WO2021031692A1 - Procédé de commande de double redondance pour unité de traitement principale de locomotive - Google Patents

Procédé de commande de double redondance pour unité de traitement principale de locomotive Download PDF

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Publication number
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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WO
WIPO (PCT)
Prior art keywords
mpu
redundant
bus
master
mvb
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PCT/CN2020/098014
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English (en)
Chinese (zh)
Inventor
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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Publication of WO2021031692A1 publication Critical patent/WO2021031692A1/fr

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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

Definitions

  • 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)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Hardware Redundancy (AREA)

Abstract

La présente invention concerne la commande de redondance d'une unité de traitement principale (MPU) d'une locomotive, en particulier un procédé de commande de double redondance d'une unité de traitement principale d'une locomotive. La présente invention résout le problème selon lequel le procédé de commande de double redondance existant d'une unité de traitement principale d'une locomotive est sujet à des mauvais fonctionnements de commutation de redondance. Le procédé de commande comprend : l'articulation d'une MPU de commande principale et d'une MPU de redondance qui présentent la même structure matérielle qu'un bus de véhicule multifonctionnel (MVB), un bus CAN de réseau local étant connecté entre la MPU de commande principale et la MPU de redondance ; la MPU de commande principale détectant périodiquement l'état de fonctionnement de la locomotive actuelle et envoyant les signaux de fonctionnement et les signaux de battement de cœur au bus CAN ; et la MPU de commande principale envoyant des signaux de vie au MVB en même temps, et intégrant les signaux de fonctionnement et les signaux de battement de cœur sur le bus CAN et les signaux de vie sur le MVB pour déterminer si oui ou non une commutation de redondance est requise. La présente invention utilise un mode de commande de double redondance, le MVB + le bus CAN pour réaliser une commande de redondance de la MPU, qui peut identifier correctement la défaillance de la MPU de commande principale et améliorer la stabilité et la précision de la commutation de redondance de MPU.
PCT/CN2020/098014 2019-08-18 2020-06-24 Procédé de commande de double redondance pour unité de traitement principale de locomotive WO2021031692A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910761422.3A CN110488597B (zh) 2019-08-18 2019-08-18 机车主处理单元双冗余控制方法
CN201910761422.3 2019-08-18

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CN110488597B (zh) * 2019-08-18 2021-06-22 中车永济电机有限公司 机车主处理单元双冗余控制方法
CN111845867B (zh) * 2020-07-16 2022-02-25 中车青岛四方车辆研究所有限公司 列车网络控制系统中央控制单元的数据安全冗余方法
CN112134773B (zh) * 2020-09-17 2022-04-19 通号城市轨道交通技术有限公司 Mvb总线冗余通信方法及装置
CN114326368B (zh) * 2021-12-16 2024-04-12 三一汽车制造有限公司 一种泵车控制方法、系统及泵车
CN114844807B (zh) * 2022-03-29 2023-06-27 阿波罗智能技术(北京)有限公司 系统检测方法、装置、设备、存储介质、车辆和云控平台

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