WO2021031692A1 - Dual-redundancy control method for main processing unit of locomotive - Google Patents

Dual-redundancy control method for main processing unit of locomotive Download PDF

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WO2021031692A1
WO2021031692A1 PCT/CN2020/098014 CN2020098014W WO2021031692A1 WO 2021031692 A1 WO2021031692 A1 WO 2021031692A1 CN 2020098014 W CN2020098014 W CN 2020098014W WO 2021031692 A1 WO2021031692 A1 WO 2021031692A1
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mpu
redundant
bus
master
mvb
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PCT/CN2020/098014
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Chinese (zh)
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赵豆
梁永瑞
刘涛
王帆
王瑞山
李昕娟
马晓婷
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中车永济电机有限公司
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems

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  • the invention relates to the redundant control of a locomotive main processing unit MPU, in particular to a dual redundant control method for the locomotive main processing unit.
  • the main processing unit MPU of the locomotive as the core component of vehicle operation control and network communication bus management, is the key to the normal operation of the locomotive.
  • the main processing unit MPU of the locomotive adopts a dual redundant design to avoid MPU failure and fault conditions in a high-strength working environment.
  • the redundant MPU can activate the cut-in control locomotive to continue to work and improve the locomotive. Run timeliness.
  • the existing dual-redundant control method is to connect two MPUs with identical hardware through a multifunctional vehicle bus MVB bus cable.
  • Each MPU is configured with a specific MVB source port and sink port to send its own life signal and When receiving the other party's vital signal, the master MPU sends 0xAA, and the redundant MPU sends 0x55.
  • the redundant MPU does not receive the life signal 0xAA of the main control MPU, it is considered that the main control MPU is faulty, and the redundant MPU automatically takes over the work of the main control MPU and assumes the main control task.
  • the existing dual-redundant control method can realize the MPU redundancy function, it can only use whether it can receive the life signal 0xAA of the master MPU on the MVB bus as a condition to perform MPU redundancy switching control. Once it is subjected to electromagnetic interference or MVB When the bus is loose and the contact is bad, the MVB life signal of the master MPU will lose frame, which can easily cause the MPU redundant switching malfunction, causing frequent MPU switching and other failures, affecting driving safety.
  • the invention solves the problem that the existing dual-redundant control method for the main processing unit of a locomotive is prone to redundant switching errors, and provides a dual-redundant control method for the main processing unit of a locomotive.
  • the method can accurately detect the failure of the main control MPU and quickly realize the redundancy switching function of the MPU without affecting the normal operation of the entire vehicle, so as to solve the problem that the prior art easily causes the MPU redundancy switching malfunction.
  • the present invention is realized by adopting the following technical solutions: a dual-redundant control method for the main processing unit of a locomotive, a main control MPU and a redundant MPU with exactly the same hardware structure, which are connected to the multifunctional vehicle bus MVB for network data synchronization and work Status monitoring; LAN CAN bus is connected between master MPU and redundant MPU; master MPU periodically detects the running status of the machine, sends running status and heartbeat signals to CAN bus, master MPU sends life signals to MVB bus at the same time ; Dual redundant control includes the following situations:
  • the life signal of the master MPU on the MVB bus is abnormal, but the heartbeat signal and operating status of the master MPU on the CAN bus are normal. It is judged that the data transmission of the MVB bus is interfered.
  • the redundant MPU does not need to perform redundant switching. When this phenomenon occurs continuously When more than 3 seconds, the redundant MPU activates and switches to the master MPU;
  • the heartbeat signal of the master MPU on the CAN bus is abnormal.
  • the master MPU is judged to be in a normal state, and it is judged that the CAN bus is faulty, and the redundant MPU does not need to be redundantly switched; If the life signal of the master MPU on the MVB bus is abnormal, it is judged that the master MPU is faulty. At this time, the redundant MPU is activated and switched to the master MPU.
  • the invention adopts the MVB bus + CAN bus dual redundant control mode to realize the redundant control of the MPU, can correctly identify the failure of the main control MPU, and improve the stability and accuracy of the MPU redundant switching. It effectively solves the defect of misoperation in the prior art during MPU redundant switching control, and can be used in engineering practice.
  • Figure 1 is a schematic diagram of the circuit connection principle of the present invention.
  • the dual-redundant control method of the main processing unit of the locomotive, the main control MPU and redundant MPU with the same hardware structure are connected to the multifunctional vehicle bus MVB for network data synchronization and working status monitoring; the main control MPU and redundant MPU There is a local area network CAN bus connected between them; after the system is powered on, first the two MPUs initialize the MVB function, initialize the CAN function, and read the configuration information of the two MPUs, and determine the master MPU and redundant MPU according to the configuration information; The master MPU detects whether the CAN bus has a heartbeat signal of the master MPU after a delay of 200ms; the redundant MPU detects whether the CAN bus has a heartbeat signal of the master MPU after a delay of 30s.
  • the heartbeat signal is normal, Set yourself as a redundant MPU, otherwise, after a delay of 5ms, set yourself as a redundant MPU, and after a delay of 1s-10s, detect whether the CAN bus has a heartbeat signal of the master MPU (in this way, ensure the reliable startup of the master MPU ), if yes, set yourself as a redundant MPU, otherwise, after a delay of 200ms, check again whether there is a heartbeat signal of the master MPU on the CAN bus (to ensure the reliable startup of the master MPU again), if so, set yourself It is a redundant MPU, otherwise it will set itself as the master MPU to complete the initialization and enter the working state.
  • the master control MPU periodically detects the running status of the machine, and sends running status and heartbeat signals to the CAN bus.
  • the master control MPU sends life signals to the MVB bus at the same time; dual redundant control includes the following situations:
  • the life signal of the master MPU on the MVB bus is abnormal, but the heartbeat signal and operating status of the master MPU on the CAN bus are normal. It is judged that the data transmission of the MVB bus is interfered.
  • the redundant MPU does not need to perform redundant switching. When this phenomenon occurs continuously When more than 3 seconds, the redundant MPU activates and switches to the master MPU;
  • the heartbeat signal of the master MPU on the CAN bus is abnormal.
  • the master MPU is judged to be in a normal state, and it is judged that the CAN bus is faulty, and the redundant MPU does not need to be redundantly switched; If the life signal of the master MPU on the MVB bus is abnormal, it is judged that the master MPU is faulty. At this time, the redundant MPU is activated and switched to the master MPU.
  • the heartbeat signal adopts a heartbeat value that changes cyclically from an integer of 0 to 255; the life signal uses a life signal value that cyclically changes from an integer of 0 to 255.
  • Abnormal heartbeat signal includes no heartbeat value, unchanged heartbeat value, and non-valid value of heartbeat.
  • Abnormal life signal includes no life signal value, unchanged life signal value, and non-valid value of life signal value.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Safety Devices In Control Systems (AREA)
  • Hardware Redundancy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present invention relates to the redundancy control of a main processing unit (MPU) of a locomotive, in particular to a dual-redundancy control method of a main processing unit of a locomotive. The present invention solves the problem that the existing dual-redundancy control method of a main processing unit of a locomotive is prone to redundancy switching misoperations. The control method comprises: articulating a main control MPU and a redundancy MPU that have the same hardware structure to a multi-functional vehicle bus (MVB), with a local area network CAN bus being connected between the main control MPU and the redundancy MPU; the main control MPU periodically detecting the running status of the current locomotive, and sending the running status and heartbeat signals to the CAN bus; and the main control MPU sending life signals to the MVB at the same time, and integrating the running status and heartbeat signals on the CAN bus and the life signals on the MVB to determine whether redundancy switching is required. The present invention uses a dual redundancy control mode, the MVB + the CAN bus, to realize redundancy control of the MPU, which can correctly identify the failure of the main control MPU and improve the stability and accuracy of the MPU redundancy switching.

Description

机车主处理单元双冗余控制方法Double redundant control method for main processing unit of locomotive 技术领域Technical field
本发明涉及机车主处理单元MPU的冗余控制，具体为机车主处理单元双冗余控制方法。The invention relates to the redundant control of a locomotive main processing unit MPU, in particular to a dual redundant control method for the locomotive main processing unit.
背景技术Background technique
近年来，随着全球经济的快速发展，铁路运输需求也在急剧增长，对机车的运行安全性及运营效率提出了更为严苛的要求。机车主处理单元MPU作为整车运行控制及网络通信总线管理的核心部件，是机车正常运行的关键所在。为了能够保证机车安全、平稳及准点运行，机车主处理单元MPU采用双冗余设计，以避免高强度工作环境下MPU失效及故障工况时，冗余MPU能够激活切入控制机车继续工作，提高机车运行时效性。In recent years, with the rapid development of the global economy, the demand for railway transportation has also increased sharply, and more stringent requirements have been placed on the operational safety and operational efficiency of locomotives. The main processing unit MPU of the locomotive, as the core component of vehicle operation control and network communication bus management, is the key to the normal operation of the locomotive. In order to ensure the safe, stable and punctual operation of the locomotive, the main processing unit MPU of the locomotive adopts a dual redundant design to avoid MPU failure and fault conditions in a high-strength working environment. The redundant MPU can activate the cut-in control locomotive to continue to work and improve the locomotive. Run timeliness.
现有的双冗余控制方法是将两台硬件完全相同的MPU之间通过多功能车辆总线MVB总线线缆连接，每个MPU配置特定的MVB源端口和宿端口，用于发送自身生命信号和接收对方的生命信号，主控MPU发送0xAA，冗余MPU发送0x55。当冗余MPU没有接收到主控MPU的生命信号0xAA时，认为主控MPU故障，冗余MPU自动接替主控MPU工作承担主控任务。现有的双冗余控制方法虽可以实现MPU冗余功能，但其只通过能否接收到MVB总线上主控MPU的生命信号0xAA，作为条件进行MPU冗余切换控制，一旦受到电磁干扰或MVB总线松动造成接触不良时，出现主控MPU的MVB生命信号丢帧现象，极易引起MPU冗余切换误动作，造成MPU频繁切换引起其它故障发生，影响行车安全。The existing dual-redundant control method is to connect two MPUs with identical hardware through a multifunctional vehicle bus MVB bus cable. Each MPU is configured with a specific MVB source port and sink port to send its own life signal and When receiving the other party's vital signal, the master MPU sends 0xAA, and the redundant MPU sends 0x55. When the redundant MPU does not receive the life signal 0xAA of the main control MPU, it is considered that the main control MPU is faulty, and the redundant MPU automatically takes over the work of the main control MPU and assumes the main control task. Although the existing dual-redundant control method can realize the MPU redundancy function, it can only use whether it can receive the life signal 0xAA of the master MPU on the MVB bus as a condition to perform MPU redundancy switching control. Once it is subjected to electromagnetic interference or MVB When the bus is loose and the contact is bad, the MVB life signal of the master MPU will lose frame, which can easily cause the MPU redundant switching malfunction, causing frequent MPU switching and other failures, affecting driving safety.
发明内容Summary of the invention
本发明解决现有机车主处理单元双冗余控制方法易发生冗余切换误动作的问题，提供一种机车主处理单元双冗余控制方法。该方法能够准确检测到主控MPU故障并在不影响整车正常运行的前提下迅速实现MPU的冗余切换功能，以解决现有技术容易引起MPU冗余切换误动作的不足。The invention solves the problem that the existing dual-redundant control method for the main processing unit of a locomotive is prone to redundant switching errors, and provides a dual-redundant control method for the main processing unit of a locomotive. The method can accurately detect the failure of the main control MPU and quickly realize the redundancy switching function of the MPU without affecting the normal operation of the entire vehicle, so as to solve the problem that the prior art easily causes the MPU redundancy switching malfunction.
本发明是采用如下技术方案实现的：机车主处理单元双冗余控制方法，硬件结构完全相同的主控MPU和冗余MPU，挂接在多功能车辆总线MVB上，用于网络数据同步和工作状态监测；主控MPU和冗余MPU之间连接有局域网络CAN总线；主控MPU周期性检测本机运行状态，向CAN总线发送运行状态和心跳信号，主控MPU同时向MVB总线发送生命信号；双冗余控制包括如下情况：The present invention is realized by adopting the following technical solutions: a dual-redundant control method for the main processing unit of a locomotive, a main control MPU and a redundant MPU with exactly the same hardware structure, which are connected to the multifunctional vehicle bus MVB for network data synchronization and work Status monitoring; LAN CAN bus is connected between master MPU and redundant MPU; master MPU periodically detects the running status of the machine, sends running status and heartbeat signals to CAN bus, master MPU sends life signals to MVB bus at the same time ; Dual redundant control includes the following situations:
1)CAN总线上主控MPU心跳信号及运行状态正常，同时MVB总线上主控MPU生命信号为正常，此时冗余MPU仍处于冗余状态，同步接收主控MPU发送的MVB数据；1) The heartbeat signal and operating status of the master MPU on the CAN bus are normal, and the life signal of the master MPU on the MVB bus is normal. At this time, the redundant MPU is still in the redundant state and synchronously receives the MVB data sent by the master MPU;
2)MVB总线上主控MPU生命信号异常，但CAN总线上主控MPU心跳信号及运行 状态正常，判断MVB总线数据传输受到干扰所致，冗余MPU无需进行冗余切换，当该现象连续发生超过3秒时，冗余MPU激活，并切换为主控MPU；2) The life signal of the master MPU on the MVB bus is abnormal, but the heartbeat signal and operating status of the master MPU on the CAN bus are normal. It is judged that the data transmission of the MVB bus is interfered. The redundant MPU does not need to perform redundant switching. When this phenomenon occurs continuously When more than 3 seconds, the redundant MPU activates and switches to the master MPU;
3)CAN总线上主控MPU心跳信号正常，但CAN总线上主控MPU运行状态为故障，此时无论MVB总线上主控MPU生命信号是否正常，主控MPU都将重新启动，冗余MPU激活，并切换为主控MPU，同时向CAN总线发送心跳信号及自身运行状态，向MVB总线发送生命信号，原主控MPU启动后设置自己为冗余MPU；3) The heartbeat signal of the master MPU on the CAN bus is normal, but the running status of the master MPU on the CAN bus is faulty. At this time, no matter whether the life signal of the master MPU on the MVB bus is normal or not, the master MPU will restart and the redundant MPU will be activated. , And switch to the master MPU, and at the same time send the heartbeat signal and its own operating state to the CAN bus, and send the life signal to the MVB bus. After the original master MPU starts, it will set itself as a redundant MPU;
4)CAN总线上主控MPU心跳信号异常，此时如果MVB总线上主控MPU的生命信号正常，则判断主控MPU处于正常状态，判断为CAN总线故障，冗余MPU无需进行冗余切换；如果MVB总线上主控MPU的生命信号异常，则判断为主控MPU故障，此时冗余MPU激活，并切换成主控MPU。4) The heartbeat signal of the master MPU on the CAN bus is abnormal. At this time, if the life signal of the master MPU on the MVB bus is normal, the master MPU is judged to be in a normal state, and it is judged that the CAN bus is faulty, and the redundant MPU does not need to be redundantly switched; If the life signal of the master MPU on the MVB bus is abnormal, it is judged that the master MPU is faulty. At this time, the redundant MPU is activated and switched to the master MPU.
本发明采用MVB总线+CAN总线双重冗余的控制方式实现了MPU的冗余控制，能够正确识别主控MPU故障，提高了MPU冗余切换的稳定性和准确性。有效解决了现有技术在MPU冗余切换控制时误动作的缺陷，可用于工程实践当中。The invention adopts the MVB bus + CAN bus dual redundant control mode to realize the redundant control of the MPU, can correctly identify the failure of the main control MPU, and improve the stability and accuracy of the MPU redundant switching. It effectively solves the defect of misoperation in the prior art during MPU redundant switching control, and can be used in engineering practice.
附图说明Description of the drawings
图1为本发明的电路连接原理示意图。Figure 1 is a schematic diagram of the circuit connection principle of the present invention.
具体实施方式detailed description
机车主处理单元双冗余控制方法，硬件结构完全相同的主控MPU和冗余MPU，挂接在多功能车辆总线MVB上，用于网络数据同步和工作状态监测；主控MPU和冗余MPU之间连接有局域网络CAN总线；系统上电启动后，首先两个MPU初始化MVB功能，初始化CAN功能，并读取两个MPU的配置信息，并根据配置信息确定主控MPU和冗余MPU；主控MPU在200ms的延时后检测CAN总线是否有主控MPU的心跳信号；冗余MPU则在30s的延时后检测CAN总线是否有主控MPU的心跳信号，如果检测到心跳信号正常，则设置自己为冗余MPU，否则延时5ms后，设置自己为冗余MPU，并且延时1s－10s后检测CAN总线是否存在主控MPU的心跳信号(以此，确保主控MPU的可靠启动)，如有则设置自己为冗余MPU，否则在200ms的延时后再次检测CAN总线是否存在主控MPU的心跳信号(以此，再次确保主控MPU的可靠启动)，如有则设置自己为冗余MPU，否则设置自己为主控MPU，从而完成初始化，进入工作状态。主控MPU周期性检测本机运行状态，向CAN总线发送运行状态和心跳信号，主控MPU同时向MVB总线发送生命信号；双冗余控制包括如下情况：The dual-redundant control method of the main processing unit of the locomotive, the main control MPU and redundant MPU with the same hardware structure are connected to the multifunctional vehicle bus MVB for network data synchronization and working status monitoring; the main control MPU and redundant MPU There is a local area network CAN bus connected between them; after the system is powered on, first the two MPUs initialize the MVB function, initialize the CAN function, and read the configuration information of the two MPUs, and determine the master MPU and redundant MPU according to the configuration information; The master MPU detects whether the CAN bus has a heartbeat signal of the master MPU after a delay of 200ms; the redundant MPU detects whether the CAN bus has a heartbeat signal of the master MPU after a delay of 30s. If the heartbeat signal is normal, Set yourself as a redundant MPU, otherwise, after a delay of 5ms, set yourself as a redundant MPU, and after a delay of 1s-10s, detect whether the CAN bus has a heartbeat signal of the master MPU (in this way, ensure the reliable startup of the master MPU ), if yes, set yourself as a redundant MPU, otherwise, after a delay of 200ms, check again whether there is a heartbeat signal of the master MPU on the CAN bus (to ensure the reliable startup of the master MPU again), if so, set yourself It is a redundant MPU, otherwise it will set itself as the master MPU to complete the initialization and enter the working state. The master control MPU periodically detects the running status of the machine, and sends running status and heartbeat signals to the CAN bus. The master control MPU sends life signals to the MVB bus at the same time; dual redundant control includes the following situations:
1)CAN总线上主控MPU心跳信号及运行状态正常，同时MVB总线上主控MPU生 命信号为正常，此时冗余MPU仍处于冗余状态，同步接收主控MPU发送的MVB数据；1) The heartbeat signal and operating status of the master MPU on the CAN bus are normal, and the life signal of the master MPU on the MVB bus is normal. At this time, the redundant MPU is still in the redundant state and synchronously receives the MVB data sent by the master MPU;
2)MVB总线上主控MPU生命信号异常，但CAN总线上主控MPU心跳信号及运行状态正常，判断MVB总线数据传输受到干扰所致，冗余MPU无需进行冗余切换，当该现象连续发生超过3秒时，冗余MPU激活，并切换为主控MPU；2) The life signal of the master MPU on the MVB bus is abnormal, but the heartbeat signal and operating status of the master MPU on the CAN bus are normal. It is judged that the data transmission of the MVB bus is interfered. The redundant MPU does not need to perform redundant switching. When this phenomenon occurs continuously When more than 3 seconds, the redundant MPU activates and switches to the master MPU;
3)CAN总线上主控MPU心跳信号正常，但CAN总线上主控MPU运行状态为故障，此时无论MVB总线上主控MPU生命信号是否正常，主控MPU都将重新启动，冗余MPU激活，并切换为主控MPU，同时向CAN总线发送心跳信号及自身运行状态，向MVB总线发送生命信号，原主控MPU启动后设置自己为冗余MPU；3) The heartbeat signal of the master MPU on the CAN bus is normal, but the running status of the master MPU on the CAN bus is faulty. At this time, no matter whether the life signal of the master MPU on the MVB bus is normal or not, the master MPU will restart and the redundant MPU will be activated. , And switch to the master MPU, and at the same time send the heartbeat signal and its own operating state to the CAN bus, and send the life signal to the MVB bus. After the original master MPU starts, it will set itself as a redundant MPU;
4)CAN总线上主控MPU心跳信号异常，此时如果MVB总线上主控MPU的生命信号正常，则判断主控MPU处于正常状态，判断为CAN总线故障，冗余MPU无需进行冗余切换；如果MVB总线上主控MPU的生命信号异常，则判断为主控MPU故障，此时冗余MPU激活，并切换成主控MPU。4) The heartbeat signal of the master MPU on the CAN bus is abnormal. At this time, if the life signal of the master MPU on the MVB bus is normal, the master MPU is judged to be in a normal state, and it is judged that the CAN bus is faulty, and the redundant MPU does not need to be redundantly switched; If the life signal of the master MPU on the MVB bus is abnormal, it is judged that the master MPU is faulty. At this time, the redundant MPU is activated and switched to the master MPU.
具体实施时，心跳信号采用0～255整数循环变化的心跳值；生命信号采用0～255整数循环变化的生命信号值。心跳信号异常包括没有心跳值、心跳值不变、心跳值为非有效值等，生命信号异常包括没有生命信号值、生命信号值不变、生命信号值为非有效值等。In specific implementation, the heartbeat signal adopts a heartbeat value that changes cyclically from an integer of 0 to 255; the life signal uses a life signal value that cyclically changes from an integer of 0 to 255. Abnormal heartbeat signal includes no heartbeat value, unchanged heartbeat value, and non-valid value of heartbeat. Abnormal life signal includes no life signal value, unchanged life signal value, and non-valid value of life signal value.

Claims (9)

  1. 一种机车主处理单元双冗余控制方法，硬件结构完全相同的主控MPU和冗余MPU，挂接在多功能车辆总线MVB上；其特征在于，主控MPU和冗余MPU之间连接有局域网络CAN总线；主控MPU周期性检测本机运行状态，向CAN总线发送运行状态和心跳信号，主控MPU同时向MVB总线发送生命信号；双冗余控制包括如下情况：A dual-redundant control method for the main processing unit of a locomotive. The main control MPU and redundant MPU with the same hardware structure are connected to the multifunctional vehicle bus MVB; it is characterized in that the main control MPU and the redundant MPU are connected Local area network CAN bus; the master MPU periodically detects the running status of the machine, and sends running status and heartbeat signals to the CAN bus. The master MPU sends life signals to the MVB bus at the same time; dual redundant control includes the following situations:
    1)CAN总线上主控MPU心跳信号及运行状态正常，同时MVB总线上主控MPU生命信号为正常，此时冗余MPU仍处于冗余状态，同步接收主控MPU发送的MVB数据；1) The heartbeat signal and operating status of the master MPU on the CAN bus are normal, and the life signal of the master MPU on the MVB bus is normal. At this time, the redundant MPU is still in the redundant state and synchronously receives the MVB data sent by the master MPU;
    2)MVB总线上主控MPU生命信号异常，但CAN总线上主控MPU心跳信号及运行状态正常，判断MVB总线数据传输受到干扰所致，冗余MPU无需进行冗余切换，当该现象连续发生超过3秒时，冗余MPU激活，并切换为主控MPU；2) The life signal of the master MPU on the MVB bus is abnormal, but the heartbeat signal and operating status of the master MPU on the CAN bus are normal. It is judged that the data transmission of the MVB bus is interfered. The redundant MPU does not need to perform redundant switching. When this phenomenon occurs continuously When more than 3 seconds, the redundant MPU activates and switches to the master MPU;
    3)CAN总线上主控MPU心跳信号正常，但CAN总线上主控MPU运行状态为故障，此时无论MVB总线上主控MPU生命信号是否正常，主控MPU都将重新启动，冗余MPU激活，并切换为主控MPU；3) The heartbeat signal of the master MPU on the CAN bus is normal, but the running status of the master MPU on the CAN bus is faulty. At this time, no matter whether the life signal of the master MPU on the MVB bus is normal or not, the master MPU will restart and the redundant MPU will be activated. , And switch to the master MPU;
    4)CAN总线上主控MPU心跳信号异常，此时如果MVB总线上主控MPU的生命信号正常，则判断主控MPU处于正常状态，判断为CAN总线故障，冗余MPU无需进行冗余切换；如果MVB总线上主控MPU的生命信号异常，则判断为主控MPU故障，此时冗余MPU激活，并切换成主控MPU。4) The heartbeat signal of the master MPU on the CAN bus is abnormal. At this time, if the life signal of the master MPU on the MVB bus is normal, the master MPU is judged to be in a normal state, and it is judged that the CAN bus is faulty, and the redundant MPU does not need to be redundantly switched; If the life signal of the master MPU on the MVB bus is abnormal, it is judged that the master MPU is faulty. At this time, the redundant MPU is activated and switched to the master MPU.
  2. 根据权利要求1所述的机车主处理单元双冗余控制方法，其特征在于，在冗余MPU激活，并切换成主控MPU的同时向CAN总线发送心跳信号及自身运行状态，向MVB总线发送生命信号，原主控MPU启动后设置自己为冗余MPU。The dual-redundant control method for the main processing unit of a locomotive according to claim 1, characterized in that, when the redundant MPU is activated and switched to the master MPU, the heartbeat signal and its operating status are sent to the CAN bus and sent to the MVB bus. Life signal, after the original master MPU is started, it sets itself as a redundant MPU.
  3. 根据权利要求1或2所述的机车主处理单元双冗余控制方法，其特征在于，系统上电启动后，首先两个MPU初始化MVB功能，初始化CAN功能，并读取两个MPU的配置信息，并根据配置信息确定主控MPU和冗余MPU；主控MPU在200ms的延时后检测CAN总线是否有主控MPU的心跳信号；冗余MPU则在30s的延时后检测CAN总线是否有主控MPU的心跳信号，如果检测到心跳信号正常，则设置自己为冗余MPU，否则延时5ms后，设置自己为冗余MPU，并且延时1s－10s后检测CAN总线是否存在主控MPU的心跳信号，如有则设置自己为冗余MPU，否则在200ms的延时后再次检测CAN总线是否存在主控MPU的心跳信号，如有则设置自己为冗余MPU，否则设置自己为主控MPU，从而完成初始化，进入工作状态。The dual-redundant control method for the main processing unit of a locomotive according to claim 1 or 2, characterized in that after the system is powered on, first two MPUs initialize the MVB function, initialize the CAN function, and read the configuration information of the two MPUs , And determine the main control MPU and redundant MPU according to the configuration information; the main control MPU detects whether the CAN bus has a heartbeat signal of the main control MPU after a delay of 200ms; the redundant MPU detects whether there is a CAN bus after a delay of 30s The heartbeat signal of the master MPU, if the heartbeat signal is detected to be normal, set yourself as a redundant MPU, otherwise, after a delay of 5ms, set yourself as a redundant MPU, and detect whether there is a master MPU on the CAN bus after a delay of 1s-10s If there is a heartbeat signal, set yourself as a redundant MPU. Otherwise, after a delay of 200ms, check whether there is a heartbeat signal from the master MPU on the CAN bus. If so, set yourself as a redundant MPU, otherwise set yourself as the master The MPU thus completes the initialization and enters the working state.
  4. 根据权利要求1或2所述的机车主处理单元双冗余控制方法，其特征在于，心跳 信号采用0～255整数循环变化的心跳值。The dual-redundant control method for the main processing unit of a locomotive according to claim 1 or 2, wherein the heartbeat signal adopts a heartbeat value of 0-255 integer cyclically changing.
  5. 根据权利要求3所述的机车主处理单元双冗余控制方法，其特征在于，心跳信号采用0～255整数循环变化的心跳值。The dual-redundant control method for the main processing unit of a locomotive according to claim 3, wherein the heartbeat signal adopts a heartbeat value of 0-255 integer cyclically changing.
  6. 根据权利要求1或2所述的机车主处理单元双冗余控制方法，其特征在于，生命信号采用0～255整数循环变化的生命信号值。The dual-redundant control method for the main processing unit of a locomotive according to claim 1 or 2, wherein the life signal adopts a life signal value that changes cyclically in an integer of 0-255.
  7. 根据权利要求3所述的机车主处理单元双冗余控制方法，其特征在于，生命信号采用0～255整数循环变化的生命信号值。The dual-redundant control method for the main processing unit of a locomotive according to claim 3, wherein the vital signal adopts a vital signal value of 0-255 integer cyclically changing.
  8. 根据权利要求4所述的机车主处理单元双冗余控制方法，其特征在于，生命信号采用0～255整数循环变化的生命信号值。The dual-redundant control method for the main processing unit of a locomotive according to claim 4, wherein the vital signal adopts a vital signal value of 0-255 integer cyclically changing.
  9. 根据权利要求5所述的机车主处理单元双冗余控制方法，其特征在于，生命信号采用0～255整数循环变化的生命信号值。The dual-redundant control method for the main processing unit of a locomotive according to claim 5, wherein the vital signal adopts a vital signal value of 0-255 integer cyclically changing.
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