CN108205305A - Train network control system and method based on CAN - Google Patents
Train network control system and method based on CAN Download PDFInfo
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- CN108205305A CN108205305A CN201611183425.6A CN201611183425A CN108205305A CN 108205305 A CN108205305 A CN 108205305A CN 201611183425 A CN201611183425 A CN 201611183425A CN 108205305 A CN108205305 A CN 108205305A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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Abstract
The present invention proposes a kind of train network control system and method based on CAN, the system includes the first control unit, CAN train bus-lines, sub-control unit corresponding with often section vehicle and CAN vehicle bus, CAN train bus-lines and carries out real-time Communication for Power with the first control unit and connect；First control unit carries out real-time Communication for Power with multiple sub-control units by CAN train bus-lines and connect；Each sub-control unit carries out real-time Communication for Power with Unit first, second of affiliated vehicle by first, second CAN bus of its affiliated vehicle respectively and connect；Real-time Communication for Power connection is carried out by CAN train bus-lines between each sub-control unit；Each sub-control unit, there are when failure or redundancy, the CAN message in the first and/or second CAN bus is being migrated to third CAN bus on detecting the first and/or second CAN bus.The invention can the effective real-time of the reliability of lifting system and signal transmission, reduce cost and hardware development difficulty.
Description
Technical field
The present invention relates to train communication technical field more particularly to a kind of train network control systems and side based on CAN
Method.
Background technology
With the continuous development of CAN (Controller Area Network, controller local area network) network technology, CAN
Technology has corresponding international standard in train field, and the real-time of signal transmission is more preferable, have on automobile it is extensive and into
Ripe application, CAN network data link layers meet ISO 11898-1 codes and standards, and physical layer meets ISO 11898-2 specification marks
It is accurate.
To solve the network control problem of light rail, in the relevant technologies, for example, Publication No. CN201410232398, invention
In the patent of invention of entitled " train network control system ", main control unit and network control subsystem corresponding with every section vehicle
System；Each network control subsystem includes ETBN and Ethernet interface gateway, and Ethernet interface gateway passes through the first Ethernet
Interface is connect with ETBN；Ethernet interface gateway is connect by device network interface with the mobile unit on vehicle；Adjacent net
Network control subsystem passes through the second Ethernet interface by adjacent ETBN connections, between adjacent ETBN and connects；Main control unit leads to
It crosses the first Ethernet interface to connect with the ETBN in the network control subsystem of place, and passes through each network control subsystem
In ETBN obtain train running state information, and according to the running state information send control signal.
In another example Publication No. CN201610003634, entitled " train network control system based on TCN "
In patent of invention, the first CCU control units, WTB train bus-lines and MVB vehicle bus；MVB vehicle bus includes mutually independent
First order MVB bus and second level MVB bus；Wherein, WTB train bus-lines are led to by gateway and the first CCU control units
Letter connection；First CCU control units are communicatively coupled by the first kind control subsystem of first order MVB bus and train,
It is communicatively coupled by second level MVB bus and the second class control subsystem；First kind control subsystem is to logical on train
Believe that the requirements of bandwidth are more than the control system of preset value, the second class control subsystem to be less than to the requirements of communication bandwidth or
Equal to the control system of preset value.
Under first way, train control network, Ethernet are built since patent CN201410232398 is based on Ethernet
Advantage be that transmission rate is fast, and disadvantage is that real-time is poor, and real-time is extremely important for Train Control；Second
Under kind mode, since patent CN201610003634 is to construct train network control system based on TCN, and TCN standards is excellent
Gesture is consistent maturation, but kernel software technology and hardware are only grasped by a few producer, and acquisition cost is high, and day
Development is easily under one's control afterwards, and mating development difficulty is larger.
Invention content
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, an object of the present invention is to provide a kind of train network control system based on CAN, can effectively carry
The reliability of the system of liter, the real-time of promotion signal transmission, reduces cost and hardware development difficulty, and without being bound by people.
It is another object of the present invention to propose a kind of networked control system of the train method based on CAN.
In order to achieve the above objectives, the train network control system based on CAN that first aspect present invention embodiment proposes, packet
It includes：It is first control unit, CAN train bus-lines, with the often corresponding sub-control unit of section vehicle and corresponding with every section vehicle
CAN vehicle bus, each CAN vehicle bus include mutually independent first CAN bus, the second CAN bus and the 3rd CAN
Bus, wherein, the CAN train bus-lines carry out real-time Communication for Power with first control unit by the first gateway and connect；It is described
First control unit carries out real-time Communication for Power with multiple sub-control units by the CAN train bus-lines and connect；Per height, control is single
Member carries out real-time Communication for Power with the first unit of the affiliated vehicle by the first CAN bus of its affiliated vehicle and connect；It is described every
A sub-control unit carries out real-time Communication for Power company by the second CAN bus of its affiliated vehicle and the second unit of the affiliated vehicle
It connects, wherein, the first unit is different with the function of the second unit；Between the corresponding sub-control unit of the often section vehicle
Real-time Communication for Power connection is carried out by CAN train bus-lines；Each sub-control unit respectively to first CAN bus and/or
Second CAN bus carries out failure or redundancy detection, exists on first CAN bus and/or the second CAN bus is detected
When failure or redundancy, the CAN message in first CAN bus and/or the second CAN bus is migrated to the third
CAN bus, to carry out real-time Communication for Power company by the first unit of third CAN bus and the affiliated vehicle and/or second unit
It connects.
The train network control system based on CAN that first aspect present invention embodiment proposes is established by the first gateway
CAN train bus-lines are connect with the real-time Communication for Power of the first control unit；First control unit passes through CAN train bus-lines and multiple sub- controls
Unit processed carries out real-time Communication for Power connection；Each sub-control unit passes through first, second CAN bus of its affiliated vehicle and institute respectively
The Unit first, second for belonging to vehicle carries out real-time Communication for Power connection；Often pass through CAN trains between the corresponding sub-control unit of section vehicle
Bus carries out real-time Communication for Power connection；Each sub-control unit on the first and/or second CAN bus is detected there are failure or
During redundancy, the CAN message in the first and/or second CAN bus is migrated to third CAN bus, can effectively be promoted and be
The reliability of system, the real-time of promotion signal transmission, reduces cost and hardware development difficulty, and without being bound by people.
In order to achieve the above objectives, the networked control system of the train method based on CAN that second aspect of the present invention embodiment proposes, packet
It includes：CAN train bus-lines are established by the first gateway to connect with the real-time Communication for Power of the first control unit；It is total by the CAN trains
Line establishes the real-time Communication for Power connection between the first control unit and multiple sub-control units；Pass through the affiliated vehicle of each sub-control unit
The first CAN bus establish real-time Communication for Power between each sub-control unit and the first unit of the affiliated vehicle and connect
It connects；Each sub-control unit and the institute are established by the second CAN bus of each affiliated vehicle of sub-control unit
Belong to the real-time Communication for Power connection between the second unit of vehicle, wherein, the first unit is different with the function of the second unit；
The real-time Communication for Power established between the often corresponding sub-control unit of section vehicle by the CAN train bus-lines connects；Respectively to described
First CAN bus and/or the second CAN bus carry out failure or redundancy detection, detect first CAN bus and/or
There are when failure or redundancy in second CAN bus, by the CAN in first CAN bus and/or the second CAN bus
Message is migrated to the third CAN bus, to pass through the first unit and/or second of third CAN bus and the affiliated vehicle
Unit carries out real-time Communication for Power connection.
The networked control system of the train method based on CAN that second aspect of the present invention embodiment proposes is established by the first gateway
CAN train bus-lines are connect with the real-time Communication for Power of the first control unit；First control unit passes through CAN train bus-lines and multiple sub- controls
Unit processed carries out real-time Communication for Power connection；Each sub-control unit passes through first, second CAN bus of its affiliated vehicle and institute respectively
The Unit first, second for belonging to vehicle carries out real-time Communication for Power connection；Often pass through CAN trains between the corresponding sub-control unit of section vehicle
Bus carries out real-time Communication for Power connection；Each sub-control unit on the first and/or second CAN bus is detected there are failure or
During redundancy, the CAN message in the first and/or second CAN bus is migrated to third CAN bus, can effectively be promoted and be
The reliability of system, the real-time of promotion signal transmission, reduces cost and hardware development difficulty, and without being bound by people.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
It obtains significantly or is recognized by the practice of the present invention.
Description of the drawings
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Significantly and it is readily appreciated that, wherein：
Fig. 1 is the structure diagram for the train network control system based on CAN that one embodiment of the invention proposes；
Fig. 2 is a kind of single gateway network topological diagram of the embodiment of the present invention；
Fig. 3 is a kind of multiple gateway parallel network topological diagram of the embodiment of the present invention；
Fig. 4 is a kind of single gateway formula train control network schematic diagram of the embodiment of the present invention；
Fig. 5 is a kind of parallel train control network schematic diagram of multiple gateway of the embodiment of the present invention；
Fig. 6 is the structure diagram for the train network control system based on CAN that another embodiment of the present invention proposes；
Fig. 7 is the flow diagram for the networked control system of the train method based on CAN that one embodiment of the invention proposes；
Fig. 8 is the flow diagram for the networked control system of the train method based on CAN that another embodiment of the present invention proposes.
Specific embodiment
The embodiment of the present invention is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not considered as limiting the invention.On the contrary, this
The embodiment of invention includes falling into all changes in the range of the spirit and intension of attached claims, modification and equivalent
Object.
Fig. 1 is the structure diagram for the train network control system based on CAN that one embodiment of the invention proposes.
It is disclosed by the invention partly using Ethernet relative to existing Train Control management network generally using TCN networks
Based on the train network control system of CAN based entirely on CAN bus standard, have corresponding international standard in train field,
The real-time of signal transmission is more preferable, has extensive and ripe application on automobile.
Relative to TCN networks, the networked control system of the train cost the present invention is based on CAN is lower, is not controlled by Monopolistic Firm, should
It is small with layer protocol standard and associated control hardware development difficulty, easily grasp core technology, and have on the whole it is simple in structure,
Securely and reliably, technology maturation, it is of low cost, without being bound by people the features such as.
Referring to Fig. 1, it is somebody's turn to do the train network control system based on CAN and includes：First control unit 100, CAN train bus-lines
200th, sub-control unit 300 corresponding with often section vehicle and CAN vehicle bus 400 corresponding with every section vehicle, each CAN
Vehicle bus 400 includes mutually independent first CAN bus 410, the second CAN bus 420 and third CAN bus 430,
In, CAN train bus-lines 200 carry out real-time Communication for Power with the first control unit 100 by the first gateway and connect；First control unit
100 carry out real-time Communication for Power by CAN train bus-lines 200 with multiple sub-control units 300 connect；Each sub-control unit 300 is logical
It crosses the first CAN bus 410 of its affiliated vehicle and the first unit of affiliated vehicle carries out real-time Communication for Power and connect；Per height, control is single
Member 300 carries out real-time Communication for Power with the second unit of affiliated vehicle by the second CAN bus 420 of its affiliated vehicle and connect, wherein,
First unit is different with the function of second unit；Often pass through CAN train bus-lines between the corresponding sub-control unit 300 of section vehicle
200 carry out real-time Communication for Power connection；Each sub-control unit 300 is respectively to the first CAN bus 410 and/or the second CAN bus 420
Carry out failure either redundancy detection on the first CAN bus 410 and/or the second CAN bus 420 is detected there are failure or
During redundancy, the CAN message in the first CAN bus 410 and/or the second CAN bus 420 is migrated to third CAN bus
430, it is connect with carrying out real-time Communication for Power with the first unit and/or second unit of affiliated vehicle by third CAN bus 530.
In an embodiment of the present invention, networked control system of the train function include mainly undertake train and its subsystem management,
Condition monitoring and fault diagnosis and writing function, including at least trailer system monitoring, brake system monitor, car door monitoring, air-conditioning
Monitoring, auxiliary power supply monitoring, passenger information system monitoring, the monitoring of drivers' cab display unit, Emergency Light control etc., are that train is each
Sub-control system provides various real-time control signals.Simple achievable single gateway structure can be used in entire control, can also be used
Multiple gateway parallel-connection structure, all communication networks select CAN bus to control, and key structure point is controlled simultaneously using rigid line and network
It deposits, rigid line is preferential.
Wherein, rigid line is exactly hard spot connection, for example, switching signal, 4-20mA signals directly by cable transmission to other side,
Flexible cord is exactly by carrying out signal transmission after number conversion, for example, with RS485, MOUDBUS etc. first converts analog signal
Into digital quantity, after being transmitted to other side, further decoding.
As a kind of example, referring to Fig. 2, Fig. 2 is a kind of single gateway network topological diagram of the embodiment of the present invention, wherein, CCU is
Central control unit (Central Control Unit), TCC are central traction control unit (Transmission Central
Control Unit), ATC be train automatic controlling system (Automatic Train Control), single gateway shown in Fig. 2
Network topological diagram, simple in structure, suitable for building test wire, network load rate is relatively low, can verify new product and new equipment.
As a kind of example, referring to Fig. 3, Fig. 3 is a kind of multiple gateway parallel network topological diagram of the embodiment of the present invention, and gateway is superfluous
It is remaining, single gateway network topological diagram shown in Fig. 2 is compared, system is more stable and reliable, suitable for formally runing line.
In one embodiment of the invention, the train network control system based on CAN is somebody's turn to do to include：First control unit
100。
In an embodiment of the present invention, the first control unit 100 for example can be programmable logic controller (PLC)
(Programmable Logic Controller, PLC) or industrial control computer (Industrial Personal
Computer, IPC).
Further, the first control unit 100 can include：First central control unit CCU, the first central traction control
Unit TCC and train automatic controlling system ATC.
Chip controls are used different from the CCU of existing row control technology, the CCU of the embodiment of the present invention uses programmable logic control
Device or industrial control computer processed, be integrated with remote input output module (Remote Input Output Module,
RIOM)。
As a kind of example, referring to Fig. 2 and Fig. 3, CCU is the hardcore of train network control system, for vehicle control
System, major function can be divided into system control and monitoring, fault diagnosis etc..Further, concrete function includes：Control is high
Low pressure powers on control for moving back electricity, dormancy awakening, time synchronization, subsystems parts etc..The main control means of CCU are：
Message and hard signal, wherein, message is roughly divided into：State message, control message and startup message, every message eight
Byte, each byte eight.
Wherein, CCU can be for example programmable logic controller (PLC) or industrial control computer, and CCU is integrated with RIOM,
RIOM does not embody in the network topological diagram of Fig. 2 and Fig. 3.RIOM and CCU are integrated, and example, in hardware is generally PCI
(Peripheral component interconnection, external components interconnection standard) plate integrates, and major function is real
The signal of existing CCU is output and input, including the CAN signal and hard signal on CAN train bus-lines 200.
For the embodiment of the present invention using CCU as programmable logic controller (PLC) example, CCU periodically reads input variable, performs
The function of application program refreshes output variable.
TCC is the hardcore of trailer system, controls traction controller (the Transmission Control of vehicle
Unit, TCU), input instruction includes load, acceleration-deceleration numerical value, the on-position in each compartment etc., and output order includes motor
Torque clicks execution state of value etc..
ATC is the core of signal system, connects the transmission between ground control centre and train, wayside train control center leads to
Cross ATC control trains.ATC includes 3 subsystems, respectively：Automatic train protection system (Automatic Train
Protection, ATP), automatic train operation system (Automatic Train Operation, ATO).And train is automatic
Monitoring system (Automatic Train Supervision, ATS).The instruction of ATC is forwarded by train network control system
Or judge, to realize the control to train, the data of input and output are the operating status of train.
In one embodiment of the invention, the train network control system based on CAN is somebody's turn to do to include：CAN train bus-lines
200。
In an embodiment of the present invention, the baud rate of CAN train bus-lines 200 for example can be 500Kbps.
Optionally, train network control system should complete network ON TRAINS after electricity in preset time, such as in 60s
Initialization and startup normal operating, the baud rate of CAN train bus-lines 200 is 500Kbps, and the baud rate of CAN vehicle bus 400 is
250Kbps。
In an embodiment of the present invention, CAN train bus-lines 200 carry out reality by the first gateway and the first control unit 100
When communicate to connect.
As a kind of example, the first gateway is, for example, the gateway A in Fig. 2, the CAN being responsible on forwarding CAN train bus-lines 200
Signal realizes the communication of the CAN message of CAN train bus-lines 200 network between each compartment and in compartment.
In an embodiment of the present invention, the first control unit 100 passes through CAN train bus-lines 200 and multiple sub-control units
300 carry out real-time Communication for Power connection.
As a kind of example, referring to Fig. 4 and Fig. 5, Fig. 4 shows for a kind of single gateway formula train control network of the embodiment of the present invention
It is intended to, Fig. 5 is a kind of parallel train control network schematic diagram of multiple gateway of the embodiment of the present invention, and the first control unit 100 is for example
For programmable logic controller (PLC), from fig. 5, it can be seen that CAN train bus-lines 200 are loop wire network, the first control unit 100 with
200 redundancy of CAN train bus-lines, the first control unit 100 carry out reality by CAN train bus-lines 200 and multiple sub-control units 300
When communicate to connect.
It should be noted that the display screen in Fig. 4 and Fig. 5, by virtual switch, can show train status and to train
Carry out part control.
In one embodiment of the invention, the train network control system based on CAN is somebody's turn to do to include：It is corresponding with every section vehicle
Sub-control unit 300.
In an embodiment of the present invention, each sub-control unit 300 by the first CAN bus 410 of its affiliated vehicle with
The first unit of affiliated vehicle carries out real-time Communication for Power connection；Each sub-control unit 300 is total by the 2nd CAN of its affiliated vehicle
Line 420 carries out real-time Communication for Power with the second unit of affiliated vehicle and connect, wherein, first unit is different with the function of second unit.
In an embodiment of the present invention, first unit includes at least one of：Trailer system, braking system, auxiliary supply
Electric system, tire pressure system, black box, electricity leakage sensor, cooling system, DC converters and battery management system；Second unit
Including at least one of：Accumulator, lighting system, air-conditioner control system, electric whistle and rain brush.
Specifically, sub-control unit 300 corresponding with every section vehicle respectively controls every section compartment, often saves in compartment
Subelement distinguished according to function, be hung in two CAN networks, traction power net (i.e. first CAN bus
410) and a comfortable net (i.e. the second CAN bus 420), while a reserved CAN network (i.e. third CAN bus 430) gives over to
It is spare, it is capable of the reliability of effective lifting system.For example, with reference to Fig. 2 and Fig. 3, CAN0 traction braking nets are the first CAN bus
410, CAN1 comfortable nets are the second CAN bus 420, alternatively, referring to Fig. 4 and Fig. 5, CAN2 is the first CAN bus 410, CAN3
It is third CAN bus 430 for the second CAN bus 420 and CAN1.
First unit is the online subelement of traction power, and referring to Fig. 2, first unit is, for example, trailer system, tire pressure
System, black box, braking system, electricity leakage sensor, cooling system, DC converters, battery management system, rear pilot controller,
Auxiliary power supply system etc..
Wherein, trailer system core control hardware for traction controller (Transmission Control Unit,
TCU), it is responsible for controlling motor, the inverter in each section compartment etc.；Receive traffic direction, traction braking order, the enabled letter of traction
Number, head vehicle motor torque, trailer Motor torque etc., output motor rotating speed, speed, busbar voltage etc.；After the advance for controlling train
It moves back, completes the traction function of train.
The core control hardware of braking system is BCU (Brake Control Unit, brak control unit), for example, Fig. 2
In control system 1 core control hardware be BCU1, the core of control system 2 control hardware be BCU2, the core of control system 3
Heart control hardware is BCU3 and the core of control system 4 control hardware is BCU4.BCU control brake assembly and electronics are stayed
Vehicle brakes (Electrical Park Brake, EPB), realizes that conventional brake, emergency braking, parking braking, safety arrestment etc. are more
Kind mode of braking, receives brake command and feeds back itself on-position.
Second unit is comfortable online subelement, and for example, with reference to Fig. 2, second unit is, for example, accumulator, illumination system
System (head lamp controller/atmosphere lamp control system), accessory power supply assembly, air-conditioner control system, electric whistle, rain brush etc..
In an embodiment of the present invention, often pass through CAN train bus-lines 200 between the corresponding sub-control unit 300 of section vehicle
Carry out real-time Communication for Power connection.
As a kind of example, referring to Fig. 5, train uses two-step evolution network, i.e. interior uses CAN vehicle bus
400 communicate, and are communicated between compartment using CAN train bus-lines 200, i.e., often save the corresponding sub-control unit 300 of vehicle
Between real-time Communication for Power connection carried out by CAN train bus-lines 200, train network takes Redundancy Design, and can ensure system can
By property, the operation that train network is enable to stablize.
In one embodiment of the invention, the train network control system based on CAN is somebody's turn to do to include：It is corresponding with every section vehicle
CAN vehicle bus 400.
In an embodiment of the present invention, the baud rate of CAN vehicle bus 400 for example can be 250Kbps.
In an embodiment of the present invention, each CAN vehicle bus 400 includes mutually independent first CAN bus 410, the
Two CAN bus 420 and third CAN bus 430.
In an embodiment of the present invention, each sub-control unit 300 is respectively to the first CAN bus 410 and/or the 2nd CAN
Bus 420 carries out failure or redundancy detection, there is event on the first CAN bus 410 and/or the second CAN bus 420 is detected
When barrier or redundancy, in the first CAN bus 410 and/or the second CAN bus 420 CAN message is migrated to the 3rd CAN
Bus 430, to carry out real-time Communication for Power company by the first unit of third CAN bus 430 and affiliated vehicle and/or second unit
It connects.
As a kind of example, Fig. 5, wherein, CAN2 is the first CAN bus 410, CAN3 be the second CAN bus 420 and
CAN1 is third CAN bus 430, and CAN train bus-lines 200 are loop wire network, the first control unit 100 and CAN train bus-lines 200
Redundancy, train use two-step evolution network, i.e. interior is communicated using CAN vehicle bus 400, used between compartment
CAN train bus-lines 200 communicate, and train network takes Redundancy Design, can ensure the reliability of system, enable train network
Enough stable operations.
Optionally, each sub-control unit 300 respectively carries out the first CAN bus 410 and/or the second CAN bus 420 event
Either there are failure or redundancy letters on the first CAN bus 410 and/or the second CAN bus 420 is detected for redundancy detection for barrier
During breath, in the first CAN bus 410 and/or the second CAN bus 420 CAN message is migrated to third CAN bus 430, it can
The stability of guarantee system, the reliability of lifting system that is, in the case of interior network failure, nor affect on vehicle and lead to
The normal operation of communication network.
In some embodiments, referring to Fig. 6, it is somebody's turn to do the train network control system based on CAN and further includes：500 He of diagnosis unit
Second control unit 600.
In one embodiment of the invention, the train network control system based on CAN is somebody's turn to do to include：Diagnosis unit 500 is used
It is detected in the real-time Communication for Power connection between 200 and first control unit 100 of CAN train bus-lines, obtains testing result, and
Testing result is sent to the second control unit 600.
In one embodiment of the invention, the train network control system based on CAN is somebody's turn to do to include：Second control unit
600, for when testing result generates failure for real-time Communication for Power connection, triggering CAN train bus-lines 200 pass through the second gateway and the
Two control units 600 carry out real-time Communication for Power connection, and by 100 real-time Communication for Power between 200 and first control unit of CAN train bus-lines
CAN message in connection is migrated into the real-time Communication for Power connection between 100 and second control unit 600 of CAN train bus-lines.
Optionally, the real-time Communication for Power by diagnosis unit 500 between 200 and first control unit 100 of CAN train bus-lines
Connection is detected, and when testing result generates failure for real-time Communication for Power connection, triggering CAN train bus-lines 200 pass through the second net
It closes and is connect with the second control unit 600 progress real-time Communication for Power, and is real by between 200 and first control unit of CAN train bus-lines 100
When communication connection in CAN message migrate between 100 and second control unit 600 of CAN train bus-lines real-time Communication for Power connection
In, the reliability of system can be enhanced, ensure the normal operation of vehicle communication network.
In the present embodiment, CAN train bus-lines are established by the first gateway and are connect with the real-time Communication for Power of the first control unit；The
One control unit carries out real-time Communication for Power with multiple sub-control units by CAN train bus-lines and connect；Each sub-control unit difference
Real-time Communication for Power is carried out by first, second CAN bus of its affiliated vehicle with Unit first, second of affiliated vehicle to connect；Often
Real-time Communication for Power connection is carried out by CAN train bus-lines between the corresponding sub-control unit of section vehicle；Each sub-control unit is being examined
It measures in the first and/or second CAN bus there are when failure or redundancy, it will be in the first and/or second CAN bus
CAN message is migrated to third CAN bus, is capable of the reliability of effective lifting system, and the real-time of promotion signal transmission is reduced into
Sheet and hardware development difficulty, and without being bound by people.
Fig. 7 is the flow diagram for the networked control system of the train method based on CAN that one embodiment of the invention proposes.
Referring to Fig. 7, the networked control system of the train method based on CAN of being somebody's turn to do includes：
S71：CAN train bus-lines are established by the first gateway to connect with the real-time Communication for Power of the first control unit.
In an embodiment of the present invention, the baud rate of CAN train bus-lines for example can be 500Kbps, CAN vehicle bus
Baud rate for example can be 250Kbps.
In an embodiment of the present invention, the control unit of the first control unit/second is programmable logic controller (PLC) or work
Industry control computer.
S72：The real-time Communication for Power established between the first control unit and multiple sub-control units by CAN train bus-lines connects
It connects.
S73：Each sub-control unit and affiliated vehicle are established by the first CAN bus of the affiliated vehicle of each sub-control unit
First unit between real-time Communication for Power connection.
In an embodiment of the present invention, first unit includes at least one of：Trailer system, braking system, auxiliary supply
Electric system, tire pressure system, black box, electricity leakage sensor, cooling system, DC converters and battery management system.
S74：Each sub-control unit and affiliated vehicle are established by the second CAN bus of the affiliated vehicle of each sub-control unit
Second unit between real-time Communication for Power connection, wherein, the function of first unit and second unit is different.
In an embodiment of the present invention, second unit includes at least one of：Accumulator, lighting system, airconditioning control
System, electric whistle and rain brush.
S75：The real-time Communication for Power established between the often corresponding sub-control unit of section vehicle by CAN train bus-lines connects.
S76：Failure or redundancy detection are carried out to the first CAN bus and/or the second CAN bus respectively, detecting the
It is there are when failure or redundancy in one CAN bus and/or the second CAN bus, the first CAN bus and/or the 2nd CAN is total
CAN message on line is migrated to third CAN bus, to pass through the first unit and/or second of third CAN bus and affiliated vehicle
Unit carries out real-time Communication for Power connection.
In some embodiments, referring to Fig. 8, the networked control system of the train method based on CAN of being somebody's turn to do further includes：
S81：Real-time Communication for Power connection between CAN train bus-lines and the first control unit is detected, and obtains detection knot
Fruit, and testing result is sent to the second control unit.
S82：Testing result for real-time Communication for Power connection generate failure when, triggering CAN train bus-lines by the second gateway with
Second control unit carries out real-time Communication for Power connection, and will be in real-time Communication for Power connection between CAN train bus-lines and the first control unit
CAN message migrate between CAN train bus-lines and the second control unit real-time Communication for Power connection in.
In the present embodiment, it is detected by the real-time Communication for Power connection between CAN train bus-lines and the first control unit,
Obtain testing result, testing result for real-time Communication for Power connection generate failure when, triggering CAN train bus-lines by the second gateway with
Second control unit carries out real-time Communication for Power connection, and will be in real-time Communication for Power connection between CAN train bus-lines and the first control unit
CAN message migrate into the real-time Communication for Power connection between CAN train bus-lines and the second control unit, can enhance system can
By property, ensure the normal operation of vehicle communication network.
It should be noted that explaining to the train network control system embodiment based on CAN in Fig. 1-Fig. 6 embodiments
The bright networked control system of the train method based on CAN for being also applied for the embodiment, realization principle is similar, and details are not described herein again.
In the present embodiment, CAN train bus-lines are established by the first gateway and are connect with the real-time Communication for Power of the first control unit；The
One control unit carries out real-time Communication for Power with multiple sub-control units by CAN train bus-lines and connect；Each sub-control unit difference
Real-time Communication for Power is carried out by first, second CAN bus of its affiliated vehicle with Unit first, second of affiliated vehicle to connect；Often
Real-time Communication for Power connection is carried out by CAN train bus-lines between the corresponding sub-control unit of section vehicle；Each sub-control unit is being examined
It measures in the first and/or second CAN bus there are when failure or redundancy, it will be in the first and/or second CAN bus
CAN message is migrated to third CAN bus, is capable of the reliability of effective lifting system, and the real-time of promotion signal transmission is reduced into
Sheet and hardware development difficulty, and without being bound by people.
It should be noted that in the description of the present invention, term " first ", " second " etc. are only used for description purpose, without
It is understood that indicate or implying relative importance.In addition, in the description of the present invention, unless otherwise indicated, the meaning of " multiple "
It is two or more.
Any process described otherwise above or method description are construed as in flow chart or herein, represent to include
Module, segment or the portion of the code of the executable instruction of one or more the step of being used to implement specific logical function or process
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discuss suitable
Sequence, including according to involved function by it is basic simultaneously in the way of or in the opposite order, to perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
It should be appreciated that each section of the present invention can be realized with hardware, software, firmware or combination thereof.Above-mentioned
In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be performed with storage
Or firmware is realized.If for example, with hardware come realize in another embodiment, can be under well known in the art
Any one of row technology or their combination are realized：With for the logic gates to data-signal realization logic function
Discrete logic, have suitable combinational logic gate circuit application-specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that realize all or part of step that above-described embodiment method carries
Suddenly it is that relevant hardware can be instructed to complete by program, the program can be stored in a kind of computer-readable storage medium
In matter, the program when being executed, one or a combination set of the step of including embodiment of the method.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, it can also
That each unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould
The form that hardware had both may be used in block is realized, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and is independent product sale or in use, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " example ", " is specifically shown " some embodiments "
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment of the present invention or example.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in combine in an appropriate manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, those of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (10)
1. a kind of train network control system based on CAN, which is characterized in that including the first control unit, CAN train bus-lines,
Sub-control unit corresponding with every section vehicle and CAN vehicle bus corresponding with every section vehicle, each CAN vehicle bus packet
Mutually independent first CAN bus, the second CAN bus and third CAN bus are included, wherein,
The CAN train bus-lines carry out real-time Communication for Power with first control unit by the first gateway and connect；
First control unit carries out real-time Communication for Power with multiple sub-control units by the CAN train bus-lines and connect；
Each sub-control unit is carried out real-time by the first CAN bus of its affiliated vehicle with the first unit of the affiliated vehicle
Communication connection；
Each sub-control unit is carried out by the second CAN bus of its affiliated vehicle and the second unit of the affiliated vehicle
Real-time Communication for Power connects, wherein, the first unit is different with the function of the second unit；
Pass through CAN train bus-lines between the corresponding sub-control unit of the often section vehicle and carry out real-time Communication for Power connection；
Each sub-control unit carries out failure to first CAN bus and/or the second CAN bus respectively or redundancy is examined
Survey, on detecting first CAN bus and/or the second CAN bus there are when failure or redundancy, by described first
CAN message in CAN bus and/or the second CAN bus is migrated to the third CAN bus, to pass through third CAN bus and institute
The first unit of vehicle belonging to stating and/or second unit carry out real-time Communication for Power connection.
2. the train network control system based on CAN as described in claim 1, which is characterized in that further include：Diagnosis unit and
Second control unit, wherein,
The diagnosis unit, for the real-time Communication for Power between the CAN train bus-lines and first control unit connect into
Row detection, obtains testing result, and the testing result is sent to second control unit；
Second control unit, for when the testing result generates failure for real-time Communication for Power connection, described in triggering
CAN train bus-lines carry out real-time Communication for Power by the second gateway and second control unit and connect, and by the CAN train bus-lines
CAN message during real-time Communication for Power is connect between first control unit is migrated to the CAN train bus-lines and described second
In real-time Communication for Power connection between control unit.
3. the train network control system based on CAN as described in claim 1, which is characterized in that the first unit includes
At least one of：
Trailer system, braking system, auxiliary power supply system, tire pressure system, black box, electricity leakage sensor, cooling system, DC transformation
Device and battery management system.
4. the train network control system based on CAN as described in claim 1, which is characterized in that the second unit includes
At least one of：
Accumulator, lighting system, air-conditioner control system, electric whistle and rain brush.
5. the train network control system based on CAN as described in claim 1, which is characterized in that first control unit/
Second control unit is programmable logic controller (PLC) or industrial control computer.
A kind of 6. networked control system of the train method based on CAN, which is characterized in that include the following steps：
CAN train bus-lines are established by the first gateway to connect with the real-time Communication for Power of the first control unit；
The real-time Communication for Power established between the first control unit and multiple sub-control units by the CAN train bus-lines connects；
Each sub-control unit and the affiliated vehicle are established by the first CAN bus of the affiliated vehicle of each sub-control unit
First unit between real-time Communication for Power connection；
Each sub-control unit and the institute are established by the second CAN bus of each affiliated vehicle of sub-control unit
Belong to the real-time Communication for Power connection between the second unit of vehicle, wherein, the first unit is different with the function of the second unit；
The real-time Communication for Power established between the often corresponding sub-control unit of section vehicle by the CAN train bus-lines connects；
Failure or redundancy detection are carried out to first CAN bus and/or the second CAN bus respectively, detecting described the
There are when failure or redundancy in one CAN bus and/or the second CAN bus, by first CAN bus and/or second
CAN message in CAN bus is migrated to the third CAN bus, to pass through the first of third CAN bus and the affiliated vehicle
Unit and/or second unit carry out real-time Communication for Power connection.
7. the networked control system of the train method based on CAN as claimed in claim 6, which is characterized in that further include：
Real-time Communication for Power connection between the CAN train bus-lines and first control unit is detected, and obtains detection knot
Fruit, and the testing result is sent to second control unit；
When the testing result generates failure for real-time Communication for Power connection, trigger the CAN train bus-lines and pass through the second net
Close and carry out real-time Communication for Power with second control unit and connect, and by the CAN train bus-lines and first control unit it
Between CAN message in real-time Communication for Power connection migrate to logical in real time between the CAN train bus-lines and second control unit
In letter connection.
8. the networked control system of the train method based on CAN as claimed in claim 6, which is characterized in that the first unit includes
At least one of：
Trailer system, braking system, auxiliary power supply system, tire pressure system, black box, electricity leakage sensor, cooling system, DC transformation
Device and battery management system.
9. the networked control system of the train method based on CAN as claimed in claim 6, which is characterized in that the second unit includes
At least one of：
Accumulator, lighting system, air-conditioner control system, electric whistle and rain brush.
10. the networked control system of the train method based on CAN as claimed in claim 6, which is characterized in that first control is single
Member/second control unit is programmable logic controller (PLC) or industrial control computer.
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| CN201611183425.6A CN108205305B (en) | 2016-12-20 | 2016-12-20 | Train network control system and method based on CAN |
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| CN201611183425.6A CN108205305B (en) | 2016-12-20 | 2016-12-20 | Train network control system and method based on CAN |
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| CN109795286A (en) * | 2018-12-15 | 2019-05-24 | 阿尔特汽车技术股份有限公司 | A kind of electric automobile air conditioner method for controlling heater based on two-way CAN bus |
| CN110803191A (en) * | 2019-11-18 | 2020-02-18 | 中铁轨道交通装备有限公司 | Door opening linkage control system and method for cab of straddle type monorail vehicle |
| CN111319419A (en) * | 2018-12-15 | 2020-06-23 | 阿尔特汽车技术股份有限公司 | Electric automobile air conditioner heater control method based on three CAN buses |
| CN111319428A (en) * | 2018-12-15 | 2020-06-23 | 阿尔特汽车技术股份有限公司 | Electric automobile air conditioner compressor control method based on three CAN buses |
| CN112327799A (en) * | 2020-10-26 | 2021-02-05 | 中车唐山机车车辆有限公司 | Train network controller and system |
| CN112449321A (en) * | 2019-08-30 | 2021-03-05 | 丰田自动车株式会社 | Vehicle-mounted network system |
| CN113438115A (en) * | 2021-07-02 | 2021-09-24 | 中车株洲电力机车研究所有限公司 | Train Ethernet backbone network line fault diagnosis method, system and device |
| CN113775415A (en) * | 2021-09-10 | 2021-12-10 | 潍柴动力股份有限公司 | Method and device for determining driving state of indicator lamp |
| CN114697154A (en) * | 2021-11-24 | 2022-07-01 | 北京新能源汽车股份有限公司 | Dormancy and wakeup control method |
| CN115632904A (en) * | 2022-10-25 | 2023-01-20 | 四川傲势科技有限公司 | UAV communication method, system and storage medium |
| CN115733709A (en) * | 2022-11-18 | 2023-03-03 | 天津航空机电有限公司 | Low-power-consumption distributed CAN bus network and method based on sleep mode |
| CN115632904B (en) * | 2022-10-25 | 2025-02-18 | 四川傲势科技有限公司 | UAV communication method, system and storage medium |
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| CN113775415A (en) * | 2021-09-10 | 2021-12-10 | 潍柴动力股份有限公司 | Method and device for determining driving state of indicator lamp |
| CN114697154A (en) * | 2021-11-24 | 2022-07-01 | 北京新能源汽车股份有限公司 | Dormancy and wakeup control method |
| CN115632904A (en) * | 2022-10-25 | 2023-01-20 | 四川傲势科技有限公司 | UAV communication method, system and storage medium |
| CN115632904B (en) * | 2022-10-25 | 2025-02-18 | 四川傲势科技有限公司 | UAV communication method, system and storage medium |
| CN115733709A (en) * | 2022-11-18 | 2023-03-03 | 天津航空机电有限公司 | Low-power-consumption distributed CAN bus network and method based on sleep mode |
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