CN102081402B - Vehicle-mounted control and diagnosis system for medium-low speed maglev train - Google Patents
Vehicle-mounted control and diagnosis system for medium-low speed maglev train Download PDFInfo
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Abstract
The invention relates to a vehicle-mounted control and diagnosis system for a medium-low speed maglev train. The vehicle-mounted control and diagnosis system comprises communication components, control switch components, display components, control object components and a controller, wherein the communication components comprise a train bus, a vehicle bus, a train control line and a vehicle control line which are used for transmitting control commands, control parameters, detection states and data; the control switch components comprise a driver key, a control crank and a control switch which are used for the operation of personnel; the display components comprise a state screen, a signal screen, an indicating lamp and an analog meter which are used for displaying the state and the data of train equipment; the control object components comprise a low-voltage switchgear, a high-voltage switchgear, an AD110 power supply, a DD280 power supply, an auxiliary inverter, a suspension controller, a traction inverter, a braking system, a vehicle door and an air conditioner; and the controller is connected with all the components through the communication components and is used for completing the functions of information monitoring, information processing, control instruction generation, fault diagnosis and data storage. The vehicle-mounted control and diagnosis system has the advantages of simple structure, high degree of automation, wide application range, high function integration level, high reliability and the like and operates stably.
Description
Technical field
The present invention is mainly concerned with the opertaing device field of magnetic-levitation train, refers in particular to the control system that a kind of middle low-speed maglev train is used.
Background technology
In the prior art, the vehicle control syetem of middle low-speed maglev train is main with network control mode, utilizes computer network to realize the control and the diagnosis of train; Be the reliability that further improves train control system in addition, generally control the emergency operating control that realizes train by the rigid line relay.Wherein, major control and logic determines under network schemer, network unlock mode and the ATC pattern are carried out by microcomputer, part important or relate to safe logic determines and comprehensively except that microcomputer is inner carry out, still adopt hardware logic electric circuit in the control circuit.
Summary of the invention
The technical matters that the present invention will solve just is: to the technical matters that prior art exists, the present invention provide a kind of simple and compact for structure, automaticity is high, applied widely, functional integration is high, the middle low-speed maglev train of working stability, good reliability is with vehicle-mounted control and diagnostic system.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
Low-speed maglev train is characterized in that comprising with vehicle-mounted control and diagnostic system in a kind of:
Communications component comprises train bus-line, vehicle bus, train line and vehicle control line, is used to transmit steering order, controlled variable, detected state and data;
The CS assembly comprises driver's key, control crank and CS, is used for driver or maintainer's operation;
Display module comprises state screen, signal screen, pilot lamp and simulation table, is used for the state and the data of display column vehicle device;
The controlling object assembly comprises low-voltage cabinet, high-voltage board, AD110 power supply, DD280 power supply, subordinate inverter, suspension controller, traction invertor, brake system, car door and air governor;
Controller links to each other with above-mentioned each parts and is used for accomplishing information monitoring, information processing, steering order generation, fault diagnosis, data storage function through communications component.
As further improvement of the present invention:
Said controller is provided with three kinds of control models:
Network control mode, the control model when normally moving for train adopts the distributed PC real-time control system, and each system connects together with the bus communication mode, realizes control, diagnosis, protection and the supervision of full train at cab;
Network release control model is the control model of train stable operation, under the situation of train individual networks system unit fault, by the network system parts of driver through CS shield components fault;
Emergent control model, the pattern of operation when the Train Control complete network is paralysed.
Said controller is provided with three kinds of driving models: pilot steering pattern, pilot steering pattern under automatic driving mode, the ATP monitoring.
Said train bus-line connects all row of train, and vehicle bus is this unit vehicle bus.
Compared with prior art, the invention has the advantages that:
1, among the present invention low-speed maglev train with vehicle-mounted control and diagnostic system; Simple and compact for structure, automaticity is high, applied widely, functional integration is high, working stability, good reliability; Be characterized in adopting three kinds of redundant each other control models, i.e. network control mode, release control model and rigid line control model, and Redundancy Design has also been carried out in system control model inside; According to selected driving model, can round-the-clockly satisfy the requirement of train operation.Therefore; The present invention can high-quality completion in the control and the diagnosis of low-speed maglev train traction & braking, suspend guiding and backup system; Guarantee the security of operation and the high-quality riding quality of magnetic-levitation train, and the present invention also has the advantage that magnetic-levitation train is organized into groups according to the volume of the flow of passengers flexibly;
2, the present invention is main with network control mode, utilizes computer network to realize the control and the diagnosis of train; Be the reliability that further improves train control system in addition, control the emergency operating control that realizes train by the rigid line relay;
3, three kinds of control models all can normally be moved design according to train among the present invention, do not influence the runnability of train, and these three kinds of control models have all adopted Redundancy Design, can guarantee train running on scheduled time, stable operation fully.
Description of drawings
Fig. 1 is the structural framing synoptic diagram of system of the present invention;
Fig. 2 is the functional framework synoptic diagram of system of the present invention;
Fig. 3 is the construction framework figure of the whole control model of the present invention;
Flow process framework synoptic diagram when Fig. 4 is system of the present invention execution.
Embodiment
Below will combine Figure of description and specific embodiment that the present invention is explained further details.
Middle low-speed maglev train is with vehicle-mounted control and diagnostic system; Comprise controller (CCU/VCU), controlling object assembly, CS assembly, display module and communications component; Wherein, controller (CCU/VCU) is used for accomplishing functions such as information monitoring, information processing, steering order generation, fault diagnosis, data storage; The controlling object assembly comprises equipment such as low-voltage cabinet, high-voltage board, AD110 power supply, DD280 power supply, subordinate inverter, suspension controller, traction invertor, brake system, car door, air governor; The CS assembly comprises driver's key, control crank and CS, is used for driver or maintainer's operation; Display module comprises state screen, signal screen, pilot lamp and simulation table, is used for the state and the data of display column vehicle device; Communications component comprises train bus-line (WTB), vehicle bus (MVB), train line and vehicle control line, is used to transmit steering order, controlled variable, detected state and data.
As shown in Figure 2, the present invention mainly comprises four basic functions: network control comprises functions such as train bus-line management, vehicle bus management, data recording and remote transmission; Control of authority comprises control of authority, changes functions such as end control and pattern control; Device control comprises functions such as electrical control, braking control, vehicle arrangement control, cab equipment control, detection, demonstration and logic be chain; System diagnostics comprises train diagnostic system and vehicle diagnosing system.
Through using system of the present invention; In instantiation; Adopt network (normally) control model, network release control model and emergent three kinds of (rigid line) patterns of controlling in the basic control mode of train, its control model construction framework is as shown in Figure 3, specifies as follows:
Network control mode: full train is provided with train bus-line (WTB) and MVB (MVB), and WTB connects full row, and MVB is this unit vehicle bus.Train Control is the distributed PC real-time control system, and train four big systems connect together with the bus communication mode, realizes control, diagnosis, protection and the supervision of full train at cab, so that the train Based Intelligent Control.Train adopts this kind control model when normally moving.
Network release control model: under the situation of train individual networks system unit fault, be to realize train stable operation, by the driver through behind the network system parts of CS shield components fault, the control model of train stable operation.
Emergent control (rigid line) pattern: when the Train Control complete network is paralysed, for realizing that train is stable, the control model of running on time.This control model protection system function does not have network control system perfect.
Through using system of the present invention, in instantiation, the basic driving model of train is divided into pilot steering pattern, the pilot steering pattern under automatic driving mode, the ATP monitoring, and explanation is as follows respectively:
Automatic driving mode: by the driving model that ATP+ATO+ATS forms, the operation of train is controlled the completion train operation by the ground control centre basically, is the driving model of the normal operation of middle low-speed maglev train.
ATP monitoring pilot steering pattern down: equipment such as ATO breaks down in the ATC system, train under the ATP monitoring, the driving model that train is controlled by the driver.
The pilot steering pattern: under the situation of the ATP system and the ATO system failure, by the driving model of driver control train, this driving model is applied under the emergency rating fully.
Low-speed maglev train safety loop wire mainly is made up of brake hard loop wire, integrity of train loop wire, train vehicle door status loop wire, train suspended state loop wire and train activation loop wire 5 parts among the present invention.
Through using system of the present invention, as shown in Figure 4 in instantiation, overall control flow of the present invention mainly is used for realizing following 26 sport control function: the train mobilizing function; The train driving mode capabilities; Confirm that the train Enable Pin confirms function; The train operation control model is confirmed function; Train DC110V battery pack drops into integrality and judges; The train net is pressed measuring ability; Vehicle-mounted auxiliary power start; Vehicle-mounted accessory power supply cuts out; The accessory power supply control that resets; Train plays floating control; Train landing control; The closed permission of high-speed circuit breaker controlled; The high-speed circuit breaker failure judgment; The direction logic control; The train indication of dispatching a car; Train traction control; Train braking control; Train adapts to prominent disconnected, the figure throwing control of ground power supply system; Train brake hard control; Train ramp start-up control; Train changes end control; Train speed limit control; Vehicle-mounted ATP Control for Speed Limitation function; The automatic car controlling function of vehicle-mounted ATO; Train receives the control function of safe loop wire; Train shows and diagnostic function.
Below will be with concrete application example, the operation of system of the present invention is elaborated.
1, the present invention is in the embodiment of normal operation;
Train activates: the train activator switch is got to ON position control power connection; Each module power-on self-test of network control system in the communications component; Each unit MVB network, RS485 network, the self check of CAN network; Two redundant each other CCU of car selected at random one as MVB master, simultaneously WTB is initialized as from node.
Driver's key is confirmed the train operation end: master control is handled cab and is launched; When driver's key of a cab placed operation position (ON), this cab was made as master control and handles cab.That is, master control is handled cab driver key and is got to the ON position and connect DXM signal wire input high level, and this high level signal confirms that local terminal has makes the local terminal relay get electronic work for the time being, output train control of authority power supply; Simultaneously, this high level signal will cause far-end (non-manipulatable end) relay to get electronic work, guarantee that the signal wire of local terminal (manipulatable end) connection DXM module is input as low level; Accomplishing the local terminal cab is that cab mandate (being that local terminal is had the right) is handled in master control.
The CCU program should be carried out following operation according to driver's key: if do not have WTB master in the WTB bus, it is main by force that the MVB master CCU that then has the right to hold will upgrade to WTB; If do not have WTB master in the WTB bus, it is weak main that the subsequent use chief commander of MVB who then has the right to hold upgrades to WTB; Network system begins to receive and can carry out other input/output control command of driver's desk; If network system receive local terminal have the right with far-end have the right signal effective simultaneously or non-change under the end operating mode local terminal have the right with far-end have the right simultaneously invalid, then network system output brake hard and carry out corresponding operating according to power-down logic.
The train operation control model is confirmed: the train operation control model is confirmed that by master control manipulatable end control model switch position CCU carries out corresponding logical process and control according to the operation control model to train operation control; If only connected that the normal mode signal of DXM is input as high level train for normal operation control model, normally move under the control model, network system is carried out complete logic control and supervision to train operation control; Be input as high level if connect the unlock mode signal of DXM; Then train is a release operation control model; Release operation control model lower network system controls train operation, but all peripheral controlled conditions of network system bypass are directly controlled and kept watch on train according to input signal; Be input as high level if only connect the contingency mode signal of DXM, then train is the emergency operating control model, and emergency operating control model lower network system is only kept watch on train operation, all control function of network system shielding;
The train net is pressed and is detected, and no matter which kind of operation control model train is under, and network system is all compressed into row to the train net of voltage sensor collection in the high-voltage board and detected in real time: the low net of train is pressed, and train net pressure value continues 100ms and is lower than 1000 volts; Train net positive pressure is normal, and train net pressure value continues 100ms greater than 1000 volts and less than 1950 volts; The high net of train is pressed, and train net pressure value continues 100ms greater than 1950 volts; The networked control system of the train system compresses into row according to the train net and judges generation " line voltage overvoltage ", and " line voltage is under-voltage " failure message also shows through driver's display, breaks, cancels the backup system enabled instruction with the time-division master.
Vehicle-mounted accessory power supply control: the train handling platform is provided with train auxiliary power supply CS; Normal operation control model and release move under the control model when master control manipulatable end auxiliary power supply CS and place when closing; Network system is carried out corresponding control according to the logic that powers on of correspondence, the startup of accomplishing vehicle-mounted accessory power supply automatically with close;
Train plays floating control: train normally moves control model and release operation control model lower network system realizes the control to the train suspension according to the output that Suspension Control logic control train plays floating instruction.
Train lands and controls: train normally moves control model and release operation control model lower network system works the control that realization is landed to train of cancelling of floating instruction according to Suspension Control logic control train.
Lead control: when a cab is launched, the lead of train must manually be provided with through " reversing lever ".Reversing lever is provided with three above the folds, F, 0 and R, respectively correspondence forward, 0 and backward.
(1), from changing into backward forward, or, must satisfy following condition for validity from changing into backward forward in order to change train directions:
Staticly surpass 3 seconds;
Braking instruction is electric brake hard;
Dispose ready;
A cab is launched;
When cab was abandoned, two unit were made as lead on the contrary, and the direction signalization will be reseted.
(2) following condition is satisfied could change lead
Direction is provided with effectively;
Once be made as forward;
Train steady at least 1 second;
Satisfy if change the condition of lead, when switch changes " R " into from " F ", direction will be made as the position at switch place, and vice versa.
(3) when the train traction direction is effective, correct lead is delivered to the traction convertor of each motor-car.If the train traction direction is made as oppositely, the lead of delivering to the traction convertor of each motor-car also will change.Only in zero-speed, and do not have tractive effort command to send, for example during the urgent position of driver's handle or brake handle electricity, the lead of traction convertor could change.
Traction control a: traction handle is arranged on each cab driving position.The traction handle manual operation is given computer system with tractive force or speed command.When conversion between instruction of hand traction power and auto-speed pattern, use the speed control button.
(1) tractive force, speed and coasting signal are the simulating signals of being sent by the potentiometer in the traction handle, and these signals are delivered to AXM (analog input output interface) unit in the cab.
Tractive effort mode: tractive effort command and traction handle position are corresponding.In the coasting position, tractive force/damping force power instruction is made as zero.
Velocity mode: A:, increase or reduce speed through the pushing away forward or pulling back of traction handle.The grade that increases/reduce and the level of traction handle are corresponding.B: if handle is placed on the constant speed position, train will keep same speed, increase or reduce speed up to the position that changes traction handle.
(2) pulling to own reverse direction and move the position at the end to when driver's handle, is exactly the position of the electric brake hard on the handle.The electricity brake hard is sent by a contact in the handle, and contact is opened during brake hard.
(3) when train during with the failure operation mode operation, rate signal provides pulse signal through the pwm pulse generator of a car to traction convertor, keeps train operation.
Braking control a: brake handle is arranged on the driving position in each cab.The brake handle manual operation is delivered to computer system with the brake handle instruction.
Brake handle has an above the fold (electric brake hard), and in application position, handle is variable.
Brake handle instructs by driver operation, or is provided with automatically by different situations, and all the other are mechanical braking for electric braking in most of braking, and composite braking is accomplished by brake system.
Brake signal is a simulating signal, is sent by the potentiometer in the brake handle, and signal is given the AXM in the cab unit.
When driver's handle pulls to own reverse direction and moves the position at the end to, be exactly the position of the electric brake hard on the handle.The electricity brake hard is sent by a contact in the handle, and contact is opened during brake hard.
2, the present invention is in the embodiment of fault handling;
1), Train Control pattern fault:
The control model of middle low velocity magnetic-levitation train is divided into network (normally) control model, network release control model and emergent three kinds of (rigid line) patterns of controlling.
When the network control mode fault, adopt network release control model;
When network (normally) control model and the whole fault of network release control model, adopt emergent (rigid line) control model
Explain: these three kinds of control models all can normally be moved design according to train, do not influence the runnability of train, and these three kinds of control models have all adopted Redundancy Design, can guarantee train running on scheduled time, stable operation fully.
2), train driving pattern fault:
In low velocity magnetic-levitation train driving model be divided into three kinds of pilot steering pattern, pilot steering patterns under automatic driving mode, the ATP monitoring.
When the automatic driving mode fault, adopt the pilot steering pattern under the ATP monitoring;
When the whole fault of pilot steering pattern under automatic driving mode and the ATP monitoring, adopt the pilot steering pattern.
Explain: when adopting the pilot steering pattern, note situation such as speed limit, closing of the door; These three kinds of driving models have all adopted Redundancy Design when design.
3), trailer system, brake system, auxiliary power supply system and suspension system fault:
When the network control mode fault, adopt network release control model;
When network (normally) control model and the whole fault of network release control model, adopt emergent (rigid line) control model
Explain: these three kinds of control models all can normally be moved design according to train, do not influence the runnability of train, and these three kinds of control models have all adopted Redundancy Design, can guarantee train running on scheduled time, stable operation fully.
3, the present invention is in the embodiment of safe loop wire:
In low-speed maglev train safety loop wire be the basic guarantee of guaranteeing train safe, stable, reliability service, be designed with 5 safe loop wires altogether according to the form of train control system, be respectively:
The brake hard loop wire;
The integrity of train loop wire;
Train vehicle door status loop wire;
Train suspended state loop wire;
Train Control activates loop wire;
4, the embodiment of diagnostic system of the present invention:
Train control system also is responsible for the monitoring and the diagnosis of the important peripherals of vehicle except accomplishing the monitoring and diagnosis to control system; And send into any of control unit for vehicle and all can make following processing unusually:
Storage: store fault and relevant data thereof such as time, license number into central diagnostic memory, utilize PC or card reader to can read these data.
Classification: the importance of whole vehicle functions is divided into four fault ranks with it according to fault:
The A level: vehicle can not move and maybe must stop to handle, and can only drag away;
The B level: conditional operation and control, the feasible next stop that sails to, the back empty wagons that all discharges passengers sails the maintenance station into;
The C level: runnability descends, and operation finishes entering maintenance station, back and repairs;
The D level: runnability descends, and repair message is stored, but display screen does not show more indicating fault.
Show:, can cause driver's attention through sound and light signal (hummer, LED malfunction indicator lamp) immediately if this information is relevant with trailer system; Simple and clear text message is presented on the display screen, with the driver instructor car controlling.
Below only be preferred implementation of the present invention, protection scope of the present invention also not only is confined to the foregoing description, and all technical schemes that belongs under the thinking of the present invention all belong to protection scope of the present invention.Should be pointed out that for those skilled in the art some improvement and retouching not breaking away under the principle of the invention prerequisite should be regarded as protection scope of the present invention.
Claims (3)
1. low-speed maglev train is characterized in that comprising with vehicle-mounted control and diagnostic system in one kind:
Communications component comprises train bus-line, vehicle bus, train line and vehicle control line, is used to transmit steering order, controlled variable, detected state and data;
The CS assembly comprises driver's key, control crank and CS, is used for driver or maintainer's operation;
Display module comprises state screen, signal screen, pilot lamp and simulation table, is used for the state and the data of display column vehicle device;
The controlling object assembly comprises low-voltage cabinet, high-voltage board, AD110 power supply, DD280 power supply, subordinate inverter, suspension controller, traction invertor, brake system, car door and air governor;
Controller links to each other with above-mentioned each parts and is used for accomplishing information monitoring, information processing, steering order generation, fault diagnosis, data storage function through communications component;
Said controller is provided with three kinds of control models:
Network control mode, the control model when normally moving for train adopts the distributed PC real-time control system, and each system connects together with the bus communication mode, realizes control, diagnosis, protection and the supervision of full train at cab;
Network release control model is the control model of train stable operation, under the situation of train individual networks system unit fault, by the network system parts of driver through CS shield components fault;
Emergent control model, the pattern of operation when the Train Control complete network is paralysed;
The train operation control model is confirmed that by master control manipulatable end control model switch position controller carries out corresponding logical process and control according to the operation control model to train operation control; If only connected that the normal mode signal of DXM is input as high level train for normal operation control model, normally move under the control model, network system is carried out complete logic control and supervision to train operation control; Be input as high level if connect the unlock mode signal of DXM; Then train is a release operation control model; Release operation control model lower network system controls train operation, but all peripheral controlled conditions of network system bypass are directly controlled and kept watch on train according to input signal; Be input as high level if only connect the contingency mode signal of DXM, then train is the emergency operating control model, and emergency operating control model lower network system is only kept watch on train operation, all control function of network system shielding.
2. low-speed maglev train is characterized in that with vehicle-mounted control and diagnostic system said controller is provided with three kinds of driving models in according to claim 1: pilot steering pattern, pilot steering pattern under automatic driving mode, the ATP monitoring.
3. low-speed maglev train is characterized in that with vehicle-mounted control and diagnostic system in according to claim 1 and 2: said train bus-line connects all row of train, and vehicle bus is this unit vehicle bus.
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