CN111240695B - Online programming method for levitation controller of medium-low speed maglev train - Google Patents
Online programming method for levitation controller of medium-low speed maglev train Download PDFInfo
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- CN111240695B CN111240695B CN202010012033.3A CN202010012033A CN111240695B CN 111240695 B CN111240695 B CN 111240695B CN 202010012033 A CN202010012033 A CN 202010012033A CN 111240695 B CN111240695 B CN 111240695B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/40—Transformation of program code
- G06F8/53—Decompilation; Disassembly
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/40—Bus structure
- G06F13/4063—Device-to-bus coupling
- G06F13/4068—Electrical coupling
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/60—Software deployment
- G06F8/65—Updates
- G06F8/654—Updates using techniques specially adapted for alterable solid state memories, e.g. for EEPROM or flash memories
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
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Abstract
The invention discloses an online programming method of a levitation controller of a medium-low speed maglev train, which comprises an upper computer end control method and a levitation controller end control method, wherein the upper computer end and the levitation controller end interact through a CAN bus. The invention uses the CAN bus communication mode of the suspension control box and the train control system to operate the upper computer end in the vehicle, synchronously carries out on-line programming operation on the programs of a plurality of target suspension controllers DSP, and ensures the safety and stability of data transmission on the premise of not opening the box; the upper computer side decompiles the DSP program into the binary data which can be identified by FLASH, simplifies the development process of the DSP program, realizes that a plurality of suspension controllers complete on-line programming in parallel and synchronously, and the time consumption of on-line programming of N suspension control boxes is approximately equal to that of a single suspension control box, thereby improving the on-line programming efficiency.
Description
Technical Field
The invention belongs to the technical field of programming of levitation controllers of medium-low speed maglev trains, and particularly relates to an online programming method of a levitation controller of a medium-low speed maglev train.
Background
In recent years, medium-speed magnetic levitation projects are widely implemented in the national field, and after-sales service work of a core component levitation control box is particularly important. Taking long sand magnetic levitation as an example, 60 levitation control boxes are arranged in each train, when a control program of a levitation controller in the levitation control boxes needs to be updated, a worker needs to detach the 60 levitation control boxes from the train, unpacks the levitation control boxes to take out a PCB card of the levitation controller, and finally updates the program. The process of dismantling the box wastes time and energy, and unpacking operation can influence the waterproof performance of case. Therefore, the remote program upgrading mode is used in the vehicle, the working efficiency can be improved, and the performances of the controller box body in all aspects are maintained.
At present, TI C2000 series DSP control chips are used for the levitation controllers of the maglev trains. The program burning mode of the chip mainly comprises the following two modes:
first, connecting the emulator to the chip JTAG interface uses CCS software to program the DSP, which is time-consuming and labor-consuming.
Secondly, program data are sent to the DSP by using remote communication modes such as a CAN bus and the like, then the DSP identifies the target address of the data, and finally the data are written into the FLASH target position, so that the DSP online programming is realized.
The first method is not suitable for long distance transmission, so the suspension control box needs to be disassembled, the PCB board is taken out, and the CCS software is used for programming the DSP in cooperation with the simulator.
The second method can avoid the unpacking operation, but has several drawbacks: firstly, the method cannot realize the synchronous on-line programming of a plurality of nodes, only can carry out the on-line programming operation on the suspension controllers one by one, and the time consumption is long when the plurality of suspension controllers need to realize the on-line programming. Secondly, there is no error correction mechanism in the data transmission process, so that the accuracy of the program data cannot be ensured in the strong electromagnetic interference environment of the magnetic levitation vehicle, and a safety accident can be caused under serious conditions. In addition, after the DSP receives the data, the DSP chip is required to identify the target address of the data, which increases the development difficulty and period of the DSP program.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an online programming method for the levitation controllers of the medium-low speed maglev train, which realizes parallel synchronous online programming of a plurality of levitation controllers on the premise of not opening a box, has short time consumption and high efficiency, can ensure data accuracy and simplifies the development process of DSP programs.
In order to solve the technical problems, the invention adopts the following technical scheme:
the on-line programming method of the levitation controller of the medium-low speed maglev train is characterized by comprising an upper computer end control method and a levitation controller end control method, wherein the upper computer end and the levitation controller end interact through a CAN bus; wherein:
the upper computer end control method comprises the following steps:
step 11: decompiling the DSP program into binary file data which can be identified by the DSP on-chip FLASH;
step 12: designating a plurality or single target suspension controller network identifier;
step 13: sending a program update instruction to the suspension controller;
step 14: judging whether the data need to be retransmitted, if so, jumping to a step 15; otherwise, jumping to step 16;
step 15: re-reading the last data, selecting the suspension controller recorded in the step 110 to send data, and jumping to the step 19;
step 16: reading binary file data with fixed length;
step 17: performing calculation of data error correction mechanism verification on the data read in the step 16;
step 18: transmitting the data of the step 16 and the step 17 together;
step 19: receiving a verification calculation result of the suspension controller end;
step 110: judging whether the suspension controller end checking calculation result is the same as the result in the step 17, if so, executing the step 111; otherwise, setting an instruction to resend the data, recording a network identifier of the target suspension controller, and jumping to the step 14;
step 111: judging whether all the data obtained in the step 11 are sent completely, if yes, sending a stop instruction; otherwise, jumping to step 14;
the suspension controller end control method comprises the following steps:
step 21: confirming that the suspension point is in a falling and floating state;
step 22: monitoring CAN bus message information and waiting for a program update instruction; if the program updating instruction is received, the next step is entered; otherwise, continuing waiting;
step 23: judging whether a data receiving stopping instruction is received, if so, jumping to the step 210; otherwise, jump to step 24;
step 24: receiving data sent by an upper computer terminal;
step 25: analyzing the data of the step 24 to obtain program data and a verification result thereof;
step 26: performing verification calculation on the program data in the step 25;
step 27: transmitting the result of the step 26 to an upper computer end;
step 28: judging whether the verification result analyzed in the step 25 is the same as the verification result calculated in the step 26, if so, jumping to the step 29; otherwise, jumping to step 23;
step 29: saving the program data of step 25 to an external expansion RAM and jumping to step 23;
step 210: and writing the program data in the external expansion RAM into the FLASH.
Compared with the prior art, the invention utilizes the CAN bus communication mode of the suspension control box and the train control system to operate the upper computer end in the vehicle, synchronously carries out on-line programming operation on the programs of a plurality of target suspension controllers DSP, and ensures the safety and the stability of data transmission on the premise of not opening the box; the upper computer side decompiles the DSP program into the binary data which can be identified by FLASH, simplifies the development process of the DSP program, realizes that a plurality of suspension controllers complete on-line programming in parallel and synchronously, and the time consumption of on-line programming of N suspension control boxes is approximately equal to that of a single suspension control box, thereby improving the on-line programming efficiency.
Drawings
Fig. 1 is a CAN bus network topology.
Fig. 2 is a diagram of the overall implementation steps of the present invention.
FIG. 3 is a flow chart of a control method of the upper computer.
FIG. 4 is a flow chart of a suspension controller side control method.
Detailed Description
As shown in fig. 1, the upper computer end interacts with the suspension controller end through the CAN bus.
The upper computer end is responsible for decompiling a DSP program into the data which CAN be identified by the DSP on-chip FLASH, and accurately transmitting the data into the suspension controller end through the CAN bus.
And a DSP software module (a TI C2000 series chip can be selected by a DSP chip) of the suspension controller end in the suspension control box is responsible for monitoring and receiving data of the upper computer end, a plurality of suspension controller ends synchronously receive the data sent by the upper computer end, and after the data is received, the suspension controller ends complete FLASH online programming in parallel. On-line programming time consumption of single suspension controller end is T i Where (i=1, 2, 3..60), then N levitation controller ends are programmed online with a time consumption of max (T i ) Wherein (i=1, 2, 3..60).
The upper computer end and the suspension controller end have error correction functions and are respectively responsible for data verification operation of the upper computer end and the suspension controller DSP end, so that data accuracy is ensured. The upper computer performs verification calculation on the transmitted data, and after the suspension controller receives the data, the upper computer performs verification calculation, and the upper computer and the suspension controller are the same to indicate that the data transmission is correct, otherwise, the upper computer needs to resend the data.
A general implementation step diagram of the present invention is shown in fig. 2.
The on-line programming method of the suspension controller of the low-speed maglev train comprises an upper computer end control method and a suspension controller end control method, and interaction is carried out between the upper computer end and the suspension controller end through a CAN bus.
As shown in fig. 3, the upper computer control method includes:
step 11: decompiling the DSP program into binary file data which can be identified by the DSP on-chip FLASH, namely decompiling the out file into a binary file;
step 12: designating a plurality or single target suspension controller network identifier;
step 13: sending a program update instruction to the suspension controller;
step 14: judging whether the data need to be retransmitted, if so, jumping to a step 15; otherwise, jumping to step 16;
step 15: re-reading the last data, selecting the suspension controller recorded in the step 110 to send data, and jumping to the step 19;
step 16: reading binary file data with fixed length;
step 17: performing calculation of data error correction mechanism verification on the data read in the step 16;
step 18: transmitting the data of the step 16 and the step 17 together;
step 19: receiving a verification calculation result of the suspension controller end;
step 110: judging whether the suspension controller end checking calculation result is the same as the result in the step 17, if so, executing the step 111; otherwise, setting an instruction to resend the data, recording a network identifier of the target suspension controller, and jumping to the step 14;
step 111: judging whether all the data obtained in the step 11 are sent completely, if yes, sending a stop instruction; otherwise, go to step 14.
As shown in fig. 4, the suspension controller side control method includes:
step 21: confirming that the suspension point is in a falling and floating state;
step 22: monitoring CAN bus message information and waiting for a program update instruction; if the program updating instruction is received, the next step is entered; otherwise, continuing waiting;
step 23: judging whether a data receiving stopping instruction is received, if so, jumping to the step 210; otherwise, jump to step 24;
step 24: receiving data sent by an upper computer terminal;
step 25: analyzing the data of the step 24 to obtain program data and a verification result thereof;
step 26: performing verification calculation on the program data in the step 25;
step 27: transmitting the result of the step 26 to an upper computer end;
step 28: judging whether the verification result analyzed in the step 25 is the same as the verification result calculated in the step 26, if so, jumping to the step 29; otherwise, jumping to step 23;
step 29: saving the program data of step 25 to an external expansion RAM and jumping to step 23;
step 210: and writing the program data in the external expansion RAM into the FLASH.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are all within the scope of the present invention.
Claims (1)
1. The on-line programming method of the levitation controller of the medium-low speed maglev train is characterized by comprising an upper computer end control method and a levitation controller end control method, wherein the upper computer end and the levitation controller end interact through a CAN bus; wherein:
the upper computer end control method comprises the following steps:
step 11: decompiling the DSP program into binary file data which can be identified by the DSP on-chip FLASH;
step 12: designating a plurality or single target suspension controller network identifier;
step 13: sending a program update instruction to the suspension controller;
step 14: judging whether the data need to be retransmitted, if so, jumping to a step 15; otherwise, jumping to step 16;
step 15: re-reading the last data, selecting the suspension controller recorded in the step 110 to send data, and jumping to the step 19;
step 16: reading binary file data with fixed length;
step 17: performing calculation of data error correction mechanism verification on the data read in the step 16;
step 18: transmitting the data of the step 16 and the step 17 together;
step 19: receiving a verification calculation result of the suspension controller end;
step 110: judging whether the suspension controller end checking calculation result is the same as the result in the step 17, if so, executing the step 111; otherwise, setting an instruction to resend the data, recording a network identifier of the target suspension controller, and jumping to the step 14;
step 111: judging whether all the data obtained in the step 11 are sent completely, if yes, sending a stop instruction; otherwise, jumping to step 14;
the suspension controller end control method comprises the following steps:
step 21: confirming that the suspension point is in a falling and floating state;
step 22: monitoring CAN bus message information and waiting for a program update instruction; if the program updating instruction is received, the next step is entered; otherwise, continuing waiting;
step 23: judging whether a data receiving stopping instruction is received, if so, jumping to the step 210; otherwise, jump to step 24;
step 24: receiving data sent by an upper computer terminal;
step 25: analyzing the data of the step 24 to obtain program data and a verification result thereof;
step 26: performing verification calculation on the program data in the step 25;
step 27: transmitting the result of the step 26 to an upper computer end;
step 28: judging whether the verification result analyzed in the step 25 is the same as the verification result calculated in the step 26, if so, jumping to the step 29; otherwise, jumping to step 23;
step 29: saving the program data of step 25 to an external expansion RAM and jumping to step 23;
step 210: and writing the program data in the external expansion RAM into the FLASH.
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| CN202010012033.3A CN111240695B (en) | 2020-01-07 | 2020-01-07 | Online programming method for levitation controller of medium-low speed maglev train |
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| CN202010012033.3A CN111240695B (en) | 2020-01-07 | 2020-01-07 | Online programming method for levitation controller of medium-low speed maglev train |
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| CN111240695B true CN111240695B (en) | 2023-08-08 |
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Citations (5)
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| CN102303544A (en) * | 2011-06-29 | 2012-01-04 | 上海磁浮交通发展有限公司 | Suspension control method for low and middle speed magnetic-levitation train |
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| CN104901587A (en) * | 2015-06-16 | 2015-09-09 | 肇庆市衡艺实业有限公司 | Movable magnetic suspension apparatus |
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| CN106789210A (en) * | 2016-12-12 | 2017-05-31 | 中国船舶重工集团公司第七0五研究所 | A kind of many DSP intelligent nodes on-line software updating methods based on CAN |
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