, the power supply unit, and the UWB communication unit are all connected to the logic processing unit. The intelligent control of a maglev turnout is implemented by means of the combination of a main controller and sub-controllers, and the present invention has the characteristics of high integration and small size.

Description

Intelligent controller for permanent magnet maglev switch

Technical field

The invention relates to track control technology, in particular to an intelligent controller of a permanent magnet maglev switch.

Background technique

At present, the switch control of maglev trains still mainly adopts centralized control, which can also be controlled on site and manually under authorization. However, the executive layer of the maglev train switch control system is still composed of relay equipment and PLC controllers. The PLC controller is responsible for fault detection and the driving part is completed by the relay equipment. This inevitably leads to high equipment failure rates and difficult maintenance. At the same time, the relay equipment occupies a large space, and there are many maglev train track equipment, lack of unified control of the equipment, and easy electromagnetic interference.

The existing technical solutions for intelligent turnout systems are usually for wheel-rail trains. However, the turnouts of maglev trains are different from wheel-rail trains in that the turnouts of maglev trains are driven by electromechanical steel beams to switch as a whole, and sometimes Multiple turnouts are required to switch at the same time to form the route of the maglev train. Therefore, the implementation efficiency, safety and anti-electromagnetic interference of the turnout control system are higher.

Therefore, in view of the shortcomings of the existing solutions, it is necessary to study them to provide a feasible solution to solve the above problems.

Summary of the invention

In view of the shortcomings of the prior art, the present invention aims to provide an intelligent controller for permanent magnet maglev switch, which adopts the combination of main controller and sub-controller to realize the intelligent control of maglev switch, and has high integration and small size. specialty.

In order to achieve the above objectives, the present invention adopts the following technical solutions:

An intelligent controller for a permanent magnet maglev switch, which includes a main controller and several sub-controllers; both the main controller and the sub-controllers include a logic processing unit, a strong current unit, a power supply unit and a UWB communication unit. , The power supply unit and the UWB communication unit are both connected to the logic processing unit; the main controller and the sub-controller communicate through their own UWB communication unit;

The logic processing unit of the main controller adopts an FPGA+DSP structure, which specifically includes FPGA1 module, FPGA2 module, FPGA3 module, DSP1 module, and DSP2 module. Among them, FPGA1 module, FPGA2 module and FPGA3 module separately receive computer connection through three control buses. The upper-level control instructions of the lock system, and the FPGA1 module, FPGA2 module, and FPGA3 module communicate between each other for real-time comparison of whether the upper-level control instructions received by each are consistent. Once the upper-level control instruction comparison is inconsistent, then The FPGA1, FPGA2, and FPGA3 modules make a three-out-of-two decision and issue a warning to the computer interlocking system; FPGA2 and FPGA3 modules separately analyze and compare the upper-level control instructions that are consistent or three out of two, and pass the main controller The UWB communication unit forwards the upper-level control command to the corresponding sub-controller;

The FPGA1 module communicates with the DSP1 module and the DSP2 module. The DSP1 module and the DSP2 module are respectively connected to the high-current unit of the main controller through optocouplers, and are used to package and package the current fluctuation data collected by the high-current unit of the main controller Sent to the FPGA1 module; the FPGA2 module and FPGA3 module are respectively connected to the strong current unit of the main controller through optocouplers, and the switch position information collected by the strong current unit of the main controller is transmitted to the FPGA2 module and the FPGA3 module, and the FPGA2 module And FPGA3 module is transmitted to FPGA1 module; FPGA1 module also receives the current fluctuation data and switch position information collected by the strong current unit of the sub-controller through the UWB communication unit of the main controller in real time; FPGA1 module controls all the received current fluctuation data Perform analysis and detection, compare the current fluctuation data of the working motor group in real time, and report the analysis and detection results and the received switch position information to the computer interlocking system through the control bus; FPGA1 module transmits the sub-controller The position information of the turnout is shared with FPGA2 and FPGA3 modules;

The strong current unit of the main controller is used to collect the current fluctuation data and the position information of the switch of the switch controlled by the main controller, and drive the switch controlled by the main controller to execute the corresponding action;

The logic processing unit of the sub-controller also adopts an FPGA+DSP structure, which specifically includes an FPGA module, a DSP module, and a DSP module; the DSP module and the DSP module are respectively connected to the FPGA module in communication, and respectively It is connected to the strong current unit of the sub-controller through the optocoupler, and is used to send the motor group current fluctuation data collected by the strong current unit of the sub-controller to the FPGA module; the FPGA module is connected to the strong current unit of the sub-controller through the optocoupler , Used to receive the switch position information collected by the strong current unit of the sub-controller; the FPGA module independently analyzes after receiving the upper-level control instruction of the computer interlocking system forwarded by the autonomous controller, and compares the analysis result with the main control The upper-level control instructions of the device are compared to form a two-out-two redundant structure;

The strong current unit of the sub-controller is used to collect the current fluctuation data and the position information of the switch of the switch controlled by the sub-controller, and drive the sub-controller to execute the corresponding switch according to the control instruction of the sub-controller. The FPGA module of the sub-controller sends the switch position information collected by the strong current unit and the current fluctuation data of each motor in the motor group in real time to the FPGA1 module of the main controller through the UWB communication unit of the sub-controller.

Further, the FPGA1 module, FPGA2 module, and FPGA3 module use SPI high-speed interface for communication between each other.

Further, the FPGA1 module communicates with the DSP1 module and the DSP2 module using SPI interfaces respectively.

Further, the power supply units of the main controller and the sub-controller both adopt a redundant safe power supply mode, including power supply A and power supply B. Power supply A is the default power supply. When power supply A fails, the power switching circuit will automatically drop Power B is upgraded to power supply.

Further, the high-current units of the main controller and the sub-controller both include a pulse drive circuit, a display acquisition circuit, a current acquisition circuit, and a signal conditioning circuit; the display acquisition circuit is used for collecting switch position information, and the current acquisition circuit is used for Collect current fluctuation data of each motor in the motor group of the turnout, the pulse drive circuit is used to drive the turnout to turn or reverse; the current acquisition circuit is connected to the signal conditioning circuit, and the pulse drive circuit is connected to the safety AND gate;

In the main controller, the DSP1 module and the DSP2 module of the logic processing unit are respectively connected to the signal conditioning circuit through optocouplers. The security AND gate is connected to the FPGA2 module and FPGA3 module through optocouplers, and the display acquisition circuit is connected to the FPGA2 module and FPGA3 module through optocouplers. Connect with FPGA2 module and FPGA3 module;

In the sub-controller, the first DSP module and the second DSP module of the logic processing unit are respectively connected to the signal conditioning circuit through optocouplers, and the security AND gate and the representation acquisition circuit are respectively connected to the FPGA module through optocouplers.

Furthermore, the pulse drive circuits of the main controller and the sub-controller both include a pulse processing circuit, a dynamic/static conversion circuit, a drive circuit and a high-power electronic switch;

The pulse processing circuit is used to process the pulse control instructions issued by the logic processing unit;

The dynamic and static conversion circuits are respectively connected to the pulse processing circuit and the driving circuit, and are used to convert dynamic pulses processed by the pulse processing circuit into dynamic and static conversions, and transmit them to the driving circuit;

The high-power electronic switch includes a switch DZ, a switch DK, a switch FK, a switch KH, and a switch DF. The switch DF and the switch KH are connected in series, and the switch DK and the switch FK are respectively connected in parallel with the switch KH and the switch DZ; The switch KH and the switch DF are arranged on the control loop X3 of the switch, and the switch DK and the switch FK are respectively arranged on the positioning control line X1 and the reverse control line X2 of the switch;

The driving circuit includes driving circuit 1, driving circuit 2, driving circuit 3, driving circuit 4 and driving circuit 5, which are respectively the driving circuits of switch DZ, switch DK, switch FK, switch KH, and switch DF; when driving circuit 1, Two, four, and five control switches DZ, switch DK, switch KH, and switch DF at the same time, and the turnout is turned to position. When the drive circuit one, three, four, and five control switch DZ, switch FK, switch KH, and switch DF are opened at the same time, The turnout turned in the opposite position.

Still further, the pulse driving circuits of the main controller and the sub-controller both include a driving monitoring circuit, the driving monitoring circuit is connected to the driving circuit, and the logic processing unit sends a fixed sequence of pulses to the driving monitoring circuit and returning to the driving monitoring circuit. The corresponding level can be used to analyze and judge the quality of the dynamic and static conversion circuit to achieve closed-loop monitoring.

The beneficial effects of the present invention are: the present invention adopts the combination of the main controller and the sub-controller to realize the intelligent control of the maglev switch, and has the characteristics of high integration and small size.

Description of the drawings

Figure 1 is a schematic diagram of the overall structure of the present invention;

2 is a schematic diagram of the structure of a main controller according to an embodiment of the present invention;

Figure 3 is a schematic diagram of the structure of the controller of the embodiment of the present invention;

4 is a schematic diagram of a pulse driving circuit according to an embodiment of the present invention;

FIG. 5 is a schematic diagram showing the acquisition circuit of the main controller of the embodiment of the invention;

FIG. 6 is a schematic diagram showing the acquisition circuit of the sub-controller of the embodiment of the invention;

Fig. 7 is a schematic diagram of a driving circuit according to an embodiment of the present invention.

detailed description

The present invention will be further described below with reference to the accompanying drawings. It should be noted that this embodiment is based on the technical solution, and provides detailed implementation and specific operating procedures, but the scope of protection of the present invention is not limited to this Examples.

Referring to Figures 1 to 7, this embodiment provides an intelligent controller for a permanent magnet maglev switch, which includes a main controller and several sub-controllers (the number of sub-controllers is not limited and can be configured according to actual needs); The main controller and the sub-controller both include a logic processing unit, a strong current unit, a power supply unit, and a UWB communication unit. The strong current unit, power supply unit, and UWB communication unit are all connected to the logic processing unit; the main controller and the sub-controller The controllers communicate through their own UWB communication unit;

The FPGA1 module communicates with the DSP1 module and the DSP2 module. The DSP1 module and the DSP2 module are respectively connected to the high-current unit of the main controller through optocouplers, and are used to package and package the current fluctuation data collected by the high-current unit of the main controller Sent to the FPGA1 module; the FPGA2 module and FPGA3 module are respectively connected to the strong current unit of the main controller through optocouplers, and the switch position information collected by the strong current unit of the main controller is transmitted to the FPGA2 module and the FPGA3 module, and the FPGA2 module And FPGA3 module is transmitted to FPGA1 module; FPGA1 module also receives the current fluctuation data and switch position information collected by the strong current unit of the sub-controller through the UWB communication unit of the main controller in real time; FPGA1 module controls all the received current fluctuation data Carry out analysis and detection, compare the current fluctuation data of the working motor group in real time whether the current fluctuation data is consistent (if the comparison is found to be inconsistent, it means that there is an abnormal current fluctuation of the individual motor), and combine the analysis and detection results with the received switch position information through the control bus Report to the computer interlocking system; FPGA1 module shares the switch position information transmitted from the sub-controller with FPGA2 and FPGA3 modules;

Furthermore, the pulse driving circuits of the main controller and the sub-controller both include a pulse processing circuit, a dynamic-static conversion circuit, a driving circuit, a driving monitoring circuit and a high-power electronic switch;

The pulse processing circuit is used to process pulse control instructions issued by the logic processing unit through the control bus;

The dynamic and static conversion circuit adopts a monostable circuit, which is respectively connected to the pulse processing circuit and the drive circuit, and is used to perform dynamic and static conversion of the dynamic pulse processed by the pulse processing circuit and transmit it to the drive circuit;

The high-power electronic switch adopts IGBT, and its model can be SKM100GB124D, including switch DZ, switch DK, switch FK, switch KH, switch DF. The switch DF and switch KH are connected in series, and the switch DK and switch FK are connected to the switch respectively. KH and switch DZ are connected in parallel; the switch KH and switch DF are arranged on the control loop X3 of the switch, and the switch DK and switch FK are respectively arranged on the positioning control line X1 and the reverse control line X2 of the switch on;

The driving circuit includes driving circuit 1, driving circuit 2, driving circuit 3, driving circuit 4 and driving circuit 5, which are respectively the driving circuits of switch DZ, switch DK, switch FK, switch KH, and switch DF; when driving circuit 1, Two, four, and five control switches DZ, switch DK, switch KH, and switch DF at the same time, and the turnout is turned to position. When the drive circuit one, three, four, and five control switch DZ, switch FK, switch KH, and switch DF are opened at the same time, The turnout turns to the reverse position;

The driving monitoring circuit is a photoelectric converter circuit, which is connected to the driving circuit. The logic processing unit sends a fixed sequence of pulses to the driving monitoring circuit through the IO port, and returns the corresponding level of the driving monitoring circuit to analyze and judge the quality of the dynamic/static conversion circuit , Realize closed-loop monitoring.

Furthermore, the display acquisition circuit includes a positioning display circuit and a reverse position display circuit. Both the positioning display circuit and the reverse position display circuit include a current limiting resistor R1, a first acquisition current threshold control resistor R2, a second acquisition current threshold control resistor R3, The optocoupler U1, the optocoupler U2, the optocoupler U3, and the optocoupler U4, the current limiting resistor R1, the first collection current threshold control resistor R2, and the second collection current threshold control resistor R3 are connected in series in sequence, the optocoupler U1 and the optocoupler U2 The input terminals of each are connected in parallel with the first acquisition threshold control resistor R2, and the input terminals of the optocoupler U3 and the optocoupler U4 are respectively connected in parallel with the second acquisition current threshold control resistor R3;

In the main controller, the output ends of the optocoupler U1 and the optocoupler U2 are respectively connected to the FPGA2 module of the main controller, and the output ends of the optocoupler U3 and the optocoupler U4 are respectively connected to the FPGA3 module of the main controller;

In the sub-controller, the output terminals of the optocoupler U1, the optocoupler U2, the optocoupler U3, and the optocoupler U4 are all connected to the FPGA module of the sub-controller;

The positioning indicates that the input of the current limiting resistor R1 of the circuit is the negative half-wave signal output by the rectifier diode inside the switch; the reverse bit indicates that the input of the current limiting resistor R1 of the circuit is the positive half of the output of the rectifier diode inside the switch Wave signal.

For those skilled in the art, various corresponding changes and modifications can be given based on the above technical solutions and ideas, and all these changes and modifications should be included in the protection scope of the claims of the present invention.

Claims

An intelligent controller for a permanent magnet maglev switch, which is characterized in that it includes a main controller and several sub-controllers; both the main controller and the sub-controllers include a logic processing unit, a strong current unit, a power supply unit and a UWB communication unit. The strong current unit, the power supply unit and the UWB communication unit are all connected to the logic processing unit; the main controller and the sub-controller communicate through their own UWB communication unit;

The logic processing unit of the main controller adopts an FPGA+DSP structure, which specifically includes FPGA1 module, FPGA2 module, FPGA3 module, DSP1 module, and DSP2 module. Among them, FPGA1 module, FPGA2 module and FPGA3 module separately receive computer connection through three control buses. The upper-level control instructions of the lock system, and the FPGA1 module, FPGA2 module, and FPGA3 module communicate between each other for real-time comparison of whether the upper-level control instructions received by each are consistent. Once the upper-level control instruction comparison is inconsistent, then The FPGA1, FPGA2, and FPGA3 modules make a three-out-of-two decision and issue a warning to the computer interlocking system; FPGA2 and FPGA3 modules separately analyze and compare the upper-level control instructions that are consistent or three out of two, and pass the main controller The UWB communication unit forwards the upper-level control command to the corresponding sub-controller;

The FPGA1 module communicates with the DSP1 module and the DSP2 module. The DSP1 module and the DSP2 module are respectively connected to the high-current unit of the main controller through optocouplers, and are used to package and package the current fluctuation data collected by the high-current unit of the main controller Sent to the FPGA1 module; the FPGA2 module and FPGA3 module are respectively connected to the strong current unit of the main controller through optocouplers, and the switch position information collected by the strong current unit of the main controller is transmitted to the FPGA2 module and the FPGA3 module, and the FPGA2 module And FPGA3 module is transmitted to FPGA1 module; FPGA1 module also receives the current fluctuation data and switch position information collected by the strong current unit of the sub-controller through the UWB communication unit of the main controller in real time; FPGA1 module controls all the received current fluctuation data Perform analysis and detection, compare the current fluctuation data of the working motor group in real time, and report the analysis and detection results and the received switch position information to the computer interlocking system through the control bus; FPGA1 module transmits the sub-controller The position information of the turnout is shared with FPGA2 and FPGA3 modules;

The strong current unit of the main controller is used to collect the current fluctuation data and the position information of the switch of the switch controlled by the main controller, and drive the switch controlled by the main controller to execute the corresponding action;

The logic processing unit of the sub-controller also adopts an FPGA+DSP structure, which specifically includes an FPGA module, a DSP module, and a DSP module; the DSP module and the DSP module are respectively connected to the FPGA module in communication, and respectively It is connected to the strong current unit of the sub-controller through the optocoupler, and is used to send the motor group current fluctuation data collected by the strong current unit of the sub-controller to the FPGA module; the FPGA module is connected to the strong current unit of the sub-controller through the optocoupler , Used to receive the switch position information collected by the strong current unit of the sub-controller; the FPGA module independently analyzes after receiving the upper-level control instruction of the computer interlocking system forwarded by the autonomous controller, and compares the analysis result with the main control The upper-level control instructions of the device are compared to form a two-out-two redundant structure;

The strong current unit of the sub-controller is used to collect the current fluctuation data and the position information of the switch of the switch controlled by the sub-controller, and drive the sub-controller to execute the corresponding switch according to the control instruction of the sub-controller. The FPGA module of the sub-controller sends the switch position information collected by the strong current unit and the current fluctuation data of each motor in the motor group in real time to the FPGA1 module of the main controller through the UWB communication unit of the sub-controller.
The intelligent controller of a permanent magnet maglev switch according to claim 1, wherein the FPGA1 module, FPGA2 module, and FPGA3 module use SPI high-speed interface for communication between each other.
The intelligent controller of a permanent magnet maglev switch according to claim 1, wherein the FPGA1 module communicates with the DSP1 module and the DSP2 module using SPI interfaces respectively.
The intelligent controller for a permanent magnet maglev switch according to claim 1, wherein the power supply units of the main controller and the sub-controller both adopt a redundant safe power supply mode, including power supply A and power supply B, and power supply A is used as The default power supply, when the power supply A fails, the power switching circuit automatically drops to upgrade the power supply B to the power supply.
The intelligent controller for a permanent magnet maglev switch according to claim 1, wherein the strong current units of the main controller and the sub-controller both include a pulse drive circuit, a display acquisition circuit, a current acquisition circuit and a signal conditioning circuit; The display collection circuit is used to collect the position information of the turnout, the current collection circuit is used to collect the current fluctuation data of each motor in the motor group of the turnout, and the pulse drive circuit is used to drive the turnout to turn to position or turn to reverse; current collection circuit Connected to the signal conditioning circuit, the pulse drive circuit is connected to the safety AND gate;

In the main controller, the DSP1 module and the DSP2 module of the logic processing unit are respectively connected to the signal conditioning circuit through optocouplers. The security AND gate is connected to the FPGA2 module and FPGA3 module through optocouplers, and the display acquisition circuit is connected to the FPGA2 module and FPGA3 module through optocouplers. Connect with FPGA2 module and FPGA3 module;

In the sub-controller, the first DSP module and the second DSP module of the logic processing unit are respectively connected to the signal conditioning circuit through optocouplers, and the security AND gate and the representation acquisition circuit are respectively connected to the FPGA module through optocouplers.
The intelligent controller for a permanent magnet maglev switch according to claim 5, wherein the pulse drive circuits of the main controller and the sub-controller both include a pulse processing circuit, a dynamic and static conversion circuit, a drive circuit and a high-power electronic switch;

The pulse processing circuit is used to process the pulse control instructions issued by the logic processing unit;

The dynamic and static conversion circuits are respectively connected to the pulse processing circuit and the driving circuit, and are used to convert dynamic pulses processed by the pulse processing circuit into dynamic and static conversions, and transmit them to the driving circuit;

The high-power electronic switch includes a switch DZ, a switch DK, a switch FK, a switch KH, and a switch DF. The switch DF and the switch KH are connected in series, and the switch DK and the switch FK are respectively connected in parallel with the switch KH and the switch DZ; The switch KH and the switch DF are arranged on the control loop X3 of the switch, and the switch DK and the switch FK are respectively arranged on the positioning control line X1 and the reverse control line X2 of the switch;

The driving circuit includes driving circuit 1, driving circuit 2, driving circuit 3, driving circuit 4 and driving circuit 5, which are respectively the driving circuits of switch DZ, switch DK, switch FK, switch KH, and switch DF; when driving circuit 1, Two, four, and five control switches DZ, switch DK, switch KH, and switch DF at the same time, and the turnout is turned to position. When the drive circuit one, three, four, and five control switch DZ, switch FK, switch KH, and switch DF are opened at the same time, The turnout turned in the opposite position.
The intelligent controller for a permanent magnet maglev switch according to claim 6, wherein the pulse drive circuits of the main controller and the sub-controller both include a drive monitoring circuit, the drive monitoring circuit is connected to the drive circuit, and the logic processing The unit sends a fixed sequence of pulses to the drive monitoring circuit, and retrieves the corresponding level of the drive monitoring circuit to analyze and judge the quality of the dynamic/static conversion circuit, and realize closed-loop monitoring.