阅读说明：本技术 一种磁悬浮列车控制和管理系统及其通信方法 (Maglev train control and management system and communication method thereof ) 是由 曾云峰 刘秀美 陈龙 于延霞 郝宏峰 赵新秋 于 2020-07-06 设计创作，主要内容包括：一种磁悬浮列车控制和管理系统及其通信方法,所述系统包括：控制子系统、受控子系统以及通信子系统,其中,所述通信子系统由以太网和控制器局域编组网构成,所述以太网包括交换机,每两台交换机作为一组互为冗余,首段车厢和尾段车厢分别设置一组交换机,中间段车厢至少设置一组交换器,其中,设置在列车首尾两段车厢上的每组交换机之间互相连接,设置在相邻两段车厢上的两组交换机一一对应连接,使所有交换机连接成环形结构。本发明的有益效果包括：克服了现有技术中存在的数据不兼容所引起的问题,提供了一种结构简单紧凑、功能集成度高、数据吞吐量达、信号传输实时性强、可灵活拓展并且工作稳定可靠的磁悬浮列车控制和管理系统及其通信方法。(A maglev train control and management system and method of communication thereof, the system comprising: the system comprises a control subsystem, a controlled subsystem and a communication subsystem, wherein the communication subsystem is composed of Ethernet and a controller local area network, the Ethernet comprises switches, every two switches are used as a group of switches which are mutually redundant, a group of switches are respectively arranged on a first section carriage and a tail section carriage, and at least one group of switches are arranged on a middle section carriage, wherein each group of switches arranged on the first section carriage and the tail section carriage of the train are mutually connected, and two groups of switches arranged on two adjacent sections of carriages are correspondingly connected one by one, so that all the switches are connected into an annular structure. The beneficial effects of the invention include: the magnetic suspension train control and management system and the communication method thereof have the advantages of simple and compact structure, high function integration level, high data throughput, strong signal transmission real-time performance, flexible expansion, stable and reliable work.)

1. A magnetic levitation train control and management system comprising: the system comprises a control subsystem, a controlled subsystem and a communication subsystem, wherein the control subsystem is connected with the controlled subsystem through the communication subsystem, and is characterized in that the communication subsystem is formed by Ethernet and controller area organization networks, wherein the Ethernet comprises switches, every two switches are used as one group, a group of switches is respectively arranged on a first section of carriage and a tail section of carriage, at least one group of switches is arranged on a middle section of carriage, each group of switches arranged on the first section of carriage and the tail section of carriage of the train are mutually connected, and two groups of switches arranged on two adjacent sections of carriages are correspondingly connected one by one, so that all the switches are connected into an annular structure.

2. The maglev train control and management system of claim 1, wherein the lead, trail and intermediate cars are each provided with a controller area networking, the controller area networking on each car comprising: the system comprises a first controller area organizing network and a second controller area organizing network, wherein the first controller area organizing network is used for connecting communication equipment in series and accessing the Ethernet through main communication equipment, and the second controller area organizing network comprises a remote input and output module which is used for connecting the communication equipment in parallel and accessing the Ethernet through the remote input and output module.

3. The maglev train control and management system of claim 2, wherein the controlled subsystem comprises: the automobile door control device comprises an automobile door controller, a battery management unit and a magnetic suspension control unit, wherein the automobile door controller, the battery management unit and the magnetic suspension control unit are arranged on a first section of carriage, a last section of carriage and a middle section of carriage, the automobile door controller is connected with the battery management unit through a first controller local area networking, and the battery management unit and the magnetic suspension control unit are connected with a second controller local area networking.

4. The maglev train control and management system of claim 3, wherein the door controllers are sequentially connected in the first controller area organization network, wherein the door controllers at two end nodes of the first controller area organization network are set as master door controllers, ethernet interfaces are arranged on the master door controllers, and the master door controllers are respectively connected with two switches arranged on the section of carriage in a one-to-one correspondence manner.

5. The maglev train control and management system of claim 3, wherein in the second controller area networking, the battery management unit and the maglev control unit are connected with the remote input and output module through a controller area network bus and are respectively connected with two switches arranged on the section of the car through the remote input and output module.

6. The maglev train control and management system of claim 5, wherein the remote input output module comprises: the system comprises a CPU board card and two controller area network board cards, wherein the two controller area network board cards are respectively connected with the CPU board card, and the two controller area network board cards are mutually hot standby redundancy in a second controller area weaving network.

7. The maglev train control and management system of claim 3, wherein the controlled subsystem further comprises: the event recorder, the auxiliary power supply unit, the terminal equipment, the charger, the air conditioner and the passenger information unit are respectively connected with two switchboards arranged on corresponding carriages,

the head and tail carriages are respectively provided with the terminal equipment, the auxiliary power supply unit, the charger, the air conditioner and the passenger information unit;

the event recorder, the auxiliary power supply unit, the charger, the air conditioner and the passenger information unit are arranged on the carriage at the middle section.

8. The maglev train control and management system of claim 1, wherein the control subsystem comprises: the system comprises a central control unit, a traction control unit and a brake control unit, wherein the central control unit is arranged on a first carriage and a tail carriage respectively, and is connected with two switches arranged on the corresponding carriages respectively; the first carriage, the middle carriage and the tail carriage are respectively provided with the traction control unit and the brake control unit, and the traction control unit and the brake control unit are respectively connected with two switches on the corresponding carriages.

9. A method of communication of a magnetic levitation train control and management system as claimed in claims 1-8, comprising:

the vehicle door controllers communicate through a first controller local area networking, two vehicle door controllers directly connected with the two switches are set as main vehicle door controllers, other vehicle door controllers send controller local area network data to the main vehicle door controllers, and the two main vehicle door controllers unpack the controller local area network data, package the controller local area network data into Ethernet data and transmit the Ethernet data to the central control unit through the two switches respectively; on the contrary, the method can be used for carrying out the following steps,

the central control unit transmits the Ethernet data to a main vehicle door controller with an Ethernet interface through two switches respectively, and the main vehicle door controller unpacks the Ethernet data, packages the data into controller area network data and sends the controller area network data to a corresponding vehicle door controller through a first controller area networking.

10. The communication method of claim 9, wherein the communication method further comprises:

when the power is initially powered on, a CPU board card and two controller local area network board cards in the remote input and output module are initialized;

the remote input and output module receives instructions from the Ethernet through two switches respectively;

when the controller area network board card receives a controller area network board card starting instruction from the central control unit, starting the controller area network communication and entering a weak master state;

the controller area network board card detects the self configuration parameters, and the controller area network board card with the configuration parameters of the board card 1 enters a strong main state;

the controller area network board card in the strong master state is responsible for sending a specific control message to a corresponding unit in the second controller area networking, and the controller area network board card in the weak master state is responsible for monitoring a heartbeat message of the controller area network board card in the strong master state.

Technical Field

The invention relates to the field of train control, in particular to a magnetic suspension train control and management system and a communication method thereof, which are used for realizing the control and management of a magnetic suspension train.

Background

At present, a tcms (train Control and management system) train Control and monitoring system is mainly used for controlling medium and low speed magnetic levitation trains in China, and the system is firstly designed for controlling and managing vehicles such as light rails, subways and the like, and is characterized in that a multifunctional Vehicle bus (mvb) mode is adopted for transmitting communication data.

However, the communication protocol adopted by most subsystems of magnetic levitation trains in China is different from that of the MVB bus, so that when the subsystems of magnetic levitation trains communicate by using the MVB bus, the MVB gateway needs to be used to convert the communication message into an MVB data frame, and then the transmission of data on the MVB bus can be realized. In addition, communication technologies of the subsystems, such as suspension control, traction control, auxiliary power supply, a charger, brake control, battery management, vehicle door control and the like, are also incompatible with each other, so that different gateway devices need to be provided for communication protocol conversion, and interoperability among the subsystems is improved.

Fig. 1 shows a schematic diagram of a TCMS network topology. Wherein, the CCU is a central control unit, the HMI is a human-computer interface, the RIOM is a remote input and output module, and the GW is an MVB gateway. As can be seen from the network topology diagram of the TCMS, in the TCMS, data is generated, received or processed by the CCU, HMI or RIOM, and then broadcast by the GW to all nodes of the subsystems, because the communications between the subsystems and the MVB bus are incompatible (the communications protocols are different), different gateways are required to perform communications protocol conversion for multiple times, which results in low data transmission rate, long transmission delay, and low data transmission efficiency of the MVB bus, and these factors are not favorable for controlling and managing the maglev train system. In addition, the data transmission channel is a single channel, and when any node in the single channel has a breakpoint, the problem of data transmission can be caused.

In summary, the gateway is used for data protocol conversion, so that the process of transmitting data in the MVB network is applied to the control and management of the maglev train, and the problems of low communication transmission rate, poor signal transmission real-time performance, low data throughput and the like exist, and the single-channel network topology structure in the prior art makes the safety, reliability, expansibility and maintainability of the communication network of the single-channel network topology structure insufficient.

Disclosure of Invention

Aiming at the problems, the invention aims to provide a magnetic suspension train control and management system and a communication method thereof, which have the advantages of high data compatibility, large data throughput, strong real-time performance, safety and reliability.

The invention provides a magnetic suspension train control and management system, which comprises:

the system comprises a control subsystem, a controlled subsystem and a communication subsystem, wherein the control subsystem is connected with the controlled subsystem through the communication subsystem, and is characterized in that the communication subsystem is formed by Ethernet and controller area organization networks, wherein the Ethernet comprises switches, every two switches are used as one group, a group of switches is respectively arranged on a first section of carriage and a tail section of carriage, at least one group of switches is arranged on a middle section of carriage, each group of switches arranged on the first section of carriage and the tail section of carriage of the train are mutually connected, and two groups of switches arranged on two adjacent sections of carriages are correspondingly connected one by one, so that all the switches are connected into an annular structure.

In one or more embodiments, the first segment of car, the last segment of car and the middle segment of car are all provided with controller area networking, and the controller area networking on each segment of car comprises: the system comprises a first controller area organizing network and a second controller area organizing network, wherein the first controller area organizing network is used for connecting communication equipment in series and accessing the Ethernet through main communication equipment, and the second controller area organizing network comprises a remote input and output module which is used for connecting the communication equipment in parallel and accessing the Ethernet through the remote input and output module.

In one or more embodiments, the controlled subsystem includes: the automobile door control device comprises an automobile door controller, a battery management unit and a magnetic suspension control unit, wherein the automobile door controller, the battery management unit and the magnetic suspension control unit are arranged on a first section of carriage, a last section of carriage and a middle section of carriage, the automobile door controller is connected with the battery management unit through a first controller local area networking, and the battery management unit and the magnetic suspension control unit are connected with a second controller local area networking.

In one or more embodiments, in the first controller area organization network, the vehicle door controllers are connected in sequence, wherein the vehicle door controllers at two end nodes of the first controller area organization network are set as main vehicle door controllers, the main vehicle door controllers are provided with ethernet interfaces, and the main vehicle door controllers are respectively connected with two switches arranged on the section of carriage in a one-to-one correspondence manner.

In one or more embodiments, in the second controller area networking, the battery management unit and the magnetic levitation control unit are both connected to the remote input/output module through a controller area network bus, and are connected to two switches disposed on the section of the car through the remote input/output module.

In one or more embodiments, the remote input output module comprises: the system comprises a CPU board card and two controller area network board cards, wherein the two controller area network board cards are respectively connected with the CPU board card, and the two controller area network board cards are mutually hot standby redundancy in a second controller area weaving network.

In one or more embodiments, the controlled subsystem further comprises: the event recorder, the auxiliary power supply unit, the terminal equipment, the charger, the air conditioner and the passenger information unit are respectively connected with two switchboards arranged on corresponding carriages,

the head and tail carriages are respectively provided with the terminal equipment, the auxiliary power supply unit, the charger, the air conditioner and the passenger information unit;

the event recorder, the auxiliary power supply unit, the charger, the air conditioner and the passenger information unit are arranged on the carriage at the middle section.

In one or more embodiments, the control subsystem comprises: the system comprises a central control unit, a traction control unit and a brake control unit, wherein the central control unit is arranged on a first carriage and a tail carriage respectively, and is connected with two switches arranged on the corresponding carriages respectively; the first carriage, the middle carriage and the tail carriage are respectively provided with the traction control unit and the brake control unit, and the traction control unit and the brake control unit are respectively connected with two switches on the corresponding carriages.

In addition, the invention also provides a communication method using the magnetic suspension train control and management system, wherein the communication method comprises the following steps:

the vehicle door controllers communicate through a first controller local area networking, two vehicle door controllers directly connected with the two switches are set as main vehicle door controllers, other vehicle door controllers send controller local area network data to the main vehicle door controllers, and the two main vehicle door controllers unpack the controller local area network data, package the controller local area network data into Ethernet data and transmit the Ethernet data to the central control unit through the two switches respectively; on the contrary, the method can be used for carrying out the following steps,

the central control unit transmits the Ethernet data to a main vehicle door controller with an Ethernet interface through two switches respectively, and the main vehicle door controller unpacks the Ethernet data, packages the data into controller area network data and sends the controller area network data to a corresponding vehicle door controller through a first controller area networking.

In one or more embodiments, the communication method further comprises:

when the power is initially powered on, a CPU board card and two controller local area network board cards in the remote input and output module are initialized;

the remote input and output module receives instructions from the Ethernet through two switches respectively;

when the controller area network board card receives a controller area network board card starting instruction from the central control unit, starting the controller area network communication and entering a weak master state;

the controller area network board card detects the self configuration parameters, and the controller area network board card with the configuration parameters of the board card 1 enters a strong main state;

the controller area network board card in the strong master state is responsible for sending a specific control message to a corresponding unit in the second controller area networking, and the controller area network board card in the weak master state is responsible for monitoring a heartbeat message of the controller area network board card in the strong master state.

The beneficial effects of the invention include: the magnetic suspension train control and management system and the communication method thereof have the advantages of simple and compact structure, high function integration level, high data throughput, strong signal transmission real-time performance, flexible expansion, stable and reliable work.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other embodiments can be obtained by using the drawings without creative efforts.

FIG. 1 is a schematic diagram of a TCMS network topology;

FIG. 2 is a diagram of the ECN network topology of the present invention;

FIG. 3 is a schematic diagram of a remote input/output module according to the present invention;

fig. 4 is a schematic diagram of the TRDP packet transmission principle of the ethernet network according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the following embodiments of the present invention are described in further detail with reference to the accompanying drawings.

It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are used for distinguishing two entities with the same name but different names or different parameters, and it should be noted that "first" and "second" are merely for convenience of description and should not be construed as limitations of the embodiments of the present invention, and they are not described in any more detail in the following embodiments.

In order to avoid the disadvantages mentioned in the background, the invention proposes a magnetic levitation train control and management system, which is described in detail as follows:

FIG. 2 shows a schematic diagram of an ECN (Electronic Communications Network) topology according to the present invention. Depending on the use of the electronic communication network, it is often also referred to as ethernet. The system comprises a CS (controller system) and an APS (active power system), wherein the CS is an Ethernet switch, the CCU is a central control unit, the ER is an event recorder, the APS is an auxiliary power supply unit, the EDCU is a vehicle door control unit, the HVAC is an air conditioner, the TCU is a traction control unit, the BCG is a charger, the PIS is a passenger information unit, the BCU is a brake control unit, the SCU is a magnetic suspension control unit, and the BMS is a battery management unit. The invention provides a magnetic suspension train control and management system, which comprises: the system comprises a control subsystem, a controlled subsystem and a communication subsystem, wherein the control subsystem is in communication connection with the controlled subsystem through the communication subsystem, preferably, the communication subsystem is formed by Ethernet and controller area-organized network, the Ethernet comprises switches, every two switches are used as one group, a group of switches is respectively arranged on a first section of carriage and a tail section of carriage, at least one group of switches is arranged on a middle section of carriage, each group of switches arranged on the first section of carriage and the tail section of carriage of the train are mutually connected, and two groups of switches arranged on two adjacent sections of carriages are correspondingly connected one by one, so that all the switches are connected into a ring structure. The train control and management system adopts a mode of combining two communication network structures to realize data transmission so as to meet different communication requirements, wherein one communication network structure is a bus type, and the other communication network structure is a ring type; the bus type specifically adopts a controller Area network (controller Area networking) to carry out short-distance data transmission on a controller Area network (CANopen networking), and belongs to a vehicle-level communication network; the ring type specifically adopts the Ethernet with a dual-homing ring network structure to carry out long-distance data transmission, the Ethernet penetrates through the whole train and belongs to a train-level communication network, and because the Ethernet switches are adopted as communication nodes and are connected through the Ethernet communication connectors and Ethernet cables, the ring type train communication network has the characteristics of good data compatibility, large data throughput, high data transmission rate, high data transmission efficiency, strong real-time performance and the like.

Preferably, the first section of carriage, the last section of carriage and the middle section of carriage are all provided with controller area networking, and the controller area networking on each section of carriage comprises: a first controller area networking and a second controller area networking; the first controller area networking is used for serially connecting communication equipment and accessing the Ethernet through main communication equipment, and the second controller area networking comprises a remote input and output module which is used for parallelly connecting the communication equipment and accessing the Ethernet through the remote input and output module. In the above, the controlled subsystem includes: the vehicle door control system comprises vehicle door controllers, a battery management unit and a magnetic suspension control unit, wherein the vehicle door controllers, the battery management unit and the magnetic suspension control unit are arranged on a first section of carriage, a tail section of carriage and a middle section of carriage, the vehicle door controllers are connected through a first controller local-area networking, and the battery management unit and the magnetic suspension control unit are connected through a second controller local-area networking.

More preferably, in the first controller area organizing network, the vehicle door controllers are sequentially connected, wherein the vehicle door controllers at two end nodes of the first controller area organizing network are set as main vehicle door controllers, the main vehicle door controllers are provided with ethernet interfaces, and the main vehicle door controllers are respectively connected with two switches arranged on the section of carriage in a one-to-one correspondence manner. Specifically, the two main door controllers are respectively connected with the two switches arranged on the carriage in a one-to-one correspondence manner through the Ethernet communication interface and the Ethernet cable, so that a dual-homing structure is formed. When the main vehicle door controllers at two ends of the first controller local labeling network work normally, the vehicle door controller in the middle sends data to the two main vehicle door controllers simultaneously, so that the collected data are uploaded to the Ethernet, and when the main vehicle door controller at one end breaks down, the main vehicle door controller at the other end can still upload specific data to the Ethernet, so that the safety and the reliability of the first controller local grouping network are improved. In addition, because the transmission rate of the controller area networking is related to the transmission distance thereof, when the main vehicle door controllers at the two ends of the first controller area networking normally work, the dual-homing structure can respectively upload specific data to the Ethernet through the two main vehicle door controllers, thereby realizing data transmission at shorter distance and being beneficial to improving the transmission rate of the data.

More preferably, in the second controller area networking, the battery management unit and the magnetic suspension control unit are connected with the remote input and output module through a controller area network bus, and are respectively connected with the two switches arranged on the section of the carriage through the remote input and output module. The remote input and output module is mainly used for completing the work of various digital quantity signal acquisition, digital quantity switch signal output, analog quantity signal acquisition and the like in the train, and the acquisition range of parameters such as analog quantity, voltage, current and the like can be flexibly configured according to the change of an external load, so that the integral design requirement of the train can be conveniently met. In order to ensure the reliability of data transmission of the battery management unit and the magnetic suspension control unit, the remote input/output module is provided with two CAN board cards for mutual hot standby redundancy. The specific structure of the remote input/output module will be described in the following figures.

In addition to the above-mentioned door controller, battery management unit and magnetic levitation control unit, the controlled subsystem further comprises: the system comprises an event recorder, an auxiliary power supply unit, terminal equipment, a charger, an air conditioner and a passenger information unit, wherein the event recorder, the auxiliary power supply unit, the terminal equipment, the charger, the air conditioner and the passenger information unit are respectively connected with two switches arranged on corresponding carriages, the terminal equipment is respectively arranged on the head carriage and the tail carriage, and the auxiliary power supply unit, the charger, the air conditioner and the passenger information unit are respectively arranged on the head carriage and the tail carriage; the event recorder, the auxiliary power supply unit, the charger, the air conditioner and the passenger information unit are arranged on the carriage at the middle section; the connection mode forms a dual-homing structure, thereby ensuring the safety and reliability of data transmission between each unit and each device.

The above-mentioned control subsystem includes: the system comprises a central control unit, a traction control unit and a brake control unit, wherein preferably, the central control unit is respectively arranged on a first section of carriage and a tail section of carriage, and the central control unit is respectively connected with two exchangers arranged on the corresponding carriages; the first carriage, the middle carriage and the tail carriage are respectively provided with a traction control unit and a brake control unit, and the traction control unit and the brake control unit are respectively connected with two exchangers on the corresponding carriages. Specifically, each central control unit is connected with two switches on the carriage where the central control unit is located to form a ring structure, when the train control and management system normally operates, one central control unit is used for general control and management, the other central control unit is used for hot standby redundancy, once the system fails, the other central control unit can quickly take over the control right to realize the control and management of the train, and because the central control unit also has a dual-homing structure, the probability that the central control unit at one end has data transmission problems is greatly reduced, and the safety and the reliability of the train are further improved. The brake control unit and the magnetic suspension control unit are arranged on three carriages of the train and are also connected with two switches arranged on the carriages, so that a dual-homing annular structure is formed, and the safety and the reliability of the train are ensured.

Optionally, in the foregoing, each communication unit or device simultaneously sends information to two switches connected to the communication unit or device, and simultaneously sends signals to the ethernet through the two switches, so as to generate two groups of identical signals to be propagated in the ethernet, and when the target communication unit or device successfully receives one group of signals and confirms the signals, the target communication unit or device discards another group of identical signals received later.

Fig. 3 is a schematic diagram of the remote input/output module according to the present invention. Preferably, the remote input/output module according to the present invention comprises: the device comprises a CPU board card, two CAN board cards, three DIO board cards, a power supply module, a power input module and a case. The CPU board card integrates an Ethernet TRDP protocol stack, the CAN board card integrates a CANopen protocol stack, and the DIO board card is used for realizing digital input DI signal acquisition, digital output signal DO output, CCN network management and CANopen data receiving and sending. Wherein, the structure and the connected mode of main integrated circuit board include:

the CPU board card comprises a first VME (VersaModule Eurocard) bus interface, a main CPU and an RAM which are connected in sequence; the first CAN board card comprises a second VME bus interface, a second RAM, a first CVB board card, a first branch and a second branch which are connected with the first CVB board card in parallel, wherein the second VME bus interface, the second RAM and the first CVB board card are sequentially connected; the second CAN board card comprises a third VME bus interface, a third RAM, a second CVB board card, a third branch and a fourth branch which are connected with the second CVB board card in parallel, wherein the first branch to the fourth branch are respectively composed of a CAN controller and a CAN transceiver which are connected in sequence; the two CAN board cards are respectively connected with the first VME bus interface through the second VME bus interface and the third VME bus interface so as to be connected with the CPU board card. The first branch/the second branch and the third branch/the fourth branch are connected to form a CAN bus which is used for receiving control signals from a control subsystem or receiving acquisition signals from a battery management unit and a magnetic suspension control unit. For the collected signals, the collected signals are transmitted to a CPU of a CAN board card through a CAN transceiver and a CAN controller in sequence, and the collected signals are subjected to communication protocol conversion by a CANopen protocol stored in the CPU of the CAN board card, converted into CANopen signals and then stored in an RAM of the CAN board card; the CPU board card in the remote input/output module is connected with the CAN board card through a VME bus interface, the CPU board card shares a CANopen signal in the RAM of the CAN board card, and then the CANopen signal is sent to the Ethernet by using an Ethernet TRDP (Train Real _ Time data protocol) Train Real-Time data transmission protocol stored in the CPU of the CPU board card, so that the Real-Time performance of data transmission is ensured. The composition of the other two modules in the control and management system of the present invention will be briefly described below. One is a central control unit which comprises a CPU board card, a power supply module, a power supply input module and a case. The other is an event recorder ER which comprises a CPU board card, a power supply module, a power supply input module and a case.

The passing process of other units or equipment in the controlled subsystem and the control subsystem in the invention is as follows: fig. 4 is a schematic diagram illustrating a TRDP message transmission principle of the ethernet network according to the present invention. In the invention, the transmission of data in the Ethernet follows TCP/IP protocol, and each controlled unit and equipment in the Ethernet can communicate with the CPU board card of the central control unit through the communication board card arranged in the controlled subsystem, thereby realizing the communication with the central control unit. The communication board card in the controlled subsystem and the CPU board card of the central control unit are both provided with an RAM, a main CPU and an Ethernet interface; and the respective main CPU stores TRDP protocol stack and TCP/IP protocol stack, which are connected via Ethernet interface, and respectively uses TRDP protocol in the respective main CPU to pack UDP/TCP message, and uses TCP/IP protocol to realize communication.

Based on the maglev train control and management system, the main communication process between the controller area networking and the ethernet will be described below. The communication process between the first controller area-organized network and the Ethernet comprises the following steps: the vehicle door controllers communicate with each other through a first controller local area networking,

two vehicle door controllers directly connected with two switches are set as main vehicle door controllers, other vehicle door controllers send controller local area network data to the main vehicle door controllers, and the two main vehicle door controllers unpack the controller local area network data, package the controller local area network data into Ethernet data and transmit the Ethernet data to a central control unit through the two switches respectively; on the contrary, the method can be used for carrying out the following steps,

the central control unit transmits the Ethernet data to a main vehicle door controller with an Ethernet interface through two switches respectively, and the main vehicle door controller unpacks the Ethernet data, packages the data into controller area network data and sends the controller area network data to a corresponding vehicle door controller through a first controller area networking.

The communication process of the second controller area group network and the Ethernet comprises the following steps: when the CAN board cards are initially electrified, the two CAN board cards are in an initial state, the main CPU reads a CANOpen communication configuration file stored in a first RAM of the CPU board cards, when the main CPU checks that the configuration file is normal, the main CPU sends CANOpen related communication parameters to the two CAN board cards through the back plate, the two CAN board cards configure the board cards when receiving the communication configuration parameters to complete initialization, and at the moment, the two CAN board cards are in the initial state.

When the remote input and output module RIOM receives CAN board card starting instructions sent by the CCU from the Ethernet through the two switches, the remote input and output module RIOM sends the starting instructions to the two CAN board cards, and the two CAN board cards start CANopen communication after receiving the starting instructions and enter a weak master state.

When the CAN board card is in a weak master state, the CAN board card automatically enters a strong master state when monitoring that the CAN board card is a board card 1 through configuration parameters; the two CAN board cards in the weak master state are in a hot standby redundant state and are used for monitoring heartbeat messages and control messages from the strong master; only the CAN board card in the strong master state CAN send a control message to equipment on a second CAN network, and the weak master CAN only receive a message sent by the equipment on the second CAN network and a heartbeat message sent by the CAN board card in the strong master state;

the CAN board 1 and the CAN board 2 mutually send heartbeat messages to the opposite side through a CCN network, the two sides mutually monitor the heartbeat of the opposite side, and when the CAN board in the weak master state does not receive the heartbeat message of the CAN board in the strong master state, the CAN board is automatically switched to the strong master state; after the CAN board card 2 is in the strong master state, if the heartbeat of the CAN board card 1 is received again, the CAN board card is automatically degraded to the weak master state, the sending of the control message is stopped, and then the heartbeat of the CAN board card 1 is monitored continuously;

after the CAN board card 1 is automatically restarted or power-off restarted due to a fault, if the CAN board card 2 is monitored to be in a strong master state, the CAN board card is temporarily prohibited from entering the strong master state; and the CAN board 2 does not enter the strong master state until the CAN board 2 receives the heartbeat of the CAN board 1 again and is automatically degraded to the weak master. The two CAN board cards realize hot standby redundancy through the communication mode, so that the safety and the reliability of the second controller local area networking are ensured.

In addition, when a CAN bus in the second controller local area networking has a breakpoint, because both CAN boards cannot receive the heartbeat of the other side, both CAN boards switch to strong master, at the moment, the second controller local area networking becomes two subnets which are mutually independent, the remote input and output module RIOM receives information sent by equipment on the subnet where the board is located from both CAN boards, or sends a control message to all equipment on the subnet, and sends open-circuit fault information of the second controller local area networking to the train control and management system. In this way, single point failures do not affect the normal operation of the control and relationship system of the present invention, thereby achieving reliable transmission of data including supervisory data, process data, message data, streaming data, and the like.

The control and management system of the magnetic suspension train mainly realizes the functions of traction and brake control, time synchronization, train state monitoring, fault diagnosis and recording, operation data recording, air compressor control, suspension control and the like. And has a high data transmission rate. The CCTV system has the characteristics of short time delay, high bandwidth and the like, can transmit CCTV video information and train fault diagnosis and running state data, and meets the requirements of emerging services such as health management, intelligent operation and maintenance and the like.

The foregoing is an exemplary embodiment of the present disclosure, but it should be noted that various changes and modifications could be made herein without departing from the scope of the present disclosure as defined by the appended claims. The functions, steps and/or actions of the method claims in accordance with the disclosed embodiments described herein need not be performed in any particular order. Furthermore, although elements of the disclosed embodiments of the invention may be described or claimed in the singular, the plural is contemplated unless limitation to the singular is explicitly stated.

It should be understood that, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly supports the exception. It should also be understood that "and/or" as used herein is meant to include any and all possible combinations of one or more of the associated listed items.

The numbers of the embodiments disclosed in the embodiments of the present invention are merely for description, and do not represent the merits of the embodiments.

Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, of embodiments of the invention is limited to these examples; within the idea of an embodiment of the invention, also technical features in the above embodiment or in different embodiments may be combined and there are many other variations of the different aspects of the embodiments of the invention as described above, which are not provided in detail for the sake of brevity. Therefore, any omissions, modifications, substitutions, improvements, and the like that may be made without departing from the spirit and principles of the embodiments of the present invention are intended to be included within the scope of the embodiments of the present invention.