CN114460861B - Semi-physical simulation platform of train electric transmission system - Google Patents
Semi-physical simulation platform of train electric transmission system Download PDFInfo
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Abstract
The invention relates to a whole vehicle test platform of an electric transmission system of a train, in particular to a semi-physical simulation platform of the electric transmission system of the train. The invention provides a semi-physical simulation platform of a train electric transmission system, which mainly comprises a network control semi-physical simulation system, a bow net and vehicle dynamics simulation system, a traction semi-physical simulation system, an auxiliary semi-physical simulation system and a braking semi-physical simulation system according to different simulation requirements of different systems in a train, and the train electric transmission system semi-physical simulation system is formed by combining application services of a vision system, a test master control system and the like. The invention improves the comprehensiveness and universality of the whole-vehicle-level semi-physical simulation system, improves the effective utilization rate of the semi-physical simulation platform, configures different data acquisition and automatic test systems according to the difference of different requirements, and can meet the system integration test requirements of different vehicle types such as locomotives, motor cars, urban rails and the like.
Description
Technical Field
The invention relates to a whole vehicle test platform of an electric transmission system of a train, in particular to a semi-physical simulation platform of the electric transmission system of the train.
Background
The electric transmission system of the train is mainly composed of a network control system, a traction system, an auxiliary system and a braking system, wherein the electric transmission system of the train relates to the fields of machinery, electricity, control, fluid, communication and the like, the system joint debugging is usually in a whole vehicle test link, the debugging environment is poor, the period is long, the difficulty is high, and if the problems exist, the system joint debugging is difficult to rectify.
The development of a semi-physical real-time simulation technology provides a solution idea for the problems, and the prior art realizes the test of a network control system, a traction system, an auxiliary system, a braking system and the like of a train by constructing a semi-physical simulation platform with a certain vehicle type as a target by means of the design idea of the semi-physical simulation technology.
However, the existing train electric transmission system has wider fields, and the control hardware configuration of different vehicle types has larger difference. In the aspect of communication, one or two of MVB/WTB, CAN, CANOPEN, ethernet, RS485, TRDP and other communication modes are generally adopted in the main stream communication mode of the existing vehicle; in the aspect of power supply modes of the control device, different trains exist, for example, an electric locomotive supplies 110V power, a high-speed rail, a motor train and a city rail supply 24V power, and an internal combustion locomotive supplies 74V power; in the aspect of inputting and outputting electric signals, the DI/O is equally divided into different voltage levels of 24V, 74V and 110V due to the difference of power supply modes, and the AI/O is also different due to the difference of the type selection of sensors inside the system.
The current semi-physical simulation technology for the rail traffic direction is wide, the current established semi-physical simulation experiment platform is built for a specific vehicle such as an electric locomotive, a diesel locomotive, a high-speed rail, a motor car or a urban rail vehicle, and the like, and a multi-system simulation test platform with strong universality is not available. In addition, according to the RIOM test method mentioned by the existing electric transmission semi-physical simulation scheme, RIOM hardware controlled objects are real hardware devices such as a driver controller, an indicator lamp, a plate key switch and the like, and the hardware devices are used for simulating RIOM to receive and send signals. Setting a real hardware device for simulating the sending and receiving signals of RIOM, wherein the simulation of single action can be performed only, closed-loop control cannot be realized, combination tests related to time sequence and interval time cannot be completed, and full coverage of hardware test item points of a network control system cannot be completed; and then, RIOM butt joint equipment is relatively fixed, the applicability of the platform is low after RIOM board card quantity/channel is replaced, and the flexibility is not enough.
Disclosure of Invention
The invention provides a semi-physical simulation platform of a train electric transmission system, which improves the comprehensiveness and universality of a whole-vehicle-level semi-physical simulation system, improves the effective utilization rate of the semi-physical simulation platform, and can meet the system integration test requirements of different vehicle types such as locomotives, motor trains, urban rails and the like by configuring different data acquisition and automatic test systems according to the difference of different requirements.
The invention is realized by adopting the following technical scheme: the train electric transmission system semi-physical simulation platform comprises a network control semi-physical simulation system, a bow net and vehicle dynamics simulation system, a traction semi-physical simulation system, an auxiliary semi-physical simulation system and a braking semi-physical simulation system, and is formed by combining a vision system and a test master control system; the test master control system realizes the control of simulation equipment and a physical controller of each simulation system on a test master control upper computer through master control software, runs automatic test software, sends an automatic test script designed in advance to the real-time simulation machine through an Ethernet communication network shared by a network, traction, auxiliary and braking real-time simulation machines, accesses each real-time simulation machine, monitors information received and sent by the real-time simulation machine, records state information and a timestamp in real time, completes comparison and judgment of feedback signals and script preset values, furthest realizes automatic operation of the simulation system, facilitates an experiment operator, and reduces experiment operation difficulty.
For the train electric transmission system semi-physical simulation platform, for the same vehicle, a traction semi-physical simulation system, an auxiliary semi-physical simulation system and a physical controller communication board card in a brake semi-physical simulation system are connected with a network real-time simulator communication board card in a network control semi-physical simulation system or a physical controller communication board card in a network control semi-physical simulation system through a vehicle-mounted network cable to form the same vehicle control network; meanwhile, a real-time simulator in the simulation system is connected through the reflective memory switch, so that information interaction among controlled objects of the electric transmission system is realized, the semi-physical simulation environment of the whole vehicle-level electric transmission system is built, and the simulation platform can independently and independently operate a traction semi-physical simulation system, an auxiliary semi-physical simulation system, a braking semi-physical simulation system and a network control semi-physical simulation system to realize the construction of the traction, auxiliary, network and braking part-level semi-physical simulation environment; and for the vehicles in the reconnection, connecting the vehicle control networks of different vehicles through a gateway to form a train network.
The network control semi-physical simulation system comprises a network real-time simulator, a network system upper computer and a physical controller; the upper computer of the network system consists of at least one computer, and is internally provided with simulation model development software, simulation monitoring management software and automatic test software which is used for editing and managing test cases, executing and monitoring the test and generating a test report; the upper computer of the network system is connected with the network real-time simulation machine through the Ethernet switch; the network real-time simulator comprises a simulation case, a CPU, a communication board card and a reflective memory card, wherein the communication board card and the reflective memory card can complete the conversion and the receiving and transmitting of communication data according to a defined communication protocol, the simulation model is downloaded into the CPU by the upper computer of the network system, and the CPU is used for running the simulation model meeting the network simulation and communication requirements; at least four slots are arranged in the simulation case, the CPU, the communication board card and the reflection memory card are all fixed in the simulation case through the slots, and the reflection memory card performs data exchange with other real-time simulators through optical fibers by using the reflection memory card to realize distributed joint simulation; the network real-time simulation machine is connected to the physical controller through a communication board card by a vehicle bus, the communication board card is used for realizing the communication of information between the simulation model and the physical controller, and the communication board card is connected with network board cards of different network types to realize the communication requirements of different network communication protocols.
The network control semi-physical simulation system further comprises distributed RIOM signal conversion equipment, and each network real-time simulator is provided with at least one distributed RIOM signal switching equipment for realizing real-time interaction of various electric signals of the RIOM physical controller (remote input/output unit RIOM) and communication data of the network real-time simulator; the distributed RIOM signal switching equipment comprises distributed IO equipment for realizing real-time interaction of electric signals and communication signals and signal conditioning equipment for providing electric signal conversion and isolation between tested equipment and the distributed IO equipment, one end of the distributed IO equipment is connected with a network system upper computer through a communication interface, a corresponding distributed IO control program is arranged in the network system upper computer, the other end of the distributed IO equipment is connected with the signal conditioning equipment through an electric interface, the signal conditioning equipment comprises a signal conditioning box and a plurality of conditioning clamping plates, and the signal conditioning box is connected with the plurality of conditioning clamping plates through slots; the conditioning board card can be configured with a plurality of types of board cards of digital quantity output conditioning, digital quantity input conditioning, analog quantity output conditioning, analog quantity input conditioning and PWM output conditioning, thereby meeting the requirements of equipment with different voltage grades and ensuring the universality of the system; the network real-time simulator runs RIOM to control the object simulation model, the RIOM physical controller realizes signal real-time interaction with the network real-time simulator through the signal conditioning equipment and the distributed I/O equipment, the communication signal can realize information real-time interaction with the MPU through the vehicle bus, and the communication signal and the MPU form a signal closed loop for the RIOM physical controller, so that the automatic simulation test of the physical controller can be completed.
The train electric transmission system semi-physical simulation platform comprises a bow net and vehicle dynamics real-time simulation machine and a bow net and vehicle dynamics upper computer; the hardware of the bow net and the real-time vehicle dynamics simulator comprises a simulator case, a CPU and a reflective memory card; the CPU is used for running the bow net current-receiving and whole vehicle dynamics model, the reflective memory card utilizes the reflective memory optical fiber to exchange data with other real-time simulators to realize distributed joint simulation, and the bow net and vehicle dynamics real-time upper computer is connected with the bow net and vehicle dynamics real-time simulators through the Ethernet and is used for realizing compiling and downloading of the simulation model.
The traction semi-physical simulation system comprises 1 group or a plurality of groups of subsystems, wherein each group of subsystems comprises a traction real-time simulator, a signal adapting unit, a signal conditioning unit, a high-speed data acquisition unit, a traction upper computer and a physical controller; the traction real-time simulation machine comprises an FPGA board card, a processor, a communication board card and a reflection memory card, wherein the FPGA board card is used for receiving a real-time controller instruction, resolving a traction main circuit controlled object simulation model, outputting related data, and meeting the main circuit configuration of different vehicle types by changing and downloading main circuit models and parameters; the signal adapting unit is used for carding and connecting the input and output level signals of the traction real-time simulator to the signal conditioning unit; the signal conditioning unit realizes conversion between the voltage signal of the traction real-time simulator and the voltage and current signal required by the physical controller through the matching channel, and can meet the level signal adaptation requirements of different physical controllers; the high-speed data acquisition unit is connected with the signal adaptation unit and synchronously acquires signals to the high-speed acquisition upper computer; the traction upper computer is connected with the traction real-time simulation machine through the Ethernet and is used for realizing compiling and downloading of the simulation model.
The train electric transmission system semi-physical simulation platform comprises a traction semi-physical simulation system, wherein each group of subsystems further comprises a broken line test unit, each group of subsystems in the traction semi-physical simulation system further comprises a broken line test unit, the broken line test unit is in a bridge and test panel structure form, the test panel is provided with a plurality of groups of jacks which are one-to-one and are respectively connected with input and output lines, the input cable is connected with one side of the test panel through the jacks, the output cable is connected with the other side of the jack, the input cable and the output cable are respectively connected with a signal conditioning unit and a signal adapting unit, the broken line design of the signal lines is realized, the test panels are arranged in a classified mode according to signal types, and the expansion of the test panel is supported by adopting a modularized design; the bridge corresponds to each group of one-to-one jacks and is used for controlling the on and off of the broken wire test circuit, the top of the bridge is provided with a signal injection jack, signals are led into the test panel, and the broken wire test unit realizes the bypass monitoring and fault injection functions of the signals: the signal interface is provided for manual test, has the functions of line disconnection, bridging short circuit and motor open-phase fault injection, can test signals under the condition of no interruption of signal connection, can also disconnect connection, and directly introduces excitation signals for a physical controller from an output terminal or performs static test on input and output signals so as to confirm whether the signals are correct.
The auxiliary semi-physical simulation system comprises an auxiliary real-time simulation machine, a signal adapting unit, a signal conditioning unit, a high-speed data acquisition unit, an auxiliary upper computer and a physical controller; the auxiliary real-time simulation machine comprises an FPGA board card, a processor, a communication board card and a reflection memory card, wherein the FPGA board card is used for receiving a physical controller instruction in real time, resolving an auxiliary main circuit controlled object simulation model, outputting related data and meeting the requirements of main circuit configurations of different auxiliary systems by changing auxiliary main circuit models and parameters; the signal adapting unit is used for carding and connecting the input and output level signals of the auxiliary real-time simulator to the signal conditioning unit; the signal conditioning unit is connected with the signal adapting unit, synchronously acquires signals to the high-speed acquisition upper computer, and is connected with the auxiliary real-time simulator through the Ethernet for realizing compiling and downloading of simulation models.
The train electric transmission system semi-physical simulation platform comprises a braking real-time simulation machine, a signal adapting unit, a signal conditioning unit, a high-speed data acquisition unit, a braking upper computer and a physical controller; the braking real-time simulation machine comprises an FPGA board card, a processor, a communication board card and a reflection memory card, wherein the FPGA board card is used for receiving a real-time controller instruction, resolving a simulation model of a controlled object of a braking system, outputting related data and meeting the configuration of the braking systems of different vehicle types by changing the model parameters of the braking systems; the signal adapting unit is used for carding and connecting the input and output level signals of the braking real-time simulator to the signal conditioning unit; the signal conditioning unit can realize the conversion of the voltage signal of the braking real-time simulator and the voltage and current signal required by the physical controller through the selective matching channel, can meet the level signal adaptation requirements of different physical controllers, and the high-speed data acquisition unit is connected with the signal adaptation unit, synchronously acquires signals to the high-speed acquisition upper computer, and the braking upper computer is connected with the braking real-time simulator through the Ethernet and is used for realizing the compiling and downloading of simulation models.
The semi-physical simulation platform of the train electric transmission system carries out simulation aiming at a certain fixed vehicle type/part, and comprises the following steps:
1. Confirming the hardware range and the model range of the semi-physical simulation platform of the electric transmission system according to the types, the quantity and the requirements of physical hardware;
2. determining network types and power supply voltage levels according to topology and physical hardware, completing the design of a power supply line of physical equipment, selecting a real-time simulator network communication board card according to project communication requirements, and connecting physical controller communication boards in a network semi-physical simulation system through a vehicle-mounted network cable to form a vehicle network and a train network;
3. According to the interface table of the physical controller, the butt joint of the hardware of each device and the signal conditioning unit is completed;
4. A plurality of real-time simulators are connected through a reflective memory switch, so that information interaction among controlled objects of an electric transmission system is realized;
5. completing communication data flow of each component, semi-physical model modeling and reflection memory interaction data flow according to input conditions, compiling and downloading the data flow into each real-time simulator; meanwhile, an operation interface of the test master control upper computer is designed, so that test monitoring is convenient to realize;
6. According to project test item points, automatic test cases are written, the verification efficiency of the same project is greatly improved after the project is repeatedly tested and the program is optimized, repeated test work is avoided, and project research and development efficiency is improved.
7. And manually/automatically completing the semi-physical simulation verification.
The general train-level electric transmission system semi-physical simulation system has the following beneficial effects:
1) The whole system adopts a generalized thought design, conditioning channels for traction control, auxiliary control, braking control and RIOM device butt joint can be flexibly allocated, the signal voltage level is variable, and the network real-time simulator is provided with a plurality of network protocol boards such as MVB/WTB, CAN, CANOPEN, ethernet, RS485 and TRDP, so that the requirements of different control devices on the electrical signals and network protocols of a semi-physical system can be met, the utilization rate of the semi-physical simulation platform is improved, and repeated investment of simulation hardware equipment is avoided;
2) The invention can realize the closed-loop automatic test of all control devices including MPU, RIOM, DDU, TCU, ACU, BCU and other physical controllers, greatly improve the experimental efficiency and reduce the repeated workload;
3) The invention can meet the simulation requirements of traction, network, auxiliary and braking control of single component level, collaborative simulation of different combinations of multiple component levels such as MPU & RIOM, multiple TCUs, multiple ACUs, and the like, and the semi-physical simulation requirement of the whole vehicle electric transmission system.
Drawings
FIG. 1 is a diagram of a semi-physical simulation platform of a train electric drive system.
Fig. 2 is a schematic diagram of a simulation embodiment of a whole 4-axle vehicle.
Detailed Description
The invention provides a semi-physical simulation platform of a train electric transmission system, which mainly comprises a network control semi-physical simulation system, a bow net and vehicle dynamics simulation system, a traction semi-physical simulation system, an auxiliary semi-physical simulation system and a braking semi-physical simulation system according to different simulation requirements of different systems in a train, and the train electric transmission system semi-physical simulation system is formed by combining application services of a vision system, a test master control system and the like.
The network control semi-physical simulation system comprises a network real-time simulator, distributed RIOM signal conversion equipment, a network system upper computer and a physical controller. The network real-time simulation machine is generally composed of 1 to n network real-time simulation machines, each network real-time simulation machine can simulate 1 bus network segment, 4 network segments can be simulated, and the simulation of the maximum marshalling operation working condition (network control system of external reconnection trains) of the existing vehicles can be realized by combining 4 redundant gateway GW physical devices. The network real-time simulator hardware comprises: the system comprises a simulation case, a CPU, a communication board card and a reflection memory card; the CPU is used for running a simulation model meeting the network simulation and communication requirements; the communication board card is used for realizing the communication of information between the simulation model and the physical controller, comprises MVB, CAN, CANOPEN, ethernet, TRDP and other network types, can expand other network boards in the later stage, is connected with different network boards and corresponding communication protocol plug-ins, can realize the communication requirements of different network communication protocols, and the reflective memory card utilizes the reflective memory optical fiber to carry out data exchange with other real-time simulators to realize distributed joint simulation. The upper computer of the network system is connected with the network real-time simulation machine through the Ethernet and is used for realizing compiling, downloading, manual/automatic testing, monitoring and data acquisition of the simulation model. Each network real-time simulator of the distributed RIOM signal conversion equipment can be configured with 1 group or multiple groups (m groups), all groups are connected in series, the distributed RIOM signal conversion equipment is flexibly configured according to the number of trains RIOM and the simulation requirements, and each group of equipment is connected with 1 RIOM equipment in a butt joint mode, so that the problem of complex system wiring caused by centralized arrangement is greatly simplified. Each group of distributed RIOM signal switching devices consists of a distributed I/O device and a signal conditioning device. The distributed I/O equipment is an IO interface of an expansion real-time simulator and is used for realizing real-time interaction between an electric signal of the real equipment and a simulation communication signal. One end of the device is an electric interface, so that the device can realize the receiving and transmitting of electric signals within 10V such as DI, DO, AI, AO, PWMIN, PWMOUT and the like, and the other end is a communication interface, and the network system upper computer can carry out flexible channel configuration and control on the distributed I/O device through a LAN port by adopting the design of an industrial Ethernet EtherCAT bus. The signal conditioning equipment comprises a signal conditioning box and a conditioning board card. The signal conditioning box is designed in a slot mode and supports a plurality of conditioning boards; the conditioning board card adopts the same backboard interface design, can be configured with various types of board cards such as digital quantity output conditioning, digital quantity input conditioning, analog quantity output conditioning, analog quantity input conditioning, PWM output conditioning and the like, wherein the digital quantity input conditioning board card adopts a wide voltage range design thought, can realize the level conversion of input voltages with different voltage levels of 16.5V-32V/50V-150V, can realize the voltage output with different voltage levels of 16.5V-32V/50V-150V by adopting an external controllable voltage source mode at the equipment side, meets the equipment requirements with different voltage levels, and the universality of the system is ensured. The network real-time simulator can run RIOM a control object simulation model, the RIOM physical controller can realize signal real-time interaction with the network real-time simulator through signal conditioning equipment and distributed I/O equipment, communication signals can realize information real-time interaction with an MPU (which can be a simulation model or a physical controller) through a vehicle bus, and the communication signals and the MPU form a signal closed loop for the RIOM physical controller, so that automatic simulation test of the physical controller can be completed. The network system upper computer is mainly responsible for compiling and downloading the model, simulating start-stop control, process monitoring and automatic testing. The real object controller is network control equipment related to whole vehicle control, display and data acquisition, and comprises a train central control unit MPU, a Remote IO (RIOM) unit, a DDU, an unmanned controller and the like.
The bow net and vehicle dynamics simulation system comprises a bow net and vehicle dynamics real-time simulation machine and a bow net and vehicle dynamics upper computer; the hardware of the bow net and the real-time simulation machine of the vehicle dynamics comprises: the system comprises a simulation case, a CPU and a reflective memory card; the CPU is used for running the bow net current receiving and whole vehicle dynamics model. The reflective memory card utilizes the reflective memory optical fiber to exchange data with other real-time simulators to realize distributed joint simulation, and transmits calculated information such as network measurement voltage, dynamic resistance, vehicle speed and the like to the traction real-time simulators of the traction subsystem. The real-time upper computer of the bow net and the vehicle dynamics is connected with the real-time simulation machine of the bow net and the vehicle dynamics through the Ethernet and is used for realizing compiling and downloading of the simulation model.
The traction semi-physical simulation system can be composed of 1 group or a plurality of groups of subsystems, wherein each group of subsystems comprises a traction real-time simulator, a signal adapting unit, a broken line testing unit, a signal converting unit, a high-speed data acquisition unit, a traction upper computer and a physical controller (traction control unit TCU); the traction real-time simulator mainly completes simulation of a system real-time model such as a bow net current collector, a transformer, a rectifier, an inverter, a motor and the like, utilizes a reflective memory optical fiber to exchange data with other real-time simulators to realize distributed joint simulation, and the hardware of the traction real-time simulator comprises an FPGA board card, a processor, a communication board card and a reflective memory card, wherein the FPGA board card can be configured into 1 or more blocks, is used for receiving TCU instructions in real time, resolving a traction main circuit controlled object simulation model, outputting related data, and can meet the main circuit configuration of different vehicle types by changing download main circuit models and parameters; the signal adapting unit is used for carding and connecting the input and output level signals of the traction real-time simulator to the signal conditioning unit; the signal conditioning unit is provided with DO/DI/AO/AI voltage and current conditioning channels with different conversion modes, and conversion between the traction real-time simulator voltage signal and the real-time controller TCU required voltage and current signal can be realized through selecting the channels, so that the adaptation requirements of different TCU level signals can be met. The high-speed data acquisition unit is provided with a plurality of analog quantity acquisition channels and a plurality of digital quantity acquisition channels, is connected with the signal adaptation unit and synchronously acquires signals to the high-speed acquisition upper computer. The broken line test unit adopts the bridge and test panel, and the device can simulate the on-off of a line and see the response of the physical controller.
The auxiliary semi-physical simulation system comprises an auxiliary real-time simulation machine, a signal adaptation unit, a signal conditioning unit, a high-speed data acquisition unit, an auxiliary upper computer and a physical controller (auxiliary control unit ACU); the auxiliary real-time simulator mainly completes simulation of an auxiliary inverter, a fan and a DCDC conversion real-time model, utilizes reflective memory optical fibers and other real-time simulators to perform data exchange to realize distributed joint simulation, and the hardware of the auxiliary real-time simulator comprises an FPGA board card, a processor, a communication board card and reflective memory cards, wherein the FPGA board card can be configured into 1 or more blocks and is used for receiving ACU instructions in real time, resolving an auxiliary main circuit controlled object simulation model, outputting related data, and meeting the requirements of main circuit configurations of different auxiliary systems by changing auxiliary main circuit models and parameters; the signal adapting unit is used for carding and connecting the input and output level signals of the auxiliary real-time simulator to the signal conditioning unit; the signal conditioning unit is provided with DO/DI/AO/AI voltage and current conditioning channels with different conversion modes, and can realize conversion of auxiliary real-time simulation electromechanical signals and ACU required voltage and current signals through selecting the channels, so that the adaptation requirements of different ACU level signals can be met. The high-speed data acquisition unit is provided with a plurality of analog quantity acquisition channels and a plurality of digital quantity acquisition channels, is connected with the signal adaptation unit and synchronously acquires signals to the high-speed acquisition upper computer.
The braking semi-physical simulation system comprises a braking real-time simulation machine, a signal adapting unit, a signal conditioning unit, a high-speed data acquisition unit, a braking upper computer and a physical controller (auxiliary control unit BCU); the braking real-time simulator mainly completes simulation model simulation of a braking system, utilizes the reflective memory optical fiber to exchange data with other real-time simulators to realize distributed joint simulation, and comprises an FPGA board card, a processor, a communication board card and a reflective memory card, wherein the FPGA board card can be configured into 1 or more blocks, is used for receiving BCU instructions in real time, resolving a controlled object simulation model of the braking system, outputting related data, and can meet the configuration of the braking systems of different vehicle types by changing the model parameters of the braking system; the signal adapting unit is used for carding and connecting the input and output level signals of the braking real-time simulator to the signal conditioning unit; the signal conditioning unit is provided with DO/DI/AO/AI voltage and current conditioning channels with different conversion modes, and conversion between the braking real-time simulation electromechanical signal and the BCU required voltage and current signal can be realized through selecting the channels, so that the adaptation requirements of different BCU level signals can be met. The high-speed data acquisition unit is provided with a plurality of analog quantity acquisition channels and a plurality of digital quantity acquisition channels, is connected with the signal adaptation unit and synchronously acquires signals to the high-speed acquisition upper computer.
The test master control system is used for the management and application of the whole vehicle simulation system, comprises a test master control upper computer and master control software, uniformly configures and manages test resources, and realizes one-key power-on and power-off of hardware equipment and one-key start and stop of a software model; overall control is carried out on the test process, so that the test is ensured to be orderly and normally carried out; through a good man-machine interaction interface, the setting of key input instructions/parameters in the test process is managed in a centralized mode, visual display is carried out on test data of the train in the running process, and the working state of test resources is displayed in real time in a three-dimensional real-scene mode.
The semi-physical simulation system of the whole electric transmission system realizes a hardware closed loop comprising a network, traction, auxiliary and braking controllers, especially RIOM equipment, and all physical equipment port information realizes the control or monitoring of an upper computer, thereby providing preconditions for the semi-physical simulation closed loop of the electric transmission system. Under the environment, the test master control system realizes the control of each simulation subsystem simulation device and the physical controller on the test master control upper computer through the master control software, runs the automatic test software, sends the designed automatic test script to the real-time simulation machine through the Ethernet communication network shared by the network, traction, auxiliary and braking real-time simulation machines, accesses each real-time simulation machine, monitors the information received and sent by the real-time simulation machine, records the state information and the time stamp in real time, completes the comparison judgment of the feedback signal and the script preset value, furthest realizes the automatic operation of the simulation system, facilitates the experiment operators and reduces the experiment operation difficulty.
The train-level electric transmission system semi-physical simulation system is characterized in that for a certain fixed vehicle type, 1 group or a plurality of groups of traction semi-physical simulation systems, 1 group or a plurality of groups of auxiliary semi-physical simulation systems, 1 group or a plurality of groups of braking semi-physical simulation systems and 1 group or a plurality of groups of network control semi-physical simulation systems (comprising a plurality of RIOM real parts) are connected through a vehicle-mounted network cable to form a vehicle control network, and the vehicle control network is connected with a gateway to form a train network; meanwhile, the real-time simulators in the related simulation system are connected through the reflective memory switch, so that information interaction among controlled objects of the electric transmission system is realized.
The electric drive system semi-physical simulation system performs the following general steps of experiments aiming at a certain fixed vehicle type/part.
1. And confirming the hardware range and the model range of the electric transmission semi-physical simulation system according to the types, the quantity and the requirements of physical hardware.
2. Determining network types and power supply voltage levels according to topology and physical hardware, completing the design of a power supply line of physical equipment, selecting a real-time simulator network communication board card according to project communication requirements, and connecting physical controller communication boards in a network semi-physical simulation system through a vehicle-mounted network cable to form a vehicle network and a train network;
3. According to the interface table of the physical controller, the butt joint of the hardware of each device and the signal conditioning device is completed;
4. A plurality of real-time simulators are connected through a reflective memory switch, so that information interaction among controlled objects of an electric transmission system is realized;
5. Completing communication data flow of each component, semi-physical model modeling and reflection memory interaction data flow according to input conditions, compiling and downloading the data flow into each real-time simulator; meanwhile, an upper computer control interface is designed, so that test monitoring is conveniently realized.
6. And writing an automatic test case according to the project test item points. The verification efficiency of the same project is greatly improved after the repeatability test and the program optimization, the repeatability test work is avoided, and the project research and development efficiency is improved.
7. And manually/automatically completing the semi-physical simulation verification.
Examples of the embodiments
In the train-level electric transmission simulation system embodiment, a real train TCN network topology is taken as a basic framework, a real-time simulation technology is adopted, a network system semi-physical simulation system, a traction semi-physical simulation system and an auxiliary semi-physical simulation system are configured, and a brake semi-physical simulation system is used for constructing real-time operation logic and real-time simulation of motion characteristics of the whole train. Wherein:
Example 1
4-Axis electric traction multiple simulation requirement
System semi-physical simulation environment for 4-axis traction of locomotive
The implementation steps are as follows:
1. confirming that the physical controller is 4 TCUs, constructing a virtual vehicle bus test environment for issuing a traction instruction, and requiring 1 network real-time simulation machine without RIOM conditioning equipment; 4-axis traction simulation environments are required to be constructed, each axis corresponds to one TCU real piece, 4 sets of traction single-axis software and hardware environments are required to be configured, 4 sets of traction real-time simulators are required to be drawn, and 1 set of bow net and vehicle dynamics real-time simulators are required to be configured.
2. The network type of the network real-time simulation machine networking is determined to be MVB, the power supply voltage level is 110V, the network communication board card of the network real-time simulation machine is configured to be an MVB board card, and TCU 1-TCU 4 are connected with the network real-time simulation machine by adopting an MVB special cable.
3. The 6 real-time simulators are connected through the reflective memory switch, so that information interaction among a plurality of system controlled objects is realized;
4. According to the input conditions, building of MPU and traction control related models is completed in the network real-time simulator 1, and interactive data flow of the MPU and 4 TCU models is completed; completing the construction of a wheel track dynamics and arch net current receiving model of the whole vehicle in an arch net and vehicle dynamics real-time simulator, and completing the reflection memory interaction data flow; the method comprises the steps of completing the construction of a traction (including a main transformer) main circuit and a protection circuit related model in a traction real-time simulation machine 1, completing the construction of the traction (including no main transformer) main circuit and the protection circuit related model in a traction real-time simulation machine 2-4, completing the reflection memory interaction data flow, and simultaneously adopting a hard wire to realize the real-time electric signal transmission of the secondary side voltage and the primary variable current of the transformer for correlating 4 traction system data; completing compiling and downloading to each real-time simulation machine; meanwhile, an operation interface of the test master control upper computer is designed, so that test monitoring is convenient to realize.
5. And writing an automatic test case according to the project test item points.
6. And automatically completing semi-physical simulation verification and automatically generating a report.
Example 2
Network control system semi-physical simulation environment for reconnection in locomotive single MPU+2GW
The implementation steps are as follows:
1. Confirming that the real object is 1 MPU device and 2 gateways, constructing an internal reconnection test environment, and needing 2 network real-time simulators without RIOM conditioning devices; the RIOM controller model is considered in modeling the model.
2. The network type of the network real-time simulation machine networking is determined to be MVB, the power supply voltage level is 110V, the network real-time simulation machine network communication board is configured to be an MVB board, an MPU is connected with the network real-time simulation machine 1 by adopting an MVB special cable and connected to the GW1, and the GW2 is connected to the network real-time simulation machine 2; the physical gateways GW1/GW2 are connected by adopting a WTB special cable.
3. 2 Network real-time simulators are connected through a reflective memory switch, so that information interaction between controlled objects of two systems is realized;
4. according to input conditions, 4 traction, 2 auxiliary and 1 braking controlled object models, 1 wheel track dynamics, 1 low-voltage electric logic, 2 ACUs, 4 TCUs, 1 BCU and 2 RIOM models are built in a network real-time simulation machine 1, interaction data flows of MPU and 2 ACUs, 4 TCUs, 1 BCU and 2 RIOM models are completed, 4 traction, 2 auxiliary and 1 braking controlled object models, 1 wheel track dynamics, 1 low-voltage electric logic, 2 ACUs, 4 TCUs, 1 BCU, 2 RIOM and 1 MPU models are built in a real-time simulation machine 2, interaction data flows of GW2 and MPU models are completed, internal memory interaction data flows are reflected, and compiled and downloaded to each real-time simulation machine; meanwhile, an operation interface of the test master control upper computer is designed, so that test monitoring is convenient to realize.
5. And writing an automatic test case according to the project test item points.
6. And automatically completing semi-physical simulation verification and automatically generating a report.
Example 3
Network control system semi-physical simulation environment for locomotive 2MPU+4RIOM+4GW external reconnection
The implementation steps are as follows:
1. And confirming that the real object is 2 MPU devices, 4 gateways, 4 RIOM GWs, an external reconnection test environment is required to be constructed, and 4 network real-time simulators and 4 RIOM conversion devices are required. The voltage class, the number of channels and the channel definition list of the electrical signal of each RIOM device are required to be determined, a mapping table of RIOM signal switching devices is designed by taking the voltage class, the number of channels and the channel definition list as input conditions, and corresponding voltage class conditioning devices are selected and matched to complete hardware access of RIOM devices.
2. Determining the network type of a network real-time simulation machine set as MVB and the power supply voltage level as 110V, configuring a network communication board card of the network real-time simulation machine as an MVB board card, connecting MPUs 1, RIOM1/RIOM with the network real-time simulation machine 1 by adopting a MVB special cable, connecting the MPUs 1, RIOM/RIOM to GW1, connecting the MPUs 2, RIOM/RIOM 4 with the network real-time simulation machine 2, connecting the MPUs 2, RIOM/RIOM to GW2, and connecting the GW3 to the network real-time simulation machine 3; connecting GW4 to network real-time simulator 4; the real GWs 1 to GW4 are connected by a WTB special cable.
3. And 4 network real-time simulators are connected through the reflective memory switch, so that information interaction between controlled objects of two systems is realized.
4. According to input conditions, 4 traction, 2 auxiliary and 1 braking controlled object models are respectively completed in the network real-time simulators 1 and 2, 1 wheel track dynamics, 1 low-voltage electric logic, 2 ACUs, 4 TCUs and 1 BCU models are built, interaction data flows of the MPUs 1 and 2 ACUs, 4 TCUs and 1 BCU models in respective network topologies are respectively completed, 4 traction, 2 auxiliary and 1 braking controlled object models, 1 wheel track dynamics, 1 low-voltage electric logic, 2 ACUs, 4 TCUs, 1 BCU and 1 MPU models are built, interaction data flows of the GW3/GW4 and the MPU3 and MPU4 models are completed, reflection internal memory interaction data flows of the 4 network real-time simulators are completed, and the interaction data flows are compiled and downloaded into the real-time simulators; meanwhile, an operation interface of the test master control upper computer is designed, so that test monitoring is convenient to realize.
5. And writing an automatic test case according to the project test item points.
6. And automatically completing semi-physical simulation verification and automatically generating a report.
Example 4
Subway single unmanned controller canopen communication) +2 RIOM network control system semi-physical simulation environment
The implementation steps are as follows:
1. And confirming that the real object is 1 unmanned controller, 2 RIOM network real-time simulators and 2 RIOM conversion devices are needed to be configured. Determining the voltage class, the number of channels and a channel definition list of the electrical signals of 2 RIOM devices, designing a mapping table of RIOM signal switching equipment by taking the voltage class, the number of channels and the channel definition list as input conditions, selecting corresponding voltage class conditioning equipment, and completing hardware access of RIOM equipment;
2. the network type of the network real-time simulation machine networking is determined to be CANOPEN and the power supply voltage level is 24V, the network communication board card of the network real-time simulation machine is configured to be a CANOPEN board card, and the unmanned controller and RIOM are connected with the network real-time simulation machine by adopting a cable special for the CANOPEN.
3. According to input conditions, 4 traction, 2 auxiliary and 1 braking controlled object models, 1 wheel track dynamics, 1 piezoelectric logic, 2 ACUs, 4 TCUs, 1 BCU and 1 MPU models are respectively completed in a network real-time simulator, and interaction data flows of an unmanned controller, RIOM and the MPU models in network topology are completed, compiled and downloaded to the network real-time simulator; meanwhile, an operation interface of the test master control upper computer is designed, so that test monitoring is convenient to realize.
4. And writing an automatic test case according to the project test item points.
5. And automatically completing semi-physical simulation verification and automatically generating a report.
Claims (8)
1. The utility model provides a train electric drive system semi-physical simulation platform which characterized in that: the system comprises a network control semi-physical simulation system, and/or a bow net and vehicle dynamics simulation system, and/or a traction semi-physical simulation system, and/or an auxiliary semi-physical simulation system, and/or a brake semi-physical simulation system, and is combined with a vision system and a test master control system to form a train electric transmission system semi-physical simulation platform; the test master control system realizes the control of simulation equipment and a physical controller of each simulation system on a test master control upper computer through master control software, runs automatic test software, sends an automatic test script designed in advance to the real-time simulation machine through an Ethernet communication network shared by a network, traction, auxiliary and braking real-time simulation machines, accesses each real-time simulation machine, monitors information received and sent by the real-time simulation machine, records state information and a timestamp in real time, completes comparison and judgment of feedback signals and script preset values, furthest realizes automatic operation of the simulation system, facilitates experiment operators and reduces experiment operation difficulty; for the same vehicle, connecting a traction semi-physical simulation system, an auxiliary semi-physical simulation system and/or a physical controller communication board card in a brake semi-physical simulation system and/or a network real-time simulator communication board card and a physical controller communication board card in a network control semi-physical simulation system through a vehicle-mounted network cable to form the same vehicle control network; meanwhile, a real-time simulator in the simulation system is connected through the reflective memory switch, so that information interaction among controlled objects of the electric transmission system is realized, the semi-physical simulation environment of the whole vehicle-level electric transmission system is built, the simulation platform can independently and independently operate a traction semi-physical simulation system, an auxiliary semi-physical simulation system, a braking semi-physical simulation system and/or a network control semi-physical simulation system, and the traction, auxiliary, network and braking part-level semi-physical simulation environment is built; for the vehicles in the reconnection, connecting vehicle control networks of different vehicles through a gateway to form a train network; the network control semi-physical simulation system comprises a network real-time simulator, a network system upper computer and a physical controller; the upper computer of the network system consists of at least one computer, is internally provided with simulation model development software, simulation monitoring management software and automatic test software for editing and managing test cases, executing and monitoring the test and generating a test report, and is connected with the network real-time simulation machines through the Ethernet switch, wherein the network real-time simulation machines consist of 1 to n network real-time simulation machines, and each network real-time simulation machine can simulate 1 bus network segment of a vehicle; 4 simulation 4 network segments, combining 4 redundant gateway GW physical devices, realizing the simulation of the maximum marshalling operation working condition of the vehicle, comprising a simulation case, a CPU, a communication board card and a reflection memory card, wherein the communication board card can complete the conversion and the receiving and transmitting of communication data according to a defined communication protocol, the upper computer of the network system downloads a simulation model into the CPU, and the CPU is used for running the simulation model meeting the network simulation and communication requirements; at least four slots are arranged in the simulation case, the CPU, the communication board card and the reflection memory card are all fixed in the simulation case through the slots, and the reflection memory card performs data exchange with other real-time simulators through optical fibers by using the reflection memory card to realize distributed joint simulation; the network real-time simulation machine is connected to the physical controller through a vehicle bus by a communication board card, the communication board card is used for realizing the communication of information between the simulation model and the physical controller, the communication board card comprises MVB, CANN, CANOpEN and Ethernet, TRDP network types, other network board cards can be expanded in the later period, and the communication board card is connected with the network board cards of different network types to realize the communication requirements of different network communication protocols; the physical controller is network control equipment related to whole vehicle control, display and data acquisition and comprises a train central control unit MPU, a remote IO unit, a DDU and an unmanned controller.
2. The train electric drive system semi-physical simulation platform of claim 1, wherein: the network control semi-physical simulation system also comprises distributed RIOM signal conversion equipment, and each network real-time simulator is provided with at least one distributed RIOM signal conversion equipment for realizing real-time interaction of various electric signals of the RIOM physical controller and communication data of the network real-time simulator; the distributed RIOM signal switching equipment comprises distributed IO equipment for realizing real-time interaction of electric signals and communication signals and signal conditioning equipment for providing electric signal conversion and isolation between tested equipment and the distributed IO equipment, one end of the distributed IO equipment is connected with a network system upper computer through a communication interface, a corresponding distributed IO control program is arranged in the network system upper computer, the other end of the distributed IO equipment is connected with the signal conditioning equipment through an electric interface, the signal conditioning equipment comprises a signal conditioning box and a plurality of conditioning clamping plates, and the signal conditioning box is connected with the plurality of conditioning clamping plates through slots; the conditioning board card can be configured with a plurality of types of board cards of digital quantity output conditioning, digital quantity input conditioning, analog quantity output conditioning, analog quantity input conditioning and PWM output conditioning, thereby meeting the requirements of equipment with different voltage grades and ensuring the universality of the system; the network real-time simulator runs RIOM to control the object simulation model, the RIOM physical controller realizes signal real-time interaction with the network real-time simulator through the signal conditioning equipment and the distributed I/O equipment, the communication signal can realize information real-time interaction with the MPU through the vehicle bus, and the communication signal and the MPU form a signal closed loop for the RIOM physical controller, so that the automatic simulation test of the physical controller can be completed.
3. The train electric drive system semi-physical simulation platform of claim 2, wherein: the bow net and vehicle dynamics simulation system comprises a bow net and vehicle dynamics real-time simulation machine and a bow net and vehicle dynamics upper computer; the hardware of the bow net and the real-time vehicle dynamics simulator comprises a simulator case, a CPU and a reflective memory card; the CPU is used for running the bow net current-receiving and whole vehicle dynamics model, the reflective memory card utilizes the reflective memory optical fiber to exchange data with other real-time simulators to realize distributed joint simulation, and the bow net and vehicle dynamics real-time upper computer is connected with the bow net and vehicle dynamics real-time simulators through the Ethernet and is used for realizing compiling and downloading of the simulation model.
4. A train electric drive system semi-physical simulation platform according to claim 3, wherein: the traction semi-physical simulation system consists of 1 group or a plurality of groups of subsystems, wherein each group of subsystems comprises a traction real-time simulator, a signal adapting unit, a signal conditioning unit, a high-speed data acquisition unit, a traction upper computer and a physical controller; the traction real-time simulation machine comprises an FPGA board card, a processor, a communication board card and a reflection memory card, wherein the FPGA board card is used for receiving a real-time controller instruction, resolving a traction main circuit controlled object simulation model, outputting related data, and meeting the main circuit configuration of different vehicle types by changing and downloading main circuit models and parameters; the signal adapting unit is used for carding and connecting the input and output level signals of the traction real-time simulator to the signal conditioning unit; the signal conditioning unit realizes conversion between the voltage signal of the traction real-time simulator and the voltage and current signal required by the physical controller through the matching channel, and can meet the level signal adaptation requirements of different physical controllers; the high-speed data acquisition unit is connected with the signal adaptation unit and synchronously acquires signals to the high-speed acquisition upper computer; the traction upper computer is connected with the traction real-time simulation machine through the Ethernet and is used for realizing compiling and downloading of the simulation model.
5. The train electric drive system semi-physical simulation platform of claim 4, wherein: each group of subsystems in the traction semi-physical simulation system further comprises a broken line test unit, the structural form of the broken line test unit adopts the form of a bridge and a test panel, the test panel is provided with a plurality of groups of jacks which are one to one and are respectively connected with input and output lines, the input cable is connected with the jack on one side of the test panel, the output cable is connected with the jack on the other side, and the input cable and the output cable are respectively connected with a signal conditioning unit and a signal adapting unit, so that the broken line design of the signal line is realized, the test panel is classified and arranged according to the signal type, and the modular design is adopted to support the expansion of the test panel; the bridge corresponds to each group of one-to-one jacks and is used for controlling the on and off of the broken wire test circuit, the top of the bridge is provided with a signal injection jack, signals are led into the test panel, and the broken wire test unit realizes the bypass monitoring and fault injection functions of the signals: the signal interface is provided for manual test, has the functions of line disconnection, bridging short circuit and motor open-phase fault injection, can test signals under the condition of no interruption of signal connection, can also disconnect connection, and directly introduces excitation signals for a physical controller from an output terminal or performs static test on input and output signals so as to confirm whether the signals are correct.
6. The train electric drive system semi-physical simulation platform of claim 5, wherein: the auxiliary semi-physical simulation system comprises an auxiliary real-time simulation machine, a signal adaptation unit, a signal conditioning unit, a high-speed data acquisition unit, an auxiliary upper computer and a physical controller; the auxiliary real-time simulation machine comprises an FPGA board card, a processor, a communication board card and a reflection memory card, wherein the FPGA board card is used for receiving a physical controller instruction in real time, resolving an auxiliary main circuit controlled object simulation model, outputting related data and meeting the requirements of main circuit configurations of different auxiliary systems by changing auxiliary main circuit models and parameters; the signal adapting unit is used for carding and connecting the input and output level signals of the auxiliary real-time simulator to the signal conditioning unit; the signal conditioning unit is connected with the signal adapting unit, synchronously acquires signals to the high-speed acquisition upper computer, and is connected with the auxiliary real-time simulator through the Ethernet for realizing compiling and downloading of simulation models.
7. The train electric drive system semi-physical simulation platform of claim 6, wherein: the braking semi-physical simulation system comprises a braking real-time simulation machine, a signal adapting unit, a signal conditioning unit, a high-speed data acquisition unit, a braking upper computer and a physical controller; the braking real-time simulation machine comprises an FPGA board card, a processor, a communication board card and a reflection memory card, wherein the FPGA board card is used for receiving a real-time controller instruction, resolving a simulation model of a controlled object of a braking system, outputting related data and meeting the configuration of the braking systems of different vehicle types by changing the model parameters of the braking systems; the signal adapting unit is used for carding and connecting the input and output level signals of the braking real-time simulator to the signal conditioning unit; the signal conditioning unit can realize the conversion of the voltage signal of the braking real-time simulator and the voltage and current signal required by the physical controller through the selective matching channel, can meet the level signal adaptation requirements of different physical controllers, and the high-speed data acquisition unit is connected with the signal adaptation unit, synchronously acquires signals to the high-speed acquisition upper computer, and the braking upper computer is connected with the braking real-time simulator through the Ethernet and is used for realizing the compiling and downloading of simulation models.
8. The train electric drive system semi-physical simulation platform of claim 7, wherein: the simulation is carried out for a certain fixed vehicle model/component as follows:
1. Confirming the hardware range and the model range of the semi-physical simulation platform of the electric transmission system according to the types, the quantity and the requirements of physical hardware;
2. determining network types and power supply voltage levels according to topology and physical hardware, completing the design of a power supply line of physical equipment, selecting a real-time simulator network communication board card according to project communication requirements, and connecting physical controller communication boards in a network semi-physical simulation system through a vehicle-mounted network cable to form a vehicle network and a train network;
3. According to the interface table of the physical controller, the butt joint of the hardware of each device and the signal conditioning unit is completed;
4. A plurality of real-time simulators are connected through a reflective memory switch, so that information interaction among controlled objects of an electric transmission system is realized;
5. completing communication data flow of each component, semi-physical model modeling and reflection memory interaction data flow according to input conditions, compiling and downloading the data flow into each real-time simulator; meanwhile, an operation interface of the test master control upper computer is designed, so that test monitoring is convenient to realize;
6. According to project test item points, automatic test cases are written, the verification efficiency of the same project is greatly improved after the project is repeatedly tested and the program is optimized, repeated test work is avoided, and project research and development efficiency is improved;
7. And manually/automatically completing the semi-physical simulation verification.
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