A suspension controller with heterogeneous redundancy of control panels

Abstract

The present invention relates to a suspension controller with heterogeneous redundancy of control panels, wherein the input ends of the first control panel and the second control panel are connected to the sensor of the maglev train, the output ends of the first control panel and the second control panel are connected to the main control panel, the main control panel generates a control current to act on the electromagnet of the maglev train, the first control panel is provided with a life signal sending interface, the second control panel is provided with a life signal receiving interface connected to the life signal sending interface, and the second control panel is also provided with a switching enable signal output interface connected to the main control panel. Compared with the prior art, the present invention uses a dual backup redundant design of the first control panel and the second control panel, the two control panels share one main control panel, and only need to switch to the other control panel when one control panel fails, thereby avoiding the problem of substantial weight increase caused by redundant design while ensuring the reliability of suspension control.

Description

Technical Field

[0001] The invention relates to the field of maglev trains, and in particular to a suspension controller with heterogeneous redundancy of a control panel applied to a medium- and low-speed maglev train or a high-speed maglev train. Background Art

[0002] As a new type of rail transportation tool, the maglev train can achieve contactless operation under the premise of effectively meeting similar passenger carrying requirements of high-speed rail, subway and other large-capacity transportation tools, thus avoiding the wheel-rail wear and noise problems faced by rail transportation in the past, thereby effectively reducing the operation and maintenance costs and increasing the upper limit of the operating speed. In addition, since the maglev trains currently under development and operation all adopt the "track holding" form, the possibility of major accidents such as derailment is effectively avoided, thereby improving safety and reliability. In the maglev train, the electromagnet is the actuator to ensure the stable suspension of the maglev train, and the suspension control system combines the output signals of the suspension sensor and the acceleration sensor to change the internal current of the electromagnet, so that the maglev train can be stably suspended at the desired suspension gap (8mm~10mm). In the past few decades of development and research, the maglev train technology has basically matured and gradually moved towards commercial production and operation.

[0003] At present, all commercially operated maglev trains are electromagnetic levitation type (EMS maglev trains). The suspension system is mainly composed of three major components: suspension control box, suspension sensor, and suspension electromagnet. The failure rate caused by the suspension control box accounts for more than 80% of the failures of the entire suspension system. The current solution is usually to use redundant control for the suspension control box, that is, two suspension controller boxes are arranged at each suspension point. Since the train is equipped with multiple suspension control systems, the redundant design of the suspension control box leads to a significant increase in the weight of the train, which reduces the passenger capacity and is also prone to cause suspension train failures. Summary of the invention

[0004] The purpose of the present invention is to provide a suspension controller with heterogeneous redundant control panels in order to overcome the defects of the above-mentioned prior art. A dual backup redundant design of a first control panel and a second control panel is used. The two control panels share a main control panel. When one control panel fails, it is only necessary to switch to the other control panel. This avoids the problem of substantial weight increase caused by redundant design while ensuring the reliability of suspension control.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A suspension controller with heterogeneous redundant control panels, connected to sensors and electromagnets of a maglev train, comprises: a first control panel, a second control panel, a main control panel and a power supply;

[0007] The first control board is provided with a first signal input interface, a first control quantity output interface and a life signal sending interface, the first signal input interface is connected to the sensor of the maglev train, the first control quantity output interface is connected to the main control board, and the life signal sending interface continuously outputs a life signal to indicate that the first control board is working normally;

[0008] The second control board is provided with a second signal input interface, a second control quantity output interface, a life signal receiving interface and a switching enable signal output interface, the second signal input interface is connected to the sensor of the maglev train, the second control quantity output interface and the switching enable signal output interface are connected to the main control board, and the life signal receiving interface is connected to the life signal sending interface. If the life signal receiving interface cannot receive the life signal, it is considered that the first control board is faulty, the second control board is put into operation, and the switching enable signal output interface outputs the switching enable signal;

[0009] The main control board includes a receiving module and a driving module, the receiving module is connected to the first control quantity output interface, the second control quantity output interface and the switching enable signal output interface, the driving module is connected to the electromagnet and the receiving module, the receiving module sends the control quantity output by the first control board or the second control board to the driving module, and the driving module outputs a control current to the electromagnet according to the control quantity;

[0010] Under normal circumstances, the receiving module receives the control quantity output by the first control quantity output interface and sends it to the driving module. After receiving the switching enable signal, the receiving module switches the connection, receives the control quantity output by the second control quantity output interface and sends it to the driving module.

[0011] The power supply is connected to the first control board, the second control board and the main control board to supply power to the first control board, the second control board and the main control board.

[0012] Furthermore, the first control board includes a first FPGA chip and a DSP chip. The first FPGA chip is provided with a first signal input interface and a first control quantity output interface. The DSP chip is connected to the first FPGA chip. The control current output by the main control board is sent to the DSP chip through a first feedback line. The DSP chip is provided with a life signal sending interface.

[0013] Furthermore, the first FPGA chip includes a signal receiving circuit, a signal transmission circuit and a signal processing circuit, and the DSP chip includes a control quantity calculation module, an Ethernet / CAN network communication module and a life signal sending module, that is, the first FPGA chip performs signal preprocessing, and the DSP chip performs calculations and Ethernet / CAN network communications.

[0014] Furthermore, the second control board includes a second FPGA chip and an ARM chip. The second FPGA chip is provided with a second signal input interface and a second control quantity output interface. The control current output by the main control board is sent to the second FPGA chip through a second feedback line. The ARM chip is connected to the second FPGA chip. The ARM chip is provided with a life signal receiving interface and a switching enable signal output interface.

[0015] Furthermore, the second FPGA chip includes a signal receiving circuit, a signal transmission circuit, a signal processing circuit and a control quantity calculation module, and the ARM chip includes an Ethernet / CAN network communication module, a life signal receiving module and a switching enable signal output module, that is, the second FPGA chip performs signal preprocessing and calculation, and the ARM chip performs Ethernet / CAN network communication.

[0016] Furthermore, the first control board and the second control board adopt different control modes, which greatly avoids the situation where two control boards fail at the same time due to a certain stimulus, and further ensures the reliability of the redundant design.

[0017] Furthermore, the receiving module is a third FPGA chip, and a two-to-one switching circuit is configured in the third FPGA chip. The data input of the two-to-one switching circuit is the control quantity output by the first control quantity output interface and the control quantity output by the second control quantity output interface. The signal input of the two-to-one switching circuit is the switching enable signal output by the switching enable signal output interface. The data output of the two-to-one switching circuit is the control quantity output by the first control quantity output interface or the control quantity output by the second control quantity output interface. The two-to-one switching circuit can adopt a conventional switching circuit. The data output under conventional circumstances is the control quantity output by the first control quantity output interface. After the signal input receives the switching enable signal, it is considered that the first control board has failed, and the data output is switched to the control quantity output by the second control quantity output interface.

[0018] Furthermore, the suspension controller also includes a track-smashing signal acquisition module, which is connected to the third FPGA chip and sends track-smashing duration period data to the third FPGA chip, and the signal input of the two-to-one switching circuit also includes the track-smashing duration period data; in addition to switching according to the switching enable signal, if the track-smashing duration period reaches a specified value, it is also considered that the first control board has failed, and the data output is switched to the control quantity output by the second control quantity output interface.

[0019] Furthermore, the driving module includes an H-type chopper circuit, a supporting capacitor, a charging and discharging circuit and an IGBT, and the receiving module sends a PWM wave to the driving module.

[0020] Furthermore, the power supply includes a DC-330V power supply and a DC-110V power supply, the DC-330V power supply is used to power the driving module, and the DC-110V power supply is used to power the first control board, the second control board and the receiving module after voltage reduction.

[0021] Furthermore, the suspension controller also includes a chassis, and the first control board, the second control board, the main control board and the power supply are all installed in the chassis.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) A dual-backup redundant design of the first control board and the second control board is used. The two control boards share a main control board. When one control board fails, it only needs to switch to the other control board. This avoids the problem of significant weight increase caused by redundant design while ensuring the reliability of suspension control.

[0024] (2) The first control board and the second control board are independent of each other and both have the functions of signal reception, processing, transmission and control quantity calculation. Failure of any control board will not affect the normal operation of the suspension controller, and the reliability is high. The two control boards are heterogeneous in design and adopt different control methods. DSP chips and FPGA chips are used for calculation quantity control respectively, which greatly avoids the situation where a certain stimulus causes the same failure of the first control board and the second control board, further improving the reliability of the suspension controller.

[0025] (3) The first control board continuously sends a life signal to the second control board to indicate its normal operation. If the second control board fails to receive the life signal, it will immediately start working and send a switching enable signal to the main control board, so that the main control board switches to receive the control quantity output by the second control board. The switching speed is fast and does not affect the suspension state.

[0026] (4) In addition to receiving the switch enable signal from the second control board for switching, the main control board also receives the rail-smashing signal. If the rail-smashing continues for a specified period, it will also switch to the second control board, further ensuring the reliability of the suspension controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the present invention;

[0028] Figure numerals: 1. sensor, 2. electromagnet, 3. first control board, 301. first FPGA chip, 302. DSP chip, 4. second control board, 401. second FPGA chip, 402. ARM chip, 5. main control board, 501. receiving module, 502. driving module. DETAILED DESCRIPTION

[0029] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0030] Embodiment 1:

[0031] A suspension controller with heterogeneous redundancy of a control panel is connected to a sensor 1 and an electromagnet 2 of a maglev train, such as Figure 1 As shown, it includes: a first control board 3, a second control board 4, a main control board 5 and a power supply, the power supply is connected to the first control board 3, the second control board 4 and the main control board 5, and supplies power to the first control board 3, the second control board 4 and the main control board 5.

[0032] In order to ensure the reliability of suspension control in the prior art, a redundant dual-backup suspension control box is designed, and two suspension control boxes are designed, but this greatly increases the overall weight of the train. After research, the inventor found that the main fault of the suspension system occurs on the control board inside the suspension control box, resulting in abnormal output current or no current output. Therefore, there is no need to design the suspension control box as a whole for redundancy, and only the control board switching under abnormal working conditions is required. The present application uses a first control board 3 and a second control board 4. The two control boards share a main control board 5. It is only necessary to switch to another control board when one control board fails. Under the premise of ensuring the reliability of suspension control, the problem of substantial weight increase caused by redundant design is avoided.

[0033] The first control board 3 is provided with a first signal input interface, a first control quantity output interface and a life signal sending interface, the first signal input interface is connected to the sensor 1 of the maglev train, the first control quantity output interface is connected to the main control board 5, and the life signal sending interface continuously outputs a life signal to indicate that the first control board 3 is working normally;

[0034] Specifically, the first control board 3 includes a first FPGA chip 301 and a DSP chip 302. The first FPGA chip 301 is provided with a first signal input interface and a first control quantity output interface. The DSP chip 302 is connected to the first FPGA chip 301. The control current output by the main control board 5 is sent to the DSP chip 302 through the first feedback line. The DSP chip 302 is provided with a life signal sending interface.

[0035] The first FPGA chip 301 includes a signal receiving circuit, a signal transmission circuit and a signal processing circuit, and the DSP chip 302 includes a control quantity calculation module, an Ethernet / CAN network communication module and a life signal sending module, that is, the first FPGA chip 301 performs signal preprocessing, and the DSP chip 302 performs calculations and Ethernet / CAN network communications.

[0036] The second control board 4 is provided with a second signal input interface, a second control quantity output interface, a life signal receiving interface and a switching enable signal output interface. The second signal input interface is connected to the sensor 1 of the maglev train, the second control quantity output interface and the switching enable signal output interface are connected to the main control board 5, and the life signal receiving interface is connected to the life signal sending interface. If the life signal receiving interface on the second control board 4 cannot receive the life signal, it is considered that the first control board 3 is faulty, and the second control board 4 is put into operation, and the switching enable signal output interface on the second control board 4 outputs the switching enable signal to the main control board 5;

[0037] Specifically, the second control board 4 includes a second FPGA chip 401 and an ARM chip 402. The second FPGA chip 401 is provided with a second signal input interface and a second control quantity output interface. The control current output by the main control board 5 is sent to the second FPGA chip 401 through a second feedback line. The ARM chip 402 is connected to the second FPGA chip 401. The ARM chip 402 is provided with a life signal receiving interface and a switching enable signal output interface, which are used to receive the life signal sent by the first control board 3, and send a switching enable signal to the main control board 5 when the life signal is not received.

[0038] The second FPGA chip 401 includes a signal receiving circuit, a signal transmission circuit, a signal processing circuit and a control quantity calculation module, and the ARM chip 402 includes an Ethernet / CAN network communication module, a life signal receiving module and a switching enable signal output module, that is, the second FPGA chip 401 performs signal preprocessing and calculation, and the ARM chip 402 performs Ethernet / CAN network communication.

[0039] The main control board 5 includes a receiving module 501 and a driving module 502. The receiving module 501 is connected to the first control quantity output interface, the second control quantity output interface and the switching enable signal output interface. The driving module 502 is connected to the electromagnet 2 and the receiving module 501. The receiving module 501 generates a PWM wave according to the control quantity output by the first control board 3 or the control quantity output by the second control board 4 and sends it to the driving module 502. The driving module 502 outputs a control current to the electromagnet 2 according to the PWM wave.

[0040] Under normal circumstances, the receiving module 501 receives the control quantity output by the first control quantity output interface and generates a PWM wave based on the control quantity and sends it to the driving module 502. After receiving the switching enable signal, the receiving module 501 switches the connection, receives the control quantity output by the second control quantity output interface, and generates a PWM wave based on the control quantity and sends it to the driving module 502.

[0041] The receiving module 501 is a third FPGA chip, and a two-to-one switching circuit is configured in the third FPGA chip. The data input of the two-to-one switching circuit is the control quantity output by the first control quantity output interface and the control quantity output by the second control quantity output interface. The signal input of the two-to-one switching circuit is the switching enable signal output by the switching enable signal output interface. The data output of the two-to-one switching circuit will be switched according to the switching enable signal. The data output of the two-to-one switching circuit is the control quantity output by the first control quantity output interface or the control quantity output by the second control quantity output interface. Then, a PWM wave is generated to the driving module 502 according to the data output of the two-to-one switching circuit.

[0042] The two-to-one switching circuit can adopt a conventional switching circuit. The data output under normal circumstances is the control quantity output by the first control quantity output interface. A PWM wave is generated in the third FPGA chip according to the control quantity and sent to the drive module 502. After the signal input of the two-to-one switching circuit receives the switching enable signal, it is considered that a fault has occurred in the first control board 3, and the data output is switched to the control quantity output by the second control quantity output interface. A PWM wave is generated in the third FPGA chip according to the control quantity and sent to the drive module 502.

[0043] The driving module 502 includes an H-type chopper circuit, a support capacitor, a charging and discharging circuit and an IGBT, and can adopt an existing driving circuit. The receiving module 501 generates a PWM wave based on the control amount and sends the PWM wave to the driving module 502 .

[0044] During actual vehicle control, the first control board 3 is put into operation by default, and the sensor 1 sends 4 gap signals and 2 acceleration signals to the first FPGA chip 301 through the first signal input interface. The first FPGA chip 301 is used for signal reception, transmission and processing, and then sends the signal to the DSP chip 302. The DSP chip 302 calculates the control quantity for current control of the electromagnet 2 according to the signal of the sensor 1, and returns the calculated control quantity to the first FPGA chip 301. The first FPGA chip 301 outputs the control quantity to the main control board 5 through the first control quantity output interface. After receiving the control quantity, the main control board 5 generates a PWM wave internally to the drive module 502, controls the on and off of the IGBT in the drive module 502 to output the control current to act on the electromagnet 2, and the control current output by the IGBT will be fed back to the DSP chip 302 in real time, so that the DSP chip 302 can adjust the control quantity in the form of closed-loop feedback.

[0045] When the first control board 3 is put into operation, the DSP chip 302 continuously sends out life signals, and the ARM chip 402 of the second control board 4 receives the life signals. At the same time, the second FPGA chip 401 receives 4 gap signals and 2 acceleration signals of the sensor 1 through the second signal input interface and stands by. If the DSP chip 302 does not output a life signal, that is, a fault occurs, the ARM chip 402 cannot receive the life signal. On the one hand, the switching enable signal output interface outputs a switching enable signal to the receiving module 501, so that the receiving module 501 switches and receives the control quantity output by the second control quantity output interface. On the other hand, the second FPGA chip 401 starts working, receives, transmits and processes the signal, calculates the control quantity, and outputs the calculated control quantity to the main control board 5 through the second control quantity output interface. After receiving the control quantity, the main control board 5 generates a PWM wave internally to the drive module 502, controls the on and off of the IGBT in the drive module 502 to output a control current acting on the electromagnet 2, and the control current output by the IGBT will be fed back to the second FPGA chip 401 in real time, so that the second FPGA chip 401 can adjust the control quantity in the form of closed-loop feedback.

[0046] The suspension controller also includes a rail-smashing signal acquisition module, which is connected to the third FPGA chip and sends rail-smashing continuous cycle data to the third FPGA chip. The signal input of the two-choice switching circuit also includes rail-smashing continuous cycle data; in addition to switching according to the switching enable signal, if the rail-smashing continuous cycle reaches a specified value, it is also considered that the first control board 3 has a fault, and the data output is switched to the control amount output by the second control amount output interface. That is, when the first control board 3 runs away (no life signal output) or the train smashes the rail for a specified period, it is switched to the second control board 4 to put into work for outputting the control amount, which further ensures the reliability of the suspension control.

[0047] In the present application, the first control board 3 includes a first FPGA chip 301 and a DSP chip 302, the first FPGA chip 301 is used for signal reception, transmission and processing, and the DSP chip 302 is used for control quantity calculation and Ethernet / CAN communication, and the second control board 4 includes a second FPGA chip 401 and an ARM chip 402, the second FPGA chip 401 is used for signal reception, transmission and processing and control quantity calculation, and the ARM chip 402 is used for Ethernet / CAN communication. If the two control boards adopt homogeneous redundancy, it is possible that the first control board 3 fails and the second control board 4 is connected to the same fault. The first control board 3 and the second control board 4 adopt different control forms, which greatly avoids the situation where the two control boards fail at the same time when a certain stimulus causes them, and further ensures the reliability of the redundant design.

[0048] The power supply includes a DC-330V power supply and a DC-110V power supply. The DC-330V power supply is used to power the driving module 502 , and the DC-110V power supply is used to power the first control board 3 , the second control board 4 and the receiving module 501 after being stepped down.

[0049] In addition, the suspension controller further comprises a chassis, in which the first control board 3, the second control board 4, the main control board 5 and the power supply are all installed.

[0050] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A suspension controller with heterogeneous redundancy of the control panel, connected to a sensor (1) and an electromagnet (2) of a maglev train, characterized in that: include: A first control board (3), a second control board (4), a main control board (5) and a power supply; The first control panel (3) is provided with a first signal input interface, a first control quantity output interface and a life signal transmission interface, the first signal input interface is connected to the sensor (1) of the maglev train, and the first control quantity output interface is connected to the main control panel (5); The second control panel (4) is provided with a second signal input interface, a second control quantity output interface, a life signal receiving interface and a switching enable signal output interface, the second signal input interface is connected to the sensor (1) of the maglev train, the second control quantity output interface and the switching enable signal output interface are connected to the main control panel (5), and the life signal receiving interface is connected to the life signal sending interface; The main control board (5) comprises a receiving module (501) and a driving module (502), wherein the receiving module (501) is connected to a first control quantity output interface, a second control quantity output interface and a switching enable signal output interface, and the driving module (502) is connected to the electromagnet (2) and the receiving module (501) and is used to output a control current to the electromagnet (2); The power supply is connected to the first control board (3), the second control board (4) and the main control board (5), and supplies power to the first control board (3), the second control board (4) and the main control board (5); The first control board (3) comprises a first FPGA chip (301) and a DSP chip (302); the first FPGA chip (301) is provided with a first signal input interface and a first control quantity output interface; the DSP chip (302) is connected to the first FPGA chip (301); the control current output by the main control board (5) is sent to the DSP chip (302) via a first feedback line; and the DSP chip (302) is provided with a life signal sending interface; The second control board (4) comprises a second FPGA chip (401) and an ARM chip (402); the second FPGA chip (401) is provided with a second signal input interface and a second control quantity output interface; the control current output by the main control board (5) is sent to the second FPGA chip (401) via a second feedback line; the ARM chip (402) is connected to the second FPGA chip (401); and the ARM chip (402) is provided with a life signal receiving interface and a switching enable signal output interface; The receiving module (501) is a third FPGA chip, and a two-to-one switching circuit is configured in the third FPGA chip, the data input of the two-to-one switching circuit is the control quantity output by the first control quantity output interface and the control quantity output by the second control quantity output interface, the signal input of the two-to-one switching circuit is the switching enable signal output by the switching enable signal output interface, and the data output of the two-to-one switching circuit is the control quantity output by the first control quantity output interface or the control quantity output by the second control quantity output interface; The suspension controller also includes a rail-smashing signal acquisition module, which is connected to the third FPGA chip and sends rail-smashing duration cycle data to the third FPGA chip. The signal input of the two-choice switching circuit also includes the rail-smashing duration cycle data.

2. A suspension controller with heterogeneous redundancy of control panels according to claim 1, characterized in that: The first FPGA chip (301) includes a signal receiving circuit, a signal transmission circuit and a signal processing circuit, and the DSP chip (302) includes a control quantity calculation module, an Ethernet / CAN network communication module and a life signal sending module.

3. A suspension controller with heterogeneous redundancy of control panels according to claim 1, characterized in that: The second FPGA chip (401) includes a signal receiving circuit, a signal transmission circuit, a signal processing circuit and a control quantity calculation module, and the ARM chip (402) includes an Ethernet / CAN network communication module, a life signal receiving module and a switching enable signal output module.

4. A suspension controller with heterogeneous redundancy of control panels according to claim 1, characterized in that: The driving module (502) comprises an H-type chopper circuit, a support capacitor, a charging and discharging circuit and an IGBT, and the receiving module (501) sends a PWM wave to the driving module (502).

5. The suspension controller with heterogeneous redundancy of control panels according to claim 1, characterized in that: The power supply comprises a DC-330V power supply and a DC-110V power supply, wherein the DC-330V power supply is used to supply power to the driving module (502), and the DC-110V power supply is used to supply power to the first control board (3), the second control board (4) and the receiving module (501).

6. The suspension controller with heterogeneous redundancy of control panels according to claim 1, characterized in that: The suspension controller also includes a chassis, in which the first control board (3), the second control board (4), the main control board (5) and the power supply are all installed.

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