Train network data transmission method, system and device based on canopen protocol

Abstract

The invention discloses a CANopen protocol-based train network data transmission method, system and device thereof, wherein the method applied to the active master node includes: monitoring each slave node related to the active master node on the master network through the first The heartbeat message sent by the CAN channel; judge whether the first CAN channel of each slave node is faulty; A node sends a reset command; if the heartbeat message of the first node is not received within the preset first heartbeat cycle, it is informed that the first CAN channel of the first node is faulty, and switches to the standby network to monitor the first node. Heartbeat message; otherwise, the data sent by the first node is received on the standby network, and at the same time, the data sent by other slave nodes that normally send heartbeat messages are received on the active network. Thus, the good operation of the whole train is guaranteed, and the redundancy effect of the train network is improved.

Description

technical field [0001] The invention relates to the technical field of vehicle communication, in particular to a CANopen protocol-based train network data transmission method, system and device thereof. Background technique [0002] At present, the train communication network (TCN) bus technology is widely used in the train communication network. TCN covers the four buses of MVB (multi-function vehicle bus), WTB (twisted train bus), Ethernet, and CAN (field bus). . Among the design requirements for the four buses of MVB, WTB, Ethernet, and CAN, a common requirement is network redundancy design. The so-called network redundancy means that a backup network should be set up for each communication network, that is, each node on the network will use a two-wire connection mode of A line and B line. The network realizes communication, ensures smooth data interaction of various products on the network, and makes the operating environment of the train communication network highly a...

AI Technical Summary

Problems solved by technology

The current redundant network design based on CANopen requires all network nodes to send data at the same time, but by default, all nodes only obtain data from the main network. When one or some slave nodes are disconnected from the main network, switch Go to the backup network to receive the data of this part of the nodes, and the data received by the part of the nodes will be switched to the backup network to receive the data. However, if the channel where multiple nodes fail is not in the same network, this strategy will have hidden dangers. For example, if Some of the faulty nodes are in the active network and the other part is in the backup network. If the above method is used, no matter which network is switched to receive data, some nodes will not be able to receive data. Therefore, due to receiving data The incompleteness will affect the realization of some functions, and then affect the operation of the whole vehicle

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