CN102890451B - Semi-physical simulation platform for vehicle-mounted controller test - Google Patents
Semi-physical simulation platform for vehicle-mounted controller test Download PDFInfo
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- CN102890451B CN102890451B CN201210374760.XA CN201210374760A CN102890451B CN 102890451 B CN102890451 B CN 102890451B CN 201210374760 A CN201210374760 A CN 201210374760A CN 102890451 B CN102890451 B CN 102890451B
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Abstract
The invention discloses a semi-physical simulation platform for vehicle-mounted controller test. The semi-physical simulation platform comprises a sensor operation system, a vehicle-mounted controller, a software simulation train system and a power supply system, wherein the sensor operation system comprises a rotating bracket, a driving motor, an acceleration sensor, a Doppler radar, an annunciator searcher and a speed sensor, wherein the driving motor is used for driving the rotating bracket to rotate; the acceleration sensor and the Doppler radar are fixed on the rotating bracket; the speed sensor is used for measuring the speed of the rotating bracket; and the speed sensor, the acceleration sensor, the Doppler radar and the annunciator searcher are models actually used in a railway train. According to the semi-physical simulation platform for the vehicle-mounted controller test, real rail train sensors are adopted; the speed sensor, the acceleration sensor, the Doppler radar and an annunciator antenna are arranged at the different positions of the rotating bracket, the sensors are operated according to real work theories, the inputs and outputs of real sensors are provided for the vehicle-mounted controller, so that an environment extremely simulated with a real operation environment is provided for the vehicle-mounted controller.
Description
Technical field
The invention belongs to Vehicle Controller design and technical field of measurement and test, specifically relate to a kind of semi-physical emulation platform for Vehicle Controller test.
Background technology
Vehicle Controller (Carbone Controller) is a kind of safety computer platform for rail traffic control system, mainly a series of boards with functional module, consists of.Vehicle Controller is mainly used to gather the speed pickup in high ferro circuit or subway line, acceleration transducer, radar Doppler, the signal of the onboard sensors such as beacon requestor.
Along with scientific-technical progress and era development, automation control system is more and more used in subway and high ferro circuit, Vehicle Controller, as subway or the not retrievable part of high ferro train, is tested with authentication and is become a part that guarantees that security is indispensable it.In the process of Vehicle Controller research and development and test, in order to guarantee its security, reliability and availability, need to carry out a series of stricter tests to Vehicle Controller.For the consideration of security, can not directly Vehicle Controller be installed on to track train and carry out on-the-spot test, and on-the-spot test need to expend huge manpower and material resources cost.Along with the development of emulation technology, researchist, according to the principle of work of sensor and input-output characteristic, sets up sensor model, for Vehicle Controller provides the sensor signal of emulation.
At present in the more typical hardware-in-the-loop simulation onboard system of bibliographical information, signal system is controlled traction electric machine by traction motor controller and is moved, traction electric machine drives tachogenerator and conveyer belt, tachogenerator produces rate signal, the passive balise and the active balise that are arranged on travelling belt produce transponder signal, cab signal system (Vehicle Controller) picking rate information and transponder signal (cab signal systemic software development semi-physical emulation platform, Yin Liming, Liu Junyan, Cheng Jia, Urban Mass Transit, the fourth phase in 2011, 40-44).By emulation technology, set up sensor model, for Vehicle Controller provides the sensor signal of emulation, although can analog sensor ground function, some performance of test carriage set controller.But the signal of the sensor signal of these emulation and real sensor still has very large difference, even and set up semi-matter simulating system with regard to a certain sensor, also can only be from the individual event performance of test carriage set controller in a certain respect.The all properties of test carriage set controller comparatively all sidedly.And owing to lacking running environment and the scene of Vehicle Controller, the test that these test macros carry out Vehicle Controller is still very not comprehensive and complete.
Summary of the invention
The invention provides a kind of semi-physical emulation platform for Vehicle Controller test, this simulation platform structure is simple, by adopting real track train sensor, for Vehicle Controller provide the input of real sensor and with the real running environment test environment of emulation very, for the exploitation of Vehicle Controller during with test, the more comprehensive performance of the each side of test carriage set controller.
A kind of semi-physical emulation platform for Vehicle Controller test, described Vehicle Controller for track train, comprising: operating sensor system, the induced signal sending for pick-up transducers operational system and send the Vehicle Controller of corresponding control signal, for receiving the control signal of Vehicle Controller and controlling software emulation train system and the electric power system of the operation of operating sensor system; Described operating sensor system comprises:
Runing rest;
The drive motor that drives described runing rest to rotate;
Be fixed on acceleration transducer and radar Doppler on runing rest;
Teleseme requestor, comprises teleseme antenna, fixedly transponder FB and variable transponder tango B, and described teleseme antenna is fixed on described runing rest;
Speed pickup, for measuring the speed of runing rest;
Described speed pickup, acceleration transducer, radar Doppler and teleseme requestor are the actual model of using in track train.
Semi-physical emulation platform for Vehicle Controller test of the present invention is mainly used in track train, is specially adapted in subway system.Wherein acceleration transducer is mainly used in measuring the linear acceleration of disk border, speed pickup is mainly used in measuring the linear velocity of disk border, radar Doppler is mainly used in measuring the linear velocity of disk border and the distance that disk border turns over, and teleseme antenna is mainly used in measuring beacon signal.Described speed pickup, acceleration transducer, radar Doppler and teleseme antenna are the actual model of using in track train, have realized and provide real sensor input and output to test carriage set controller.According to the difference of true train structure, can suitably increase and decrease number and the type of sensor.
For further having improved the authenticity of emulation platform, be convenient to the layout of acceleration transducer, radar Doppler and teleseme antenna simultaneously, as preferably, described runing rest comprises the rotating shaft of output shaft interlock of bottom and described drive motor and the disk that is fixed on rotating shaft top; Described speed pickup, acceleration transducer, radar Doppler and teleseme antenna be take the transient equilibrium that keeps described disk and are distributed in this disk end face as principle.
The optionally connected touch of described speed pickup and contactless speed pickup, in actual use procedure for ease of the layout of sensor, as preferably, described speed pickup is contact speed pickup, between this speed pickup and described disk by gear drive.The rotary speed pickup of contact directly contacts with moving object.When moving object contacts with rotary speed pickup, the roller of friction force band dynamic sensor rotates.Adopt gear transmission structure, reduced the wearing and tearing to contact speed pickup upper roller.During practical set, the gear that transmission is used and contact speed pickup upper roller coaxially arrange, and described disk surrounding is provided with the engaging tooth meshing with described gear.
Speed pickup, acceleration transducer, radar Doppler and teleseme antenna need to be connected with electric power system and Vehicle Controller by signal wire or power lead, layout for ease of power lead or signal wire, power lead or signal wire prevent from wearing and tearing in rotating shaft rotation process, as further preferred, described rotating shaft is hollow structure, this rotating shaft outer wall circumferential arrangement has some electric conductors, electric conductor outer wall is connected with the signal receiving end of electric power system and Vehicle Controller by carbon brush, electric conductor inwall at least has a part of sidewall through described rotating shaft and is communicated with rotating shaft inner chamber, described acceleration transducer, radar Doppler and teleseme antenna are communicated with the electric conductor in rotating shaft inner chamber respectively by circuit.Electric conductor can adopt conductive coating to make to be sprayed in rotating shaft and directly form, and also can select to utilize the direct machine-shaping of conductive material, and then be arranged on the corresponding position of rotating shaft.
For further lowering the overall weight of runing rest, reduce energy consumption, as further preferred, described disk is ring texture, by some web members and described rotating shaft, interfixes.Layout for ease of circuit, can metallic channel be set at described web member end face, during actual installation, directly by line arrangement in metallic channel, the location positioning that the position of web member can be installed according to speed pickup, acceleration transducer, radar Doppler and teleseme antenna, to be further convenient to the layout of circuit.
For understanding in real time the implementation status of software emulation train system, as preferably, in described software emulation train system, be also provided with monitoring modular, for the executive signal of monitoring of software emulation train system, and by this signal feedback to Vehicle Controller.
For ease of the transmission of information between Vehicle Controller and software emulation train system, can between described Vehicle Controller and software emulation train system, be provided with signal translating system.Signal translating system is mainly used in the signal of Vehicle Controller output to be converted to digital signal, the digital signal of software emulation train system feedback is converted to the signal that Vehicle Controller need to be inputted simultaneously.Between software emulation train system and operating sensor system, also can increase according to actual needs signal conversion module.
In the present invention, the software of signal translating system and software emulation train system generally moves in industrial computer.The hardware of signal translating system generally comprises cabinet and level conversion plate, and level conversion plate is directly connected with industrial computer, and running software, in industrial computer, consists of acquisition module and communication module.Acquisition module gathers the IO signal of onboard sensor; The communication module communication of communication module and software emulation train system, transmits sensor information.
Software emulation train system in the present invention is comprised of communication module, velocity and acceleration computing module, display module and locating module.Communication module is responsible for the communication module communication with signal translating system, velocity and acceleration computing module is for calculating speed and the acceleration information of emulation train, locating module is for location simulation train position, and display module is for showing the line information of the running status of virtual train.
In actual track train system, teleseme antenna is generally distributed on whole piece track, only under specific occasion, just signal can be detected.For further improving the authenticity of emulation platform, as preferably, in described electric power system, be also provided with a control module, this control module is for the timed on-off of power of control signal machine requestor and the drive current of drive motor size.In the time interval of the timed on-off of power of teleseme requestor, can determine according to the actual arrangement situation of teleseme antenna in railway train system.By the control of the drive current size to drive motor, control in real time the rotating speed of drive motor.
Vehicle Controller described in the present invention is generally comprised of a series of boards with functional module, can adopt multiple existing computer platform, for example, can get that two safety computer platforms form or two get two safety computer platforms and form by common three.Conventional three get two safety computer platforms three gets the hardware configuration of two safety computer platforms and comprises: three CPU board, three block signals gather SAC plates, two blocks of communication COM plates, two blocks of ATO plates, three blocks of IO plates.Wherein SAC plate is used for the signal of each sensor in pick-up transducers operational system, and SAC plate is connected with carbon brush by the three rear outlets of getting two safety computer platforms, by contacting of carbon brush and slide block, can realize and being connected of sensor signal lines.
Compared with prior art, beneficial effect of the present invention is embodied in:
(1) the present invention adopts real track train sensor, and by speed pickup, acceleration transducer, radar Doppler and teleseme antenna are arranged on to the different position of runing rest, make these sensors according to its real principle of work operation, for Vehicle Controller provides the input of real sensor and output, thus for Vehicle Controller provide one with real running environment simulated environment very.
(2) the present invention provides the design of a set of complete simulating scheme for Vehicle Controller, sensor in simulated environment can increase according to the actual requirements or reduce, these increases or minimizing can't bring any impact to the function of Vehicle Controller emulation platform and completeness, the applicability of emulation platform is wider, can be for the single-board testing stage of Vehicle Controller, also can be used for the integration testing of Vehicle Controller and system testing stage etc., the performance of test carriage set controller is wide.
Accompanying drawing explanation
Fig. 1 is that the present invention is for the structural representation of the semi-physical emulation platform of Vehicle Controller test;
Fig. 2 is for the plan structure schematic diagram of the semi-physical emulation platform operating sensor system of Vehicle Controller test shown in Fig. 1;
Fig. 3 is the main TV structure schematic diagram of operating sensor system shown in Fig. 2;
Fig. 4 is the broken section structure for amplifying schematic diagram of A part in operating sensor system shown in Fig. 3;
Fig. 5 is the structural representation of a kind of embodiment of Vehicle Controller in the present invention.
Fig. 6 is that the present invention is for the hardware configuration schematic diagram of the semi-physical emulation platform of Vehicle Controller test
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in example of the present invention is carried out to clear, complete description, obviously, the embodiment of description is only a part of embodiment in the present invention, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making other all embodiment that obtain under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Fig. 1 and Fig. 6, a kind of semi-physical emulation platform for Vehicle Controller test, comprising: operating sensor system 44; Vehicle Controller 41, the induced signal sending for pick-up transducers operational system, and according to the induced signal receiving, send corresponding control signal; Software emulation train system, for receiving the control signal of Vehicle Controller, and according to the control signal receiving, controls the operation of operating sensor system; Signal translating system, for carrying out signal conversion to Vehicle Controller and software emulation train system; Electric power system 43, provides power supply to the hardware in whole emulation platform, and electric power system comprises a software control unit simultaneously, for the timed on-off of power of control signal machine requestor and the size of motor drive current.
As shown in Figure 2, Figure 3 and Figure 4, operating sensor system comprises: runing rest 1; The drive motor 2 that drives runing rest 1 to rotate; Be fixed on acceleration transducer 4 and the radar Doppler 5 of runing rest 1; Teleseme requestor, comprises teleseme antenna 6, fixedly transponder FB and variable transponder tango B, and teleseme antenna 6 is fixed on runing rest 1, and fixedly transponder FB and variable transponder tango B are arranged in runing rest 1 below, the running status of simulation true train; Speed pickup 3, for measuring the speed of runing rest 1; Speed pickup 3, acceleration transducer 4, radar Doppler 5 and teleseme requestor are the actual model of using in track train.
Runing rest 1 comprises the rotating shaft 1a that the output shaft of bottom and drive motor 2 links and the disk 1b that is fixed on rotating shaft 1a top, between rotating shaft 1a and drive motor 2, can pass through the parts transmissions such as chain, belt or gear, generally select the driving shaft of drive motor to be connected with the central shaft of disk 1b, for the rotation of driver plate, the linear velocity of disk reaches as high as 100km/h.Acceleration transducer 4, radar Doppler 5 and teleseme antenna 6 be take the transient equilibrium that keeps disk 1b and are distributed in this disk 1b top edge as principle.Speed pickup 3 is contact speed pickup, by gear and disk 1b transmission, measures the linear velocity of disk 1b edge.Gear between speed pickup 3 and disk 1b and contact speed pickup 3 upper rollers coaxially arrange, and disk 1b surrounding is provided with the engaging tooth meshing with gear.
The hollow structure centered by rotating shaft 1a with inner chamber, this rotating shaft 1a outer wall circumferential arrangement has some electric conductor 1c, electric conductor 1c outer wall is connected with the signal receiving end of electric power system and Vehicle Controller by carbon brush 7, and electric conductor 1c inwall at least has a part of sidewall through rotating shaft 1a and is communicated with rotating shaft inner chamber; Acceleration transducer 4, radar Doppler 5 and teleseme antenna 6 are communicated with the electric conductor 1c in rotating shaft inner chamber respectively with power lead by signal wire, thereby making electric power system can be acceleration transducer 4, radar Doppler 5,6 power supplies of teleseme antenna, while acceleration transducer 4, radar Doppler 5, the signal of teleseme antenna 6 can send onboard sensor to.Electric conductor 1c is the conductive coating that is painted on rotating shaft 1a.Disk 1b is ring texture, by some web member 1d and rotating shaft 1a, interfixes.The quantity of web member and electric conductor setting can be determined according to actual needs, not strict restriction.The position of the position of web member 1d and acceleration transducer 4, radar Doppler 5 and teleseme antenna 6 is corresponding respectively, can be chosen in as required web member 1d end face corresponding metallic channel is set so that with the layout of power lead or signal wire.
As shown in Figure 5, Vehicle Controller is got two safety computer platforms by real three and is formed, and three get two safety computer platforms is comprised of three CPU board, three block signals collection SAC plates, two blocks of communication COM plates, two blocks of ATO plates, three blocks of IO plates.Wherein, ATO plate and SAC plate gather acceleration transducer 4, speed pickup 3, radar Doppler 5, the sensor signal of teleseme antenna 6 by signal wire 8.CPU board is responsible for the synchronous voting of the sensor signal, and with the form of message, sends to signal translating system by COM plate, and IO plate is connected with the level conversion plate of signal translating system simultaneously.
As shown in Figure 5 and Figure 6, the hardware of signal translating system by control machine 42 form with level conversion plate 45, level conversion plate 45 is directly connected with industrial computer 42, the running software of signal translating system, in industrial computer 42, consists of acquisition module and communication module.Acquisition module gathers the IO signal of Vehicle Controller 41; The communication module communication of communication module and software emulation train system, transmits sensor information.Level conversion plate 45 is after 5V level by industrial computer 42 Collect conversions, to be message signals by the 24V level conversion of the output of IO plate, sends software emulation train system to; Synchronous signal converting system is converted to 24V level signal by the IO signal of software emulation train system output, as monitoring executive signal, sends Vehicle Controller to.
The simulation software of software emulation train system also operates in industrial computer 42, by communication module, and velocity and acceleration computing module, display module, locating module forms.Communication module is responsible for the communication module communication with signal translating system, velocity and acceleration computing module is for calculating speed and the acceleration information of emulation train, locating module is for location simulation train position, and display module is for showing the line information of the running status of virtual train.Software emulation train system, according to the moving law of track train and mechanics principle, track train is carried out to modeling, according to the Automatic Control Theory of track train, emulation train is controlled, and make train operation on according to the track of real circuit modeling, thereby make real Vehicle Controller can control virtual track train.Software emulation train system receives the control signal of Vehicle Controller, control the operation of operating sensor system, thereby software emulation train system can be controlled real sensor: acceleration transducer 4, speed pickup 3, radar Doppler 5, the work of teleseme antenna 6, can obtain from Vehicle Controller the service data of sensor simultaneously.
The semi-physical emulation platform actual moving process for Vehicle Controller test of present embodiment is:
First utilize software emulation train system to start drive motor 2, drive motor 2 drives disk 1b to rotate, acceleration transducer 4, and speed pickup 3, radar Doppler 5, teleseme antenna 6 is started working; Acceleration transducer 4, speed pickup 3, radar Doppler 5, teleseme antenna 6 sends to Vehicle Controller by the speed of collection, acceleration and beacon signal; Vehicle Controller sends corresponding control signal according to the signal receiving to software emulation train system, between Vehicle Controller software emulation train system, by signal translating system, carries out signal conversion; Software emulation train system receives the control signal of Vehicle Controller, controls the operation of operating sensor system, finally by test, the Vehicle Controller detecting is carried out to Comprehensive performance assessment.
Finally explanation: above embodiment is only for technical scheme of the present invention is described, but not is limited; Although the present invention is described in detail with reference to previous embodiment, those skilled in the art is to be understood that: its technical scheme that still can record previous embodiment is modified, or its part technical characterictic is replaced; And these modifications or replacement can not make corresponding technical scheme depart from application category of the present invention.
Claims (7)
1. the semi-physical emulation platform for Vehicle Controller test, described Vehicle Controller for track train, comprising: operating sensor system, the induced signal sending for pick-up transducers operational system and send the Vehicle Controller of corresponding control signal, for receiving the control signal of Vehicle Controller and controlling software emulation train system and the electric power system of the operation of operating sensor system; It is characterized in that, described operating sensor system comprises:
Runing rest (1);
The drive motor (2) that drives described runing rest (1) to rotate;
Be fixed on acceleration transducer (4) and radar Doppler (5) on runing rest (1);
Teleseme requestor, comprises teleseme antenna (6), fixedly transponder FB and variable transponder tango B, and described teleseme antenna is fixed on described runing rest (1);
Speed pickup (3), for measuring the speed of runing rest (1);
Described speed pickup, acceleration transducer, radar Doppler and teleseme requestor are the actual model of using in track train;
Described runing rest (1) comprises the rotating shaft (1a) that the output shaft of bottom and described drive motor (2) links and the disk (1b) that is fixed on rotating shaft (1a) top; Described acceleration transducer (4), radar Doppler (5) and teleseme antenna (6) be take the transient equilibrium that keeps described disk (1b) and are distributed in this disk (1b) end face as principle;
Described rotating shaft (1a) is hollow structure, this rotating shaft (1a) outer wall circumferential arrangement has some electric conductors (1c), electric conductor (1c) outer wall is connected with the signal receiving end of electric power system and Vehicle Controller by carbon brush (7), and electric conductor (1c) inwall at least has a part of sidewall through described rotating shaft (1a) and is communicated with rotating shaft inner chamber; Described acceleration transducer (4), radar Doppler (5) and teleseme antenna (6) are communicated with the electric conductor (1c) in rotating shaft inner chamber respectively by circuit.
2. the semi-physical emulation platform for Vehicle Controller test according to claim 1, is characterized in that, described disk (1b) is ring texture, by some web members (1d) and described rotating shaft (1a), interfixes.
3. the semi-physical emulation platform for Vehicle Controller test according to claim 2, is characterized in that, described web member (1d) end face is provided with metallic channel.
4. the semi-physical emulation platform for Vehicle Controller test according to claim 1, is characterized in that, described speed pickup is contact speed pickup, between this speed pickup and described disk by gear drive.
5. the semi-physical emulation platform for Vehicle Controller test according to claim 1, it is characterized in that, in described software emulation train system, be also provided with monitoring modular, for the executive signal of monitoring of software emulation train system, and by this signal feedback to Vehicle Controller.
6. the semi-physical emulation platform for Vehicle Controller test according to claim 5, is characterized in that, between described Vehicle Controller and software emulation train system, is provided with signal translating system.
7. the semi-physical emulation platform for Vehicle Controller test according to claim 1, it is characterized in that, in described electric power system, be also provided with a control module, this control module is for controlling the timed on-off of power of letter teleseme requestor and the drive current of drive motor size.
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