Open type integrated train control system and control method

Abstract

The invention belongs to the technical field of train control in the rail transit industry, and discloses an open type integrated train control system and method. The vehicle communication equipment supports free joining of equipment nodes through different communication modes of MVB communication or Ethernet communication, and communication control of an integrated train is carried out; the main control unit is connected to the vehicle communication equipment through an Ethernet interface or an MVB (Multifunction Vehicle Bus) interface and is used for sending out a control instruction of the integrated train; and the logic control unit is connected to the vehicle communication equipment through an Ethernet interface or an MVB interface, receives an instruction of the main control unit, and drives the execution mechanism through logic control. Through centralized processing and data sharing of all functions, interaction delay of control functions is reduced, risks in data transmission are reduced, control instructions are more single and clearer, the train operation comfort is improved, and train energy consumption is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of train control in rail transit industry, and in particular relates to an open integrated train control system and a control method. Background Art

[0002] The trains in the rail transit industry use the Train Control and Management System (TCMS) as the communication basis, connecting the vehicle's onboard signal system, traction system, braking system, door system, etc. to realize the control, monitoring, and diagnosis functions of the entire vehicle.

[0003] There are many types of control systems in vehicles, and the control functions are redundant. There is a lack of overall planning for the control functions of the entire vehicle. A single function needs to go through the logical judgment of multiple different system control units during the control and execution process, which affects the timeliness of the control function. At the same time, for new functions that require multi-system linkage, the development cost is high and vehicle upgrades are difficult; each control system has its own network system, such as CAN bus communication inside the braking system, which leads to the coexistence of multiple business networks in the vehicle and complex wiring; the control and I / O of each system are repeatedly set, which takes up a lot of space, and the maintenance methods and parts management are different, resulting in high maintenance costs. With the increase in the demand for vehicle intelligence and the increase in control functions, the above problems are more prominent and need to be solved urgently. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the disclosed embodiments of the present invention provide an open integrated train control system and control method. The present invention aims to solve many problems such as the diverse train communication modes, the large number of control units, and the decentralized control functions.

[0005] The technical solution is as follows: an open integrated train control system, the system comprising:

[0006] Vehicle communication equipment, used to carry out communication control of integrated trains through different communication modes such as MVB communication or Ethernet communication, supporting the free addition of device nodes;

[0007] A main control unit is connected to the vehicle communication device via an Ethernet interface or an MVB interface, and is used to issue control instructions for the integrated train;

[0008] A logic control unit is connected to the vehicle communication device via an Ethernet interface or an MVB interface, receives instructions from the main control unit, and drives the actuator through logic control;

[0009] The actuator is used to receive control instructions from the logic control unit and control the execution and operation mode of the integrated train.

[0010] Furthermore, when the vehicle communication device uses Ethernet communication, the vehicle communication device is an Ethernet switch, and when the vehicle communication device uses MVB communication, the vehicle communication device is an MVB repeater.

[0011] Furthermore, the control instructions of the main control unit include fully automatic driving function, train traction function, and train braking function; the train traction function includes executing traction capacity calculation and curve tracking, and the train braking function includes braking force management and braking fault diagnosis.

[0012] The main control unit includes multiple virtual partitions, and different application software runs independently in different partitions;

[0013] The multiple virtual partitions of the application software include:

[0014] The ATO functional area controls the automated operation of the train, realizes acceleration and deceleration at constant speed, realizes positioned parking, opens and closes platform doors and train doors, realizes automatic broadcasting, etc.

[0015] ATP functional area, controls the train to run within a safe speed, etc.

[0016] Traction control functional area, detects and protects the traction inverter unit, controls the operation of the train traction motor, etc.

[0017] Braking control functional area, detecting axle speed, controlling the train air supply system, controlling the brake valve, etc.

[0018] The door control function area detects the door status, controls the door opening and closing, etc.

[0019] Air conditioning control function area, detects the status of each air valve of the air conditioning, controls the air conditioning operation mode, etc.

[0020] Further, the structure of the main control unit is composed of a first chassis backplane, a first power supply board, a first communication board, and a first main control board;

[0021] The number of the first main control boards is configured according to the actual control function;

[0022] The first communication board includes a serial port debugging interface, an MVB interface, and an Ethernet interface.

[0023] Furthermore, the logic control unit is used to process the air conditioning and door logic functions through the logic control functions it possesses.

[0024] Further, the structure of the logic control unit is composed of a second chassis backplane, a second power supply board, a second communication board, a second main control board, and an input and output driver board;

[0025] The input and output module adopts a 2x2-out-of-2 strategy to collect digital and analog signals from the train, drive relays, fuses, and solenoid valves, and perform logic programming to control the train circuit;

[0026] In addition to using the interface board of the first communication board, the second communication board also adds a CAN communication interface to adapt to the fireworks probe for data collection;

[0027] The second communication board, the second main control board, and the input and output driver board are configured according to the actual train conditions, and the number of devices in the logic control unit is configured according to the actual train conditions.

[0028] Another object of the present invention is to provide an open integrated train control method, comprising:

[0029] Through different communication methods such as MVB communication or Ethernet communication, it supports the free addition of device nodes and conducts communication control of integrated trains;

[0030] Connected to the vehicle communication device via an Ethernet interface or an MVB interface to issue control instructions for the integrated train;

[0031] Connecting to the vehicle communication device via an Ethernet interface or an MVB interface, receiving instructions from the main control unit, and driving the actuator through logical control;

[0032] The actuator receives control instructions from the logic control unit and controls the execution and operation mode of the integrated train.

[0033] The open integrated train control method further comprises:

[0034] The main control unit of the fully automatic train derives the required braking force based on the driving plan or speed curve. At the same time, the main control unit calculates the electric braking capacity based on the state of the traction motor, and further obtains the required air braking force. This requirement is sent to the logic control unit, which drives the relevant solenoid valves to apply air braking to complete the entire electric-pneumatic braking coordination.

[0035] In combination with all the above-mentioned technical solutions, the beneficial effects of the present invention are as follows: the integrated train control system proposed by the present invention coordinates various control functions, re-plans the hardware distribution and software function implementation of each control function in the system, reduces the types and number of train control units, improves the lightweight of the train, and reduces the manufacturing and maintenance costs of the train. The centralized processing and data sharing of various functions of the present invention reduce the interactive delay of the control functions, reduce the risks in data transmission, make the control instructions more simple and clear, improve the comfort of train operation, and reduce the energy consumption of the train. The centralized control unit of the present invention reduces the equipment inside each system, replaces some internal communication media, and optimizes the communication complexity of the train.

[0036] The present invention is an integrated train control system, and its application functions integrate the train ATO function, traction function, braking function, etc., thereby reducing the use of other train control units such as traction control unit and braking control unit, and greatly reducing the hardware procurement cost of the train; the integrated train control system reduces the wiring between the systems, uses the logic control unit instead of the relay, and reduces the production and maintenance cost of the train. At present, there is no integrated train control system at home and abroad, and each control system is still controlled separately. The present invention integrates the functions of each system to form an integrated train control system. The types of train networks are diverse and complex, and the integration of control functions is low. Considering the production and maintenance costs, the industry urgently needs to solve this problem, but it has never proposed a global solution based on the train as a whole. The present invention takes the train as a whole, reintegrates the train functions, and proposes an open integrated control system. At present, the industry vigorously promotes train Ethernet communication and uses less MVB communication. The integrated train control system supports MVB communication and Ethernet communication, and does not absolutely rely on Ethernet communication. MVB communication can be applied to short-formation lightweight trains to ensure the reliability of train communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings herein are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description, serve to explain the principles of the present disclosure;

[0038] Figure 1 is a schematic diagram of an open integrated train control system provided by an embodiment of the present invention;

[0039] Figure 2 It is a schematic diagram of software partitioning of a main control unit provided by an embodiment of the present invention;

[0040] Figure 3 is a structural diagram of a main control unit provided by an embodiment of the present invention;

[0041] Figure 4 is a schematic diagram of the structure of a logic control unit provided by an embodiment of the present invention;

[0042] Figure 5 This is a principle framework diagram of a main control board provided by an embodiment of the present invention;

[0043] Figure 6 It is a principle framework diagram of a first communication board provided by an embodiment of the present invention;

[0044] Figure 7 It is a principle framework diagram of a power board provided by an embodiment of the present invention;

[0045] Figure 8 It is a principle framework diagram of a first communication board provided by an embodiment of the present invention;

[0046] In the figure: 1. Vehicle communication equipment; 2. Main control unit; 3. Logic control unit; 4. Actuator. DETAILED DESCRIPTION

[0047] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0048] The innovations of the present invention are: 1) The train control unit type is single and the functions are coordinated: multiple control units such as traction control unit and braking control unit are no longer used, and the train functions are coordinated and concentrated in a single control unit for integrated control; 2) The equipment type of this system is simple, and four types of equipment can be used to complete the communication, data acquisition, and data drive of the train control system; 3) This system supports MVB communication and Ethernet communication, supports the free addition of nodes, and provides an open interface for extended functions.

[0049] Embodiment 1, as Figure 1 As shown, the open integrated train control system provided by the embodiment of the present invention divides the system into a vehicle communication device 1, a main control unit 2, a logic control unit 3, and an actuator 4 according to the control execution process of the function.

[0050] The vehicle communication device 1 is used to perform communication control of the integrated train by supporting the free addition of device nodes through different communication modes such as MVB communication or Ethernet communication;

[0051] The main control unit 2 is connected to the vehicle communication device 1 via an Ethernet interface or an MVB interface, and is used to issue control instructions for the integrated train;

[0052] The logic control unit 3 is connected to the vehicle communication device 1 through an Ethernet interface or an MVB interface, receives instructions from the main control unit 2, and drives the actuator 4 through logic control;

[0053] The actuator 4 is used to receive control instructions from the logic control unit 3 and control the integrated train to execute the running mode.

[0054] Specifically, the vehicle communication device 1 is determined by the communication mode. When Ethernet communication is selected, the vehicle communication device 1 is an Ethernet switch. The number of Ethernet switches used can be determined according to the number of connected main control units and logic control units.

[0055] When MVB communication is selected, the vehicle communication device 1 is an MVB repeater. The number of MVB repeaters to be used can be determined according to the train formation;

[0056] After the vehicle communication devices 1 are interconnected, they form the communication framework of the entire control system of the train. Ethernet communication and MVB communication support the free addition of device nodes, making the system open.

[0057] The main control unit 2 and the logic control unit 3 are connected to the vehicle communication device 1 via an Ethernet interface or an MVB interface;

[0058] The main control unit 2 and the logic control unit 3 are connected to the vehicle communication device 1. The control instructions issued by the main control unit 2 are transmitted to the logic control unit 3, and the logic control unit 3 drives the actuator 4 to perform functions.

[0059] Exemplarily, the vehicle communication device 1 can use different communication devices according to the train communication mode, and is not simply restricted to Ethernet communication or MVB communication, and the system has strong applicability.

[0060] The function of the main control unit 2 is to coordinate the functions of the whole vehicle and issue control instructions, including but not limited to the fully automatic driving function, the train traction function (traction capacity calculation, curve tracking, etc.), the train braking function (braking force management, brake fault diagnosis), etc. The above functions are completed by the interaction between the original ATO system, traction system, and braking system. In the present invention, when the train is in the fully automatic driving process, the main control unit calculates the current required traction force according to the train speed curve, and issues a traction force demand instruction to the traction actuator, so that the train can accelerate or maintain a constant speed; the main control unit calculates the train braking force demand according to the distance to the station or the distance to the preceding vehicle, distributes the braking force to the electric brake and the air brake, and issues a braking instruction to the traction actuator and the brake actuator.

[0061] The main control unit 2 is based on a high-performance hardware platform to realize multiple virtual partitions. Different application software can run independently in different partitions without affecting each other. For the software function partition diagram, see Figure 2 .

[0062] The multiple virtual partitions of the application software include:

[0063] The ATO functional area controls the automated operation of the train, realizes acceleration and deceleration at constant speed, realizes positioned parking, opens and closes platform doors and train doors, realizes automatic broadcasting, etc.

[0064] ATP functional area, controls the train to run within a safe speed, etc.

[0065] Traction control functional area, detects and protects the traction inverter unit, controls the operation of the train traction motor, etc.

[0066] Braking control functional area, detecting axle speed, controlling the train air supply system, controlling the brake valve, etc.

[0067] The door control function area detects the door status, controls the door opening and closing, etc.

[0068] Air conditioning control function area, detects the status of each air valve of the air conditioning, controls the air conditioning operation mode, etc.

[0069] The structure of the main control unit 2 is composed of a first chassis backplane, a first power supply board, a first communication board, and a first main control board. Figure 3 .

[0070] The first main control board has high processing performance, and the number of first main control boards can be configured according to actual control functions, which is open;

[0071] The first communication board includes a serial port debugging interface, an MVB interface, and an Ethernet interface.

[0072] The logic control unit 3 is used to receive instructions from the main control unit and drive related actuators 4.

[0073] The structure of the logic control unit 3 is composed of a second chassis backplane, a second power supply board, a second communication board, a second main control board, and an input and output driver board. Figure 4 The logic control unit 3 can use the input and output board to control DO data, drive the relay and solenoid valve to act, and directly drive the actuator; it can also use the communication board to drive the actuator through the serial port, CAN bus, etc.

[0074] The logic control unit 3 has a logic control function and can process logic functions such as air conditioning and doors. It can adjust the full load and half load of the air conditioner according to the working status of the auxiliary inverter of the current train unit. The specific adjustment function requirements depend on the specific train.

[0075] The input and output module consists of two sets of redundant boards, which are controlled in parallel and adopt a 2x2 take 2 strategy to collect digital and analog signals from the train and drive relays, fuses, solenoid valves, etc. Each collected signal corresponds to two signal lines, which are divided into two and enter two sets of collection circuits and processors. The signal collection is 2x2, and each output is completed by connecting the outputs of the two sets of circuits in series, and the output is taken as 2. At the same time, logic programming can be performed, using the PLC kernel to complete the logic control of AND, NOR, relays, etc., replacing the hard-wired control loop of the train;

[0076] The second communication board adds a CAN communication interface to adapt to the collection of data such as fireworks probes.

[0077] The second communication board, the second main control board, and the input and output driver board can be configured according to the actual train situation, and are flexible and open. The number of devices in the logic control unit 3 can be configured according to the actual train situation.

[0078] It can be understood that the chassis backplane, power board, communication board, and main control board used in the integrated train control system are all universal parts, and the same type of boards are interchangeable, which greatly reduces the train maintenance cost.

[0079] The main control board principle framework diagram is as follows Figure 5 , communicate with other boards through the backplane, perform logical operations, and then output control instructions.

[0080] The principle framework diagram of the first communication board is as follows Figure 6 , communicate with other boards through the backplane, and drive controllers with different communication methods to communicate, such as MVB, Ethernet, and serial port.

[0081] The principle framework diagram of the power board is as follows Figure 7 , the power board supports 24V or 110V power input, converts to 5V, and provides a backplane.

[0082] The principle framework diagram of the first communication board is as follows Figure 8 , communicate with other boards through the backplane, and drive controllers with different communication methods to communicate externally, such as CAN and serial port.

[0083] Example 2, as another implementation, the open integrated train control system provided by the embodiment of the present invention includes:

[0084] The main control unit 2 and the logic control unit 3 are connected to the vehicle communication device 1. The vehicle communication device 1 is a different device according to the communication mode selected by the train. When Ethernet communication is used, the vehicle communication device 1 is an Ethernet switch, and the main control unit 2 and the logic control unit 3 must be configured with an Ethernet interface; when MVB communication is used, the vehicle communication device 1 is an MVB repeater, and the main control unit 2 and the logic control unit 3 must be configured with an MVB interface.

[0085] The main control unit 2 issues a control instruction, which is transmitted to the logic control unit 3, and the logic control unit drives the actuator to perform the function.

[0086] For example, the entire logic execution process is explained here by taking the electric-pneumatic brake coordination function as an example:

[0087] The main control unit 2 of the fully automatic train obtains the deceleration value according to the speed curve, and obtains the required braking force according to the deceleration value and the train load. At the same time, the main control unit 2 calculates the electric braking capacity according to the state of the traction motor, the law of electromagnetic induction, etc., and further obtains the required air braking force, and sends this requirement to the logic control unit 3. The output module of the logic control unit 3 drives the relevant solenoid valve to open the air valve and apply air braking, thereby completing the entire electric-pneumatic braking coordination.

[0088] The function of the main control unit 2 is to coordinate the functions of the entire vehicle, and its control includes but is not limited to fully automatic driving function, train traction function (traction capacity calculation, curve tracking, etc.), train braking function (braking force management, braking fault diagnosis), etc., among which the traction capacity calculation is based on the input voltage, current, coil, etc. of the traction motor according to the law of electromagnetic induction to derive the traction torque; curve tracking is to calculate the acceleration at the current moment according to the train operation curve, so as to derive the force that the train needs to apply, drive the motor to complete the application of traction force, and complete speed tracking; braking force management is the coordinated management of the train's electric and pneumatic braking, and fault diagnosis is to determine the opening and closing faults of each relay and solenoid valve.

[0089] The main control unit 2 is based on a high-performance hardware platform, and application software with different functions can run independently in different partitions without affecting each other;

[0090] The structure of the main control unit 2 is composed of a first chassis backplane, a first power supply board, a first communication board, and a first main control board; the first main control board has high processing performance, and a main control unit 2 allows the existence of multiple first main control boards, and the data of the first main control board can be configured according to the actual control function. There are two types of first communication boards, which basically include a serial port debugging interface and an Ethernet debugging interface. When using MVB communication, it is an MVB communication board including an MVB interface; when using Ethernet communication, it is an Ethernet communication board including an Ethernet interface. Different communication boards are selected according to the train communication method.

[0091] The logic control unit 3 is used to receive instructions from the main control unit 2 and drive the relevant actuator 4. The structure of the logic control unit 3 is composed of a second chassis backplane, a second power supply board, a second communication board, a second main control board, and an input and output driver board;

[0092] In addition to using the interface board of the first communication board, the second communication board can also add a CAN communication interface to adapt to the collection or drive of CAN communication sensor data such as fireworks probes;

[0093] The second communication board, the second main control board, and the input and output driver board can be configured according to the actual train situation, and are flexible and open. The number of devices in the logic control unit 3 can be configured according to the actual train situation.

[0094] Embodiment 3: The open integrated train control method provided by the embodiment of the present invention includes:

[0095] Through different communication methods such as MVB communication or Ethernet communication, it supports the free addition of device nodes and conducts communication control of integrated trains;

[0096] Connected to the vehicle communication device 1 via an Ethernet interface or an MVB interface to issue control instructions for the integrated train;

[0097] Connected to the vehicle communication device 1 via an Ethernet interface or an MVB interface, and receiving instructions from the main control unit 2, and driving the actuator 4 through logical control;

[0098] The actuator 4 receives the control instruction from the logic control unit 3 and controls the integrated train to execute the running mode.

[0099] Taking the coordination of electric and air brakes as an example, in the traditional train control method, data needs to be sent from the ATO device to the TCMS system, and then the total braking force is calculated by the braking system. According to the electric braking capacity fed back by the traction system, the braking system distributes the electric braking force, and then according to the true value of the electric braking feedback, the braking system implements air braking. The execution time of this control instruction is the communication cycle between four systems plus the logic execution cycle between the braking systems. With the present invention, only the logic execution cycle is needed to formulate electric braking and air braking, which greatly reduces the time of sending control instructions.

[0100] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principles of the present invention should be covered within the protection scope of the present invention.

Claims

1. An open integrated train control system, characterized in that: The system includes: The vehicle communication device (1) is a relay switching device for communication data transmission, which is used to relay, amplify and regenerate signals through MVB communication or Ethernet communication, and to switch data to corresponding devices, thereby realizing free addition of device nodes and performing communication control of open trains; The main control unit (2) is an embedded unit with an operating system, supports the development of application software programs, has a single type of vehicle main control unit, has redundant equipment, coordinates the control of the entire vehicle, and is connected to the vehicle communication device (1) through an Ethernet interface or an MVB interface to issue control instructions for the integrated train; The logic control unit (3) is an embedded unit with an operating system, supports the development of application software programs, supports the acquisition and output of digital and analog quantities, supports the acquisition of multiple sensors, supports the output of multiple drive devices, is connected to the vehicle communication device (1) through an Ethernet interface or an MVB interface, receives instructions from the main control unit (2), and drives the actuator (4) through logic control; The actuator (4) is used to receive control instructions from the logic control unit (3) and control the execution operation mode of the integrated train.

2. The open integrated train control system according to claim 1, characterized in that: When Ethernet communication is used, the vehicle communication device (1) is an Ethernet switch, and when MVB communication is used, the vehicle communication device (1) is an MVB repeater.

3. The open integrated train control system according to claim 1, characterized in that: The control instructions of the main control unit (2) include: fully automatic driving function instructions, train traction function instructions, and train braking function instructions; the train traction function instructions include executing traction capacity calculation and curve tracking, and the train braking function instructions include braking force management and braking fault diagnosis.

4. The open integrated train control system according to claim 1, characterized in that: The main control unit (2) comprises a plurality of virtual function partitions, and different virtual function partition application software runs independently; The ATO function area controls the automatic operation of the train, realizes acceleration and deceleration at a constant speed, realizes positioning parking, opens and closes platform doors and car doors, and automatically broadcasts; ATP functional area, controlling the train to run within a safe speed; Traction control functional area, detects and protects the traction inverter unit, and controls the operation of the train traction motor; Braking control functional area, detecting axle speed, controlling the train air supply system, and controlling the brake valve; Door control functional area, detects door status and controls door opening and closing; Air conditioning control function area, detects the status of each air valve of the air conditioning and controls the air conditioning operation mode.

5. The open integrated train control system according to claim 1, characterized in that: The main control unit (2) is composed of a first chassis backplane, a first power supply board, a first communication board, and a first main control board; The number of the first main control boards is configured according to the actual control function; The first communication board includes a serial port debugging interface, an MVB interface, and an Ethernet interface.

6. The open integrated train control system according to claim 1, characterized in that: The logic control unit (3) has a logic control function and processes the logic functions of the air conditioner and the door.

7. The open integrated train control system according to claim 6, characterized in that: The logic control unit (3) is composed of a second chassis backplane, a second power supply board, a second communication board, a second main control board, and an input / output driver board; The input and output module adopts a 2x2-out-of-2 strategy to collect digital and analog signals from the train, drive relays, fuses, and solenoid valves, and perform logic programming to control the train circuit; The second communication board uses the interface board of the first communication board, and according to the actual situation of the train, adds CAN communication board and 485 communication board, adapts to the fireworks probe and the door, and collects data.

8. The open integrated train control system according to claim 6, characterized in that: The logic control unit (3) is composed of a second chassis backplane, a second power supply board, a second communication board, a second main control board, and an input / output driver board; The input and output module adopts a 2x2-out-of-2 strategy to collect digital and analog signals from the train, drive relays, fuses, and solenoid valves, and perform logic programming to control the train circuit; The second communication board uses the interface board of the first communication board, and according to the actual situation of the train, adds CAN communication board and 485 communication board, adapts to the fireworks probe and the door, and collects data.

9. The open integrated train control method according to claim 8, characterized in that: The method further comprises: a main control unit (2) of the fully automatic train obtains a required braking force according to a driving plan or a speed curve; The main control unit (2) calculates the electric braking capacity according to the state of the traction motor, obtains the required air braking force, and sends this requirement to the logic control unit (3). The logic control unit (3) drives the solenoid valve to apply air braking, thereby completing the entire electric-pneumatic braking coordination.

10. A program storage medium for receiving user input, characterized in that: The stored computer program enables the electronic device to execute the open integrated train control method described in claim 8.

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