Control method and control system of rail transit door system

Abstract

The invention discloses a control method and control system of a rail transit door system, the rail transit door system comprises two-out-of-two processing channels, the two processing channels are provided with independent motor control circuits, and the motor control circuits are used for controlling an execution mechanism to conduct door opening and closing operation; when the two-out-of-two voting fails, the first processing channel is selected to output a control signal of the execution mechanism, and the second processing channel is shut down and guided to the safe side; when any processing channel breaks down, the processing channel is shut down and guided to the safe side, and the other processing channel does not carry out two-out-of-two voting and directly outputs a control signal. According to the method, operation can be continuously maintained when any processing channel fails, the safety integrity level of related safety functions is reduced to SIL2 from SIL4, and the usability of a vehicle door control system and a platform door control system is greatly improved under the condition that basic safety requirements are ensured. And meanwhile, the problem that the SIL4 vehicle door control system and the platform door control system cannot be closed due to shutdown guiding to the safe side under the abnormal condition can be avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of rail transit, in particular to a control method and a control system of a rail transit door system. Background Art

[0002] Rail transit door systems include door control systems and platform door control systems, and the safety integrity level of their safety functions reaches SIL4. In the event of a fault that affects safety, the faulty door control system, platform domain control subsystem, or platform door control subsystem will shut down and guide the system to the safe side. However, the availability of high-safety level (SIL4) door control systems and platform door control systems is lower than that of ordinary platform doors (SIL2), and they lose the function of closing the doors and platform doors in the event of a fault that affects safety. Summary of the invention

[0003] Purpose of the invention: The purpose of the present invention is to provide a control method and control system for a rail transit door system, which can improve the availability of a door control system and a platform door control system with a high safety integrity level, ensure that their availability is not lower than that of an ordinary (SIL2) door control system and a platform door control system, and can retain the door closing function in the event of a fault that affects safety.

[0004] Technical solution: The control method of the rail transit door system of the present invention comprises two processing channels of two-out-of-two, and both processing channels are provided with independent motor control circuits for controlling the actuator to perform door opening and closing operations;

[0005] When the rail transit door system fails to vote out of two, the first processing channel is selected to output the control signal of the actuator, and the second processing channel is shut down and directed to the safe side; if an abnormality occurs in the second processing channel, both channels are shut down and directed to the safe side;

[0006] When any processing channel of the rail transit door system fails, the processing channel will shut down and direct to the safe side, and the other processing channel will directly output the control signal of the actuator without two-out-of-two voting.

[0007] Furthermore, the rail transit door system includes a door control system, which includes two processing channels of two out of two, and controls the door actuator to perform door opening and closing operations.

[0008] Furthermore, the door control system receives control instructions from the signal system; physical and logical connections are established for communication between the signal system and each processing channel of the door control system, and between each processing channel of the door control system and the door actuator.

[0009] Further, the rail transit door system includes a platform door control system, and the platform door control system includes a platform domain control subsystem and a platform door control subsystem;

[0010] The platform domain control subsystem and the platform door control subsystem both include two-out-of-two processing channels to control the platform door actuators to perform the opening and closing operations of the platform doors.

[0011] Furthermore, the platform domain control subsystem receives control instructions from the signal system, and physical and logical connections are established for communication between the signal system and each processing channel of the domain control subsystem, between each processing channel of the domain control subsystem and each processing channel of the gate control subsystem, and between each processing channel of the gate control subsystem and the platform door actuator.

[0012] Furthermore, each processing channel of the rail transit door system is provided with an independent clock.

[0013] Furthermore, the output of the rail transit door system adopts a reactive fail-safe approach.

[0014] Furthermore, during the initialization and operation of the rail transit door system, the rail transit door system and each device perform self-inspection, and the processing channel of the detected fault is shut down and directed to the safe side.

[0015] Furthermore, the self-check includes processor self-check, memory self-check, clock monitoring, temperature monitoring, key voltage monitoring, execution sequence check, input and output self-check and cycle monitoring.

[0016] The control system of the rail transit door system of the present invention comprises two processing channels of two-out-of-two, and both processing channels are provided with independent motor control circuits for controlling the actuator to perform door opening and closing operations;

[0017] When the rail transit door system fails to vote out of two, the first processing channel is selected to output the control signal of the actuator, and the second processing channel is shut down and directed to the safe side; if an abnormality occurs in the second processing channel, both channels are shut down and directed to the safe side;

[0018] When any processing channel of the rail transit door system fails, the processing channel will shut down and direct to the safe side, and the other processing channel will directly output the control signal of the actuator without two-out-of-two voting.

[0019] The electronic device described in the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is loaded into the processor, the control method of the rail transit door system is implemented.

[0020] The computer-readable storage medium of the present invention stores a computer program, and when the computer program is executed by a processor, the control method of the rail transit door system is implemented.

[0021] The electronic device described in the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and is characterized in that when the computer program is loaded into the processor, the control method of the rail transit platform door system is implemented.

[0022] The computer-readable storage medium of the present invention stores a computer program, and when the computer program is executed by a processor, the control method of the rail transit door system is implemented.

[0023] Beneficial effects: Compared with the prior art, the advantages of the present invention are:

[0024] (1) The present invention can achieve a reduction in the safety integrity level of the safety functions related to the rail transit door system, but can continue to maintain operation. Under the condition of ensuring basic safety requirements, the availability of the rail transit door system is greatly improved, and the rail transit door system is prevented from shutting down due to a fault, resulting in the inability to continue closing the rail transit door that was opened by mistake.

[0025] (2) The present invention implements independent clock drive, independent digital quantity output and independent motor control in each processing channel of the door control system, the platform domain control subsystem and the platform door control subsystem, so as to ensure that when any processing channel fails, the other channel can still operate normally to output digital quantity, thereby driving the platform door;

[0026] (3) The present invention can achieve complete communication. When any safety channel fails, the platform door subsystems, the platform door subsystem and the external system, the platform door subsystem and the platform door actuator, the door control system and the external system, and the door control system and the door actuator can all maintain connectivity. Complete communication includes both physical and logical connections to ensure that when any communication is interrupted, the system will not be degraded unsmoothly due to re-establishing the link, thereby affecting the normal operation of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the door system control of the present invention;

[0028] Figure 2 This is a schematic diagram of a door system processing channel failure in an embodiment of the present invention;

[0029] Figure 3 It is a control schematic diagram of the platform door system of the present invention;

[0030] Figure 4Schematic diagram of a platform door system processing channel failure in an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0032] Example 1

[0033] like Figure 1 As shown, the door control system with safety function reaching SIL4 is composed of two processing channels of two-out-of-two. The two channels reach the architectural design requirement of SIL4 through two-out-of-two voting based on self-checking.

[0034] The door control system communicates with other systems outside the door control system (such as the signal system, train monitoring system, driver's console, etc.), obtains external door opening and closing, bypass, shielding and other instructions, determines the priority of the instructions, and controls the door actuator (such as the door motor) based on the instruction content to realize the door opening and closing operation. At the same time, the door control system will also collect the door status and report it to the signal system or train monitoring system, etc.

[0035] During the initialization and cycle operation process, the key safety equipment in the door control system has a complete self-test, including: processor self-test, memory self-test, clock monitoring, temperature monitoring, key voltage monitoring, execution sequence check, input and output self-test, cycle monitoring, etc. When a fault that affects safety is detected, the channel that detects the fault first will be shut down and directed to the safety side.

[0036] like Figure 2 As shown in the figure, when any channel of the door control system finds a fault that affects safety through self-check, the channel of the door control system will be shut down and directed to the safe side. When the two-out-of-two vote of the door control system fails, the door control system defaults to channel 1 continuing to work, and channel 2 shuts down and directs to the safe side. If the subsequent self-check of channel 1 finds a fault, channel 1 will also shut down and direct to the safe side. When one channel of the door control system is closed due to a fault, the other door control channel will no longer conduct a two-out-of-two synchronous vote with it, and directly send safety instructions or status to the outside. The safety integrity level of the relevant safety functions of the door control system is reduced to SIL2, and the fault is reported to the signal system, train monitoring system and operation and maintenance personnel. At the same time, the door control system will check the door switch status. If the door is abnormally opened, the door control system will control the door motor to close the door.

[0037] At the same time, a complete physical communication and logical communication connection is established between the door control system and the external system, and between the door control system and the door actuator of this embodiment, to ensure that when any channel of the door control system fails, the internal and external parts of the door control system can still communicate normally. The lack of physical connection will cause a channel with a physical connection to be disconnected, and another channel without a physical connection will actually be unavailable. The lack of logical connection will cause a channel with a logical connection to be disconnected, and another channel without a logical connection needs to re-establish a logical connection. This process may cause a link break, which in turn causes the system to shut down and guide to the safety side.

[0038] At the same time, the two-out-of-two channels of the door control system of this embodiment have independent clocks (physical crystal oscillators) to ensure that when any channel fails, the other channel still has a clock to drive it to continue running. The two channels of the door control system do not use hardware comparators for external digital output, but adopt a reactive fail-safe method to ensure that when any channel fails, the other channel can still output digital quantities to the outside. The two-out-of-two channels of the door control system have independent motor control circuits to ensure that when any channel fails, the other channel can still drive the door motor to the outside.

[0039] Example 2

[0040] like Figure 3 As shown in the figure, the platform door control system includes a platform domain control subsystem and a platform door control subsystem. The platform door control system with a safety function reaching SIL4 consists of two processing channels of two-out-of-two. The two channels reach the SIL4 architecture design requirements through two-out-of-two voting based on self-checking. One platform domain control subsystem can be connected to multiple platform door control subsystems to realize the control of all platform doors of a station.

[0041] The platform domain control subsystem is responsible for communicating with other systems outside the platform door system (such as: signal system, control panels at all levels, etc.), obtaining external door opening and closing, bypass, shielding and other instructions, judging the priority of instructions, and sending instructions to the platform door control subsystem of each platform door through communication. At the same time, the platform domain control subsystem will also collect the status of the platform door control subsystem and report it to the signal system.

[0042] After the platform door control subsystem obtains the instructions issued by the platform domain control subsystem, it controls the platform door actuator (such as the platform door motor) based on the instruction content to realize the door opening and closing operations, and reports the platform door status to the platform domain control subsystem.

[0043] During the initialization and cycle operation process, the safety-critical equipment in the platform door control system has complete self-test, including: processor self-test, memory self-test, clock monitoring, temperature monitoring, key voltage monitoring, execution sequence check, input and output self-test, cycle monitoring, etc. When a fault that affects safety is detected, the channel that detects the fault first will be shut down and directed to the safety side.

[0044] like Figure 4 As shown, when any channel of the platform domain control subsystem finds a fault that affects safety through self-inspection, the channel of the platform domain control subsystem will be shut down and directed to the safety side. When the two-out-of-two vote of the platform domain control subsystem fails, the platform domain control subsystem defaults to channel 1 continuing to work, and channel 2 shuts down and directs to the safety side. If the subsequent self-inspection of channel 1 finds a fault, channel 1 will also shut down and direct to the safety side. When a channel of the platform domain control subsystem is closed due to a fault, the other platform domain control channel will no longer perform a two-out-of-two synchronous vote with it, and directly send safety instructions or status to the outside. The safety integrity level of the relevant safety functions of the platform domain control subsystem is reduced to SIL2, and the fault is reported to the signal system and operation and maintenance personnel.

[0045] like Figure 4 As shown in the figure, when any channel of the platform gate control subsystem finds a fault that affects safety through self-check, the fault of the channel of the platform gate control subsystem is directed to the safety side. When the two-out-of-two vote of the platform gate control subsystem fails, the platform gate control subsystem defaults to channel 1 continuing to work, and channel 2 shuts down and directs to the safety side. If the subsequent self-check of channel 1 finds a fault, channel 1 also shuts down and directs to the safety side. When a channel of the platform gate control subsystem is closed due to a fault, the other platform gate control channel no longer conducts a two-out-of-two synchronous vote with it, and directly sends safety instructions or status to the outside. The safety integrity level of the relevant safety functions of the platform gate control subsystem is reduced to SIL2, and the fault is reported to the platform domain control subsystem and operation and maintenance personnel. At the same time, the platform gate control subsystem will check the switch status of the platform door. If the platform door is abnormally opened, the platform gate control subsystem will control the platform door motor to close the door.

[0046] At the same time, in this embodiment, complete physical and logical communication connections are established between the platform domain control subsystem and the platform gate control subsystem, between the platform domain control subsystem and the external system, and between the platform gate control subsystem and the platform door actuator, to ensure that when any channel of the platform domain control subsystem or the platform gate control subsystem fails, the platform door control system can still communicate normally inside and outside. The two-out-of-two channels of the platform domain control subsystem and the two-out-of-two channels of the platform gate control subsystem both have independent clocks (physical crystal oscillators) to ensure that when any channel fails, the other channel still has a clock to drive it to continue running. The two channels of the platform domain control subsystem and the platform gate control subsystem do not use hardware comparators for external digital output, but adopt a reactive fail-safe method to ensure that when any channel fails, the other channel can still output digital quantities to the outside. The two-out-of-two channels of the platform gate control subsystem both have independent motor control circuits to ensure that when any channel fails, the other channel can still drive the platform door motor to the outside.

[0047] The control system of the rail transit door system of the present invention comprises two processing channels of two-out-of-two, and both processing channels are provided with independent motor control circuits for controlling the actuator to perform door opening and closing operations;

[0048] When the rail transit door system fails to vote out of two, the first processing channel is selected to output the control signal of the actuator, and the second processing channel is shut down and directed to the safe side; if an abnormality occurs in the second processing channel, both channels are shut down and directed to the safe side;

[0049] When any processing channel of the rail transit door system fails, the processing channel will shut down and direct to the safe side, and the other processing channel will directly output the control signal of the actuator without two-out-of-two voting.

[0050] The electronic device described in the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is loaded into the processor, the control method of the rail transit door system is implemented.

[0051] The computer-readable storage medium of the present invention stores a computer program, and when the computer program is executed by a processor, the control method of the rail transit door system is implemented.

[0052] The electronic device described in the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and is characterized in that when the computer program is loaded into the processor, the control method of the vehicle door system and the platform door system is implemented.

[0053] The computer-readable storage medium of the present invention stores a computer program, and when the computer program is executed by a processor, the control method of the vehicle door system and the platform door system is implemented.

[0054] The computer-readable storage media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, flash memory, or any other medium that can be used to store the desired program code in the form of instructions or data structures and that can be accessed by a computer.

[0055] The processor is used to execute the computer program stored in the memory to implement each step of the method involved in the above embodiment.

Claims

1. A control method for a rail transit door system, characterized in that: The rail transit door system comprises two processing channels of two-out-of-two, and both processing channels are provided with independent motor control circuits for controlling the actuator to perform door opening and closing operations; When the rail transit door system fails to vote out of two, the first processing channel is selected to output the control signal of the actuator, and the second processing channel is shut down and directed to the safe side; if an abnormality occurs in the second processing channel, both channels are shut down and directed to the safe side; When any processing channel of the rail transit door system fails, the processing channel will shut down and direct to the safe side, and the other processing channel will directly output the control signal of the actuator without two-out-of-two voting.

2. The control method of the rail transit door system according to claim 1, characterized in that: The rail transit door system comprises a door control system, which comprises two processing channels of two-out-of-two, and controls the door actuator to perform the door opening and closing operations.

3. The control method of the rail transit door system according to claim 2, characterized in that: The door control system receives control instructions from the signal system; physical connections and logical connections are established between the signal system and each processing channel of the door control system, and between each processing channel of the door control system and the door actuator for communication.

4. The control method of the rail transit door system according to claim 1, characterized in that: The rail transit door system includes a platform door control system, which includes a platform domain control subsystem and a platform door control subsystem; The platform domain control subsystem and the platform door control subsystem both include two-out-of-two processing channels to control the platform door actuators to perform the opening and closing operations of the platform doors.

5. The control method of the rail transit door system according to claim 4, characterized in that: The platform domain control subsystem receives control instructions from the signal system, and physical and logical connections are established for communication between the signal system and each processing channel of the domain control subsystem, between each processing channel of the domain control subsystem and each processing channel of the gate control subsystem, and between each processing channel of the gate control subsystem and the platform door actuator.

6. The control method of the rail transit door system according to claim 1, characterized in that: Each processing channel of the rail transit door system is provided with an independent clock.

7. The control method of the rail transit door system according to claim 1, characterized in that: The output of the rail transit door system adopts a reactive fail-safe mode.

8. The control method of the rail transit door system according to claim 1, characterized in that: During the initialization and operation of the rail transit door system, the rail transit door system and each device performs self-inspection, and the processing channel where a fault is detected is shut down and directed to the safe side.

9. The control method of the rail transit door system according to claim 1, characterized in that: The self-check includes processor self-check, memory self-check, clock monitoring, temperature monitoring, key voltage monitoring, execution sequence checking, input and output self-check and cycle monitoring.

10. A control system for a rail transit door system, characterized in that: The rail transit door system comprises two processing channels of two-out-of-two, and both processing channels are provided with independent motor control circuits for controlling the actuator to perform door opening and closing operations; When the rail transit door system fails to vote out of two, the first processing channel is selected to output the control signal of the actuator, and the second processing channel is shut down and directed to the safe side; if an abnormality occurs in the second processing channel, both channels are shut down and directed to the safe side; When any processing channel of the rail transit door system fails, the processing channel will shut down and direct to the safe side, and the other processing channel will directly output the control signal of the actuator without two-out-of-two voting.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the computer program is loaded into a processor, the control method for a rail transit door system according to any one of claims 1 to 9 is implemented.

12. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the control method for a rail transit door system according to any one of claims 1 to 9 is implemented.

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