Fault tolerant control method, system and storage medium and transmission, drive control unit

Abstract

The application provides a fault-tolerant control method, system and storage medium, and a transmission and drive control unit. When a first transmission control unit fails, the fault-tolerant control method can be applied to a second transmission control unit to perform fault-tolerant control on a first drive control unit originally controlled by the first transmission control unit, comprising the steps of: receiving and storing detection data of the first drive control unit by the first transmission control unit in real time; determining parameter values of the first drive control unit when it is determined that the first transmission control unit fails; comparing the parameter values of the first drive control unit with corresponding parameter values of the second drive control unit, and sending the adjusted control command to the first drive control unit when the comparison result does not meet a preset condition, so as to realize fault-tolerant control of the second transmission control unit on the first drive control unit. A cross-redundancy system architecture is formed through real-time communication to realize single-converter system fault-tolerant control.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of real-time control of track converters, and in particular to a fault-tolerant control method, system, storage medium and drive control unit. BACKGROUND

[0002] In recent years, with the vigorous development of national trunk railways, higher reliability and availability requirements are put forward for trunk high-power locomotives. The existing high-power locomotive converter adopts a "1-to-1" system architecture mode of one TCU (Traction Control Unit) controlling one motor, and when the TCU fails, only one bogie power can be cut off, so that the locomotive runs at a reduced power.

[0003] Currently, the main circuit topology of high-power locomotive converters mostly adopts multiple four-quadrant rectifiers + multiple VVVF inverters, each converter is configured with one or two TCUs, each TCU controls a system architecture, and through the main circuit redundancy topology, the locomotive power redundancy is realized, and the availability of the whole vehicle is improved. For example, the single-vehicle converter of an eight-axle locomotive adopts a two-set independent two four-quadrant rectifier + two VVVF inverter topology, and is configured with two TCUs to control two motors respectively, while a six-axle locomotive is configured with two traction converters (I and II), each traction converter adopts a three four-quadrant rectifier + three VVVF inverter topology, and is configured with two TCUs to control three traction motors of each bogie respectively. When the converter fails, one axle or one bogie power usually needs to be cut off, although the locomotive can run at a reduced power, but it still has a great impact on the normal operation of the train. SUMMARY

[0004] The main purpose of the present application is to provide a fault-tolerant control method, system, storage medium and drive control unit to realize fault-tolerant control of a single-vehicle converter system.

[0005] In a first aspect, the present application provides a fault-tolerant control method applied to a second drive control unit for fault-tolerant control of a first drive control unit originally controlled by a first drive control unit when the first drive control unit fails, comprising the following steps: receiving and storing detection data of the first drive control unit on the first drive control unit in real time; determining parameter values of the first drive control unit according to the detection data of the first drive control unit on the first drive control unit when it is determined that the first drive control unit fails; comparing the parameter values of the first drive control unit with corresponding parameter values of a second drive control unit currently controlled by the second drive control unit, and adjusting control commands identical to control commands sent by the second drive control unit to the second drive control unit and sending the adjusted control commands to the first drive control unit when a comparison result does not satisfy a preset condition, so that a deviation between the detection data of the first drive control unit by the second drive control unit and detection data of the second drive control unit by the second drive control unit is less than a first preset deviation threshold, and fault-tolerant control of the first drive control unit by the second drive control unit is realized.

[0006] In an embodiment, the preset condition comprises that a deviation of the parameter values of the first drive control unit relative to the corresponding parameter values of the second drive control unit is less than or equal to a second preset deviation threshold.

[0007] In an embodiment, when the comparison result satisfies the preset condition, the control commands identical to the control commands sent by the second drive control unit to the second drive control unit are sent to the first drive control unit, and fault-tolerant control of the first drive control unit by the second drive control unit is realized.

[0008] In an embodiment, the method further comprises the step of receiving and storing life state data of the first drive control unit in real time, wherein the life state data comprises cumulative data of a running cycle number of the first drive control unit; comparing two life state data separated by a specified number of cycles, and determining whether the first drive control unit fails according to a comparison result.

[0009] In an embodiment, determining whether the first drive control unit fails according to the comparison result comprises: when the two life state data separated by the specified number of cycles are the same, and the same life state data appears continuously more than or equal to a preset number threshold, it is determined that the first drive control unit fails.

[0010] In a second aspect, the present application provides a fault-tolerant control method, which is applied to a drive control unit originally controlled by a first drive control unit when the first drive control unit fails, and comprises the following steps: when it is determined that the first drive control unit fails, stopping receiving control instructions of the first drive control unit and simultaneously starting to receive control instructions of a second drive control unit.

[0011] In one embodiment, the method further comprises the steps of: receiving and storing life state data of the first drive control unit in real time, wherein the life state data comprises cumulative data of the number of operation cycles of the first drive control unit; comparing two life state data every specified number of cycles, and determining whether the first drive control unit fails according to a comparison result.

[0012] In one embodiment, determining whether the first drive control unit fails according to the comparison result comprises: when the two life state data every specified number of cycles are the same, and the same life state data appears continuously more than or equal to a preset number threshold, it is determined that the first drive control unit fails.

[0013] In a third aspect, the present application provides a drive control unit, which comprises a controller and a memory, and the memory stores program codes, which are executed by the controller to implement the steps of the fault-tolerant control method according to the first aspect.

[0014] In a fourth aspect, the present application provides a drive control unit, which comprises a controller and a memory, and the memory stores program codes, which are executed by the controller to implement the steps of the fault-tolerant control method according to the second aspect.

[0015] In a fifth aspect, the present application provides a fault-tolerant control system, which comprises the drive control unit according to the above and the drive control unit according to the above.

[0016] In a sixth aspect, the present application provides a storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the fault-tolerant control method according to the first aspect or the steps of the fault-tolerant control method according to the second aspect.

[0017] The fault-tolerant control method of the present application utilizes the original control unit in the converter to form a cross-redundancy system architecture through real-time communication, realizes single-converter system fault-tolerant control, has the advantages of low cost and strong availability, and greatly improves the reliability of the converter. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which form a part of this specification, are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the present application and, together with the description, serve to explain the present application. In the drawings:

[0019] Figure 1 Flow chart of a fault-tolerant control method according to an example embodiment of the present application;

[0020] Figure 2 Structure diagram of a fault-tolerant control system according to an example embodiment of the present application;

[0021] Figure 3 Flow chart of a fault-tolerant control method applied to a drive control unit according to an example embodiment of the present application;

[0022] Figure 4 Flow chart of a fault-tolerant control method applied to a drive control unit according to an example embodiment of the present application. DETAILED DESCRIPTION

[0023] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0024] Embodiment One

[0025] The present embodiment provides a fault-tolerant control method applied to a second drive control unit when a first drive control unit fails, to perform fault-tolerant control on a first drive control unit originally controlled by the first drive control unit. Figure 1 Flow chart of a fault-tolerant control method according to an example embodiment of the present application, as shown in Figure 1 The fault-tolerant control method of the present embodiment includes the following steps:

[0026] S100: Real-time receiving and storing detection data of the first drive control unit by the first drive control unit.

[0027] In one example, the detection data of the first drive control unit by the first drive control unit can be stored in the cache of the second drive control unit, so as to be quickly retrieved when needed, improving the response speed of fault-tolerant control.

[0028] S200: When it is determined that the first drive control unit fails, determining the parameter value of the first drive control unit according to the detection data of the first drive control unit by the first drive control unit.

[0029] For example, the detection data can include current, voltage analog quantity of the first drive control unit measured by the first drive control unit. Based on the simplified model of the circuit topology, the parameter values of resistance, inductance and capacitance of the main circuit of the first drive control unit are calculated according to the current and voltage analog quantity.

[0030] Whether the first drive control unit fails can be determined according to the following method steps:

[0031] In the first step, the life state data of the first drive control unit is received and stored in real time, wherein the life state data includes cumulative data of the running cycle number of the first drive control unit.

[0032] In the second step, the two life state data separated by a specified number of cycles are compared, and whether the first drive control unit fails is determined according to the comparison result. Wherein, according to the comparison result, whether the first drive control unit fails can specifically include: when the two life state data separated by a specified number of cycles are the same, and the number of continuous occurrence of the same life state data is greater than or equal to a preset number threshold, it is determined that the first drive control unit fails.

[0033] The life state data can be a changing data. The processor runs a cycle, and the life state data is increased by 1. When accumulated to the maximum, it is cleared. The life state data is continuously accumulated, indicating that the processor is running. When the data is detected to be unchanged for multiple cycles, indicating that the processor is abnormal, it is determined that the first drive control unit fails.

[0034] S300: comparing the parameter values of the first drive control unit with the corresponding parameter values of the second drive control unit currently controlled by the second drive control unit, when the comparison result does not satisfy the preset condition, adjusting the control instruction same as the control instruction sent by the second drive control unit to the second drive control unit, and sending the adjusted control instruction to the first drive control unit, so that the deviation between the detection data of the second drive control unit by the second drive control unit and the detection data of the second drive control unit by the second drive control unit is less than the first preset deviation threshold, realizing the fault tolerance control of the second drive control unit to the first drive control unit. Wherein, the first preset deviation threshold can be 1%, which can be limited by those skilled in the art as needed.

[0035] Wherein, the preset condition includes: the deviation of the parameter values of the first drive control unit relative to the corresponding parameter values of the second drive control unit is less than or equal to the second preset deviation threshold. The second preset deviation threshold can be 1%, which can be set by those skilled in the art as needed.

[0036] When the comparison result meets preset conditions, the same control instruction as the control instruction sent to the second drive control unit by the second transmission control unit is sent to the first drive control unit, so as to realize the fault-tolerant control of the second transmission control unit on the first drive control unit.

[0037] In the embodiment, the second transmission control unit estimates the operation state of the first drive control unit according to the operation parameter of the second drive control unit, so as to realize the operation of the second drive control unit following the first drive control unit, and thus realize the fault-tolerant control of the whole system.

[0038] The fault-tolerant control method has the advantages of low cost, strong availability and the like, and greatly improves the reliability of the converter.

[0039] Embodiment Two

[0040] The embodiment provides a fault-tolerant control method, which is applied to a drive control unit originally controlled by a first transmission control unit when the first transmission control unit fails, and includes the following steps.

[0041] Real-time receiving and storing of life state data of the first transmission control unit, wherein the life state data includes cumulative data of the operation cycle number of the first transmission control unit.

[0042] Comparing two life state data of every specified number of cycles, and judging whether the first transmission control unit fails according to the comparison result. Specifically, when the two life state data of every specified number of cycles are the same, and the number of continuous appearance of the same life state data is greater than or equal to a preset number threshold, it is determined that the first transmission control unit fails.

[0043] When it is determined that the first transmission control unit fails, the control instruction of the first transmission control unit is stopped, and the control instruction of a second transmission control unit is started at the same time.

[0044] In the fault-tolerant control method, when the drive control unit judges that the transmission control unit fails, the pulse channel of the transmission control unit is immediately blocked, and the pulse channel of another transmission control unit is opened at the same time, and the control instruction of the other transmission control unit is started, so that the drive control unit can continue to operate, realizes the continuous operation without power reduction when the transmission control unit fails, and improves the availability of the converter.

[0045] Embodiment Three

[0046] The embodiment provides a drive control unit, which comprises a controller and a memory, wherein the memory stores program codes, and the program codes are executed by the controller to realize the steps of the fault-tolerant control method in the embodiment two.

[0047] Embodiment four

[0048] The embodiment provides a drive control unit, which comprises a controller and a memory, wherein the memory stores program codes, and the program codes are executed by the controller to realize the steps of the fault-tolerant control method in the embodiment two.

[0049] Embodiment five

[0050] The embodiment provides a fault-tolerant control system, which comprises the transmission control unit in the embodiment three and the drive control unit in the embodiment four.

[0051] Embodiment six

[0052] The embodiment provides a specific embodiment of the fault-tolerant control system. Figure 2 A structural schematic diagram of the fault-tolerant control system according to a specific embodiment of the application is shown in the figure. The fault-tolerant control system in the embodiment comprises two TCUs and two drive control units, which are interconnected through high-speed real-time communication, form a cross fault-tolerant system architecture, and the system architecture is shown in the figure. Figure 2

[0053] The transmission control unit in the embodiment is installed in a weak current area of a converter, is responsible for converter logic, rectification and motor control, the drive control unit is installed on a power module, is responsible for driving pulse modulation instruction switching, IGBT pulse generation and driving, the whole system is cross-connected through five high-speed optical fiber serial communications, and the communication rate can reach 100 Mbps, so that the real-time performance of the system can be ensured.

[0054] The first and second transmission control units exchange real-time control instructions, life states and sensor quantities through the optical fiber 1, and monitor the control operation states. The pulse instructions, life states and power unit state signals between the first transmission control unit and the drive control unit 1 are transmitted through the optical fiber 2, the pulse instructions, life states and power unit state signals between the second transmission control unit and the drive control unit 2 are transmitted through the optical fiber 3, the pulse instructions, life states and power unit state signals between the first transmission control unit and the drive control unit 2 are transmitted through the optical fiber 4 when the second transmission control unit fails, and the pulse instructions, life states and power unit state signals between the second transmission control unit and the drive control unit 1 are transmitted through the optical fiber 5 when the first transmission control unit fails.

[0055] ​In the normal mode, the first transmission control unit controls the first power unit through the optical fiber 2, and the second transmission control unit controls the second power unit through the optical fiber 3. When the first transmission control unit has a serious fault, the first power module is switched to be controlled by the second transmission control unit; when the second transmission control unit has a serious fault, the second power module is switched to be controlled by the first transmission control unit.

[0056] The whole system realizes fault-tolerant operation in the fault state of the transmission control unit, avoids the problem that the transmission control unit fault causes one bogie power to be cut off, and improves the reliability and availability of the converter system.

[0057] In the present application, a fault-tolerant switching method is proposed for the system fault-tolerant process, as shown in Figure 2 、 Figure 3 , Figure 3 is a flowchart of a fault-tolerant control method applied to a transmission control unit according to an embodiment of the present application, Figure 4 is a flowchart of a fault-tolerant control method applied to a drive control unit according to an embodiment of the present application.

[0058] Taking the fault of the second transmission control unit as an example, the following is specifically described as follows:

[0059] The first transmission control unit judges whether the second transmission control unit has a fault according to the life signal state of the second transmission control unit. If there is no fault, the drive control unit 1 pulse instruction is sent according to the normal mode, and the drive control unit 2 pulse instruction is blocked. If the second transmission control unit has a fault, the first transmission control unit reads out the control data (instruction, analog quantity) of the second transmission control unit transmitted in real time through the optical fiber 1 from the data buffer area of itself, calculates the related parameter values of the second power unit, and compares and checks them with the corresponding parameter values of the first power unit. If the deviation is too large, on the basis of the same control instruction as that sent to the first power unit, the parameter deviation is converted into the control instruction according to the circuit topology model, and the control instruction is sent to the second power unit, so as to modify the model of the second power unit, so that the deviation of the sensor quantities (such as voltage and current) of the two power units is less than, for example, 1%. Finally, the drive control unit 2 pulse instruction channel is opened, and the fault-tolerant control mode is started.

[0060] Drive control unit 2 determines the life status of the second transmission control unit. When the second transmission control unit is fault-free, drive control unit 2 receives pulse commands from the second transmission control unit in a default mode and blocks pulse commands from the first transmission control unit. If the second transmission control unit fails, drive control unit 2 blocks pulses and switches to the pulse channel of the first transmission control unit to receive and process pulse commands transmitted by optical fiber 4.

[0061] In the fault-tolerant mode, the first transmission control unit estimates the operating status of the second power unit based on the operating parameters of the first power unit, so that the second power unit can follow the operation of the first power unit.

[0062] The beneficial effects of this embodiment include:

[0063] 1. The converter fault-tolerant system architecture interconnects the entire system through communication, enabling fault-tolerant operation of the locomotive converter and improving system availability.

[0064] 2. The system structure is based on the original control unit of the converter, without adding any additional redundant transmission control unit. By cross-networking the transmission control units, software functions are added to achieve system fault tolerance, and the system cost is low.

[0065] 3. The optical fiber signal is less susceptible to interference, ensuring stable and reliable system operation in the strong interference environment of the converter.

[0066] Example 7

[0067] This embodiment provides a storage medium storing a computer program, wherein when the computer program is executed by a processor, the steps of the fault-tolerant control method described in the first embodiment or the steps of the fault-tolerant control method described in the second embodiment are implemented.

[0068] Storage media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer-readable instructions, data structures, program modules or other data. Examples of storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0069] It is to be understood that the terminology used herein is for the purpose of describing specific embodiments only and is not intended to be limiting of example embodiments according to the present application. As used in this specification and the appended claims, the terms "comprises", "comprising", "includes", "including", "has", "having" or variations thereof are intended to cover a non-exclusive inclusion. For example, a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0070] It should be noted that the terms "first", "second", and the like, herein do not necessarily have an ordinal meaning. Rather these terms are used herein, inter alia, to distinguish a different structure or step from another. It should be understood that the use of these terms is interchangeable under appropriate circumstances. The embodiments of the present application described herein can be implemented in any convenient form, for example hardware, software, firmware, or any combination of these.

[0071] It should be understood that the exemplary embodiments described herein can be implemented in various forms of hardware, software, firmware, or combination thereof; and should not be limited to the specific embodiments described herein. These exemplary embodiments are provided so that this disclosure will be thorough, and will fully convey the scope of the application to those skilled in the art. Numerous specific details are set forth herein to provide a thorough understanding of the embodiments of the application. However, those skilled in the art will understand that the embodiments of the application can be practiced without the specific details given. In other instances, well-known methods, procedures and components have not been described in detail so as not to obscure the embodiments of the application.

Claims

1. A fault-tolerant control method, characterized by, When the first transmission control unit fails, the second transmission control unit is applied to perform fault-tolerant control on the first drive control unit originally controlled by the first transmission control unit, including the following steps: Real-time receiving and storing detection data of the first drive control unit by the first transmission control unit; When it is determined that the first transmission control unit fails, determining parameter values of the first drive control unit according to the detection data of the first drive control unit by the first transmission control unit; When the comparison result does not satisfy a preset condition, adjusting the same control instruction as the control instruction sent by the second transmission control unit to the second drive control unit, and sending the adjusted control instruction to the first drive control unit, so that the deviation between the detection data of the first drive control unit by the second transmission control unit and the detection data of the second drive control unit by the second transmission control unit is less than a first preset deviation threshold, and the fault-tolerant control of the second transmission control unit on the first drive control unit is realized.

2. The fault-tolerant control method according to claim 1, characterized in that, The preset condition includes: The deviation of the parameter values of the first drive control unit relative to the corresponding parameter values of the second drive control unit is less than or equal to a second preset deviation threshold.

3. The fault-tolerant control method according to claim 1, characterized in that, When the comparison result satisfies the preset condition, the same control instruction as the control instruction sent by the second transmission control unit to the second drive control unit is sent to the first drive control unit, and the fault-tolerant control of the second transmission control unit on the first drive control unit is realized.

4. The fault-tolerant control method of claim 1, wherein, The method further includes the steps of: Real-time receiving and storing life state data of the first transmission control unit, wherein the life state data includes cumulative data of the running cycle number of the first transmission control unit; Comparing two life state data every specified number of cycles, and determining whether the first transmission control unit fails according to the comparison result.

5. The fault-tolerant control method according to claim 4, characterized in that, Determining whether the first transmission control unit fails according to the comparison result includes: When the two life state data every specified number of cycles are the same, and the same life state data appears continuously more than or equal to a preset number threshold, it is determined that the first transmission control unit fails.

6. A fault-tolerant control method, characterized by, When the first transmission control unit fails, the first drive control unit originally controlled by the first transmission control unit is applied, including the following steps: When it is determined that the first transmission control unit fails, stopping receiving the control instruction of the first transmission control unit, and simultaneously starting to receive the control instruction of the second transmission control unit; The second transmission control unit is configured to, when the first transmission control unit fails, real-time receive and store the detection data of the first drive control unit by the first transmission control unit; When it is determined that the first transmission control unit fails, determining parameter values of the first drive control unit according to the detection data of the first drive control unit by the first transmission control unit; The parameter value of the first drive control unit is compared with the corresponding parameter value of the second drive control unit currently controlled by the second transmission control unit. When the comparison result does not satisfy the preset condition, the same control instruction as the control instruction sent by the second transmission control unit to the second drive control unit is adjusted, and the adjusted control instruction is sent to the first drive control unit, so that the deviation between the detection data of the first drive control unit and the detection data of the second drive control unit controlled by the second transmission control unit is less than the first preset deviation threshold, and the fault-tolerant control of the second transmission control unit on the first drive control unit is realized.

7. The fault-tolerant control method according to claim 6, characterized in that, The method further comprises the steps of: receiving and storing the life state data of the first transmission control unit in real time, wherein the life state data comprises cumulative data of the running cycle number of the first transmission control unit; comparing two life state data every specified number of cycles, and determining whether the first transmission control unit fails according to the comparison result.

8. The fault-tolerant control method according to claim 7, characterized in that, According to the comparison result, whether the first transmission control unit fails is determined, comprising: when the two life state data every specified number of cycles are the same, and the same life state data appears continuously more than or equal to the preset number threshold, it is determined that the first transmission control unit fails.

9. A transmission control unit characterized by comprising: The controller and the memory are included, and the memory stores program code. When the program code is executed by the controller, the steps of the fault-tolerant control method according to any one of claims 1 to 5 are realized.

10. A drive control unit characterized by comprising: The controller and the memory are included, and the memory stores program code. When the program code is executed by the controller, the steps of the fault-tolerant control method according to any one of claims 6 to 8 are realized.

11. A fault-tolerant control system, characterized by The transmission control unit according to claim 9 and the drive control unit according to claim 10 are included.

12. A storage medium storing a computer program, characterized in that, The computer program is executed by the processor, and the steps of the fault-tolerant control method according to any one of claims 1 to 5 or the steps of the fault-tolerant control method according to any one of claims 6 to 8 are realized.

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