KR101750396B1

KR101750396B1 - Apparatus for controlling touris train

Info

Publication number: KR101750396B1
Application number: KR1020150127415A
Authority: KR
Inventors: 김정태
Original assignee: 주식회사 에이엠티
Priority date: 2015-09-09
Filing date: 2015-09-09
Publication date: 2017-07-03
Also published as: KR20170030187A

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a servo control device, and more particularly, to a servo control device capable of various programming, excellent in expandability, maintainability and environment adaptability, and applicable to various motion control devices.
A control device for controlling a tourist train comprises: a passenger carriage control unit; A wireless communication unit for wireless communication with a central control unit including a plurality of components connected to the operating carriage control unit; A location tracking unit for locating a carriage; An anti-collision sensor unit for sensing an object ahead through the non-contact sensor; A speed sensing part for reading the encoder value from the servo and sensing the speed; A motor controller for controlling the servo connected to the wheels; A brake part connected to the wheel for stopping the vehicle; And a status checking unit for controlling the generator and checking the status, wherein the control device for the passenger car comprises a boarding passenger control unit; A power transmission unit including a plurality of components connected to the passenger car control unit for receiving power from the car; A speed sensing part for reading the encoder value from the servo and sensing the speed; A motor controller for controlling the servos connected to the wheels; The control unit of the operating carriage and the control unit of the passenger car exchange data related to the speed command, the status check, and the forward and in-door monitoring through the inter-carriage communication unit. The main control unit and the main control unit, A distribution board for connecting the apparatus and an external apparatus, at least one servo drive for controlling the servo motor, and a power supply unit, the main controller having an expansion connector fixed to the housing and having a plurality of slots, An input / output interface unit connected to the central processing unit and functioning as an interface and connected to the expansion connector, a servo feedback control unit for controlling the servo power source and receiving feedback, and a digital input / output Wherein the distribution board includes a servo feed A servo distribution board for interfacing the control unit and the servo drive, a digital distribution board for connecting the digital input / output unit and the external digital device, and a digital distribution unit for the high load connected to the digital distribution board for connection to the high- And the digital I / O unit includes a data bus buffer, an address comparator, an address decoder, and a logic circuit.

Description

[0001] APPARATUS FOR CONTROLLING TOURIS TRAIN [0002]

[0001] The present invention relates to a tourism train control device, and more particularly, to a tourism train control device that controls a small-sized tourist train operated in an amusement park or a park, and has a scalable, This is an excellent tourist train control device.

Conventional tourist trains or mini trains operated in amusement parks or parks are constructed in such a way that passenger cars are pulled through a freight car. In order to precisely control this, it is necessary to have a precise measurement of speed and a number of controllers (control units). As the number of controllers increases, frequent failures occur and it is difficult to respond quickly.

In addition, since the position identification method such as rail bikes is performed through RFID, it is difficult to grasp the exact position in consideration of the curved portion and the like, since the position is confirmed only by intervals of about 20 to 30 meters in accuracy. And the risk of collision was high.

A motion control device, such as a servo control device, which can be used in a conventional train or a transportation device, includes a state detection section for detecting the state of the servo motor, a display section for displaying a detection result, And a control unit for controlling the display unit to display an error on the display unit. However, the control device is not limited to the programming for various controls necessary for operating equipment having different roles, such as a traveling carriage and a boarding carriage, It is difficult to apply the present invention to achieve the object according to the present invention because it is vulnerable to expansion and maintainability.

Prior art related to mini train is KR10-0848350 (see patent document 1), prior art related to other train control include KR10-0858119 (see patent document 2) and KR10-1019146 (see patent document 3) (Refer to Patent Document 4), and KR10-0365921 (refer to Patent Document 5) relating to servo motor control.

KR 10-0948350 B1 KR 10-0858119 B1 KR 10-1019146 B1 KR 10-0908040 B1 KR 10-0365921 B1

In order to solve the problems of the related art, the present invention provides a flexible programming interface to control mini-tourism trains precisely for each carriage, reduce errors in the system through feedback, accommodate various functions of the carriage, The present invention aims at providing a safer and more advanced tourist train control device by enhancing the maintenance.

A tourist train control device according to the present invention is a control device for controlling a tourist train, wherein the control device for the operating carriage comprises a carriage carriage control unit 900a; A wireless communication unit 901 for wireless communication with a central control unit, including a plurality of components connected to the operating carriage control unit; A position tracking unit 902 for determining the position of the carriage; An anti-collision sensor part 903a for sensing an object ahead through the non-contact type sensor; A speed sensing unit 911a that reads the encoder value from the servo 920a and senses the speed; A motor controller unit 912a for controlling the servo 920a connected to the wheels; A brake portion 913a connected to the wheel 1000a for stopping the vehicle; And a status check unit 904 for controlling the generator and checking the status, the control device for the passenger car includes a boarding passenger control unit 900b; A power transmission unit 905 including a plurality of components connected to the passenger car control unit, for receiving electric power from the wagon; A speed sensing unit 911b that reads the encoder value from the servo 920b and senses the speed; A motor controller portion 912b for controlling the servo 920b connected to the wheels; And a brake portion 913b connected to the wheel 1000b for stopping the operation,
The control unit of the operating carriage and the control unit of the passenger carriage are for exchanging speed command, status check and forward / in-house monitoring data through the inter-carriage communication unit. The main carriage unit 1, the distribution unit for connection between the main control unit and the external device The main controller includes a board 2, at least one servo drive 3 for controlling a servo motor, and a power supply unit 4. The main controller includes an expansion connector 11 fixed to the housing and having a plurality of slots, An input / output interface unit 13 connected to the central processing unit to function as an interface and connected to the expansion connector, a servo feedback control unit 14 for controlling the servo power source and receiving feedback, And a digital input / output unit (15) for exchanging signals with an external digital device, wherein the distribution board (2) is connected to the servo drive control unit A digital distribution board 22 for connection to the digital input / output unit and an external digital device, and a digital distribution board 22 for high-load digital distribution board connected to the digital distribution board for connection to the high- And a board 23. The input / output interface unit, the servo feedback control unit, and the digital input / output unit include a data bus buffer, an address comparator, an address decoder, and a logic circuit.

In addition, the operating carriage and the passenger car may further include a monitoring unit 930 having a plurality of cameras for monitoring the front and the interior.

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In addition, the controller of the operating carriage and the controller of the passenger car may perform the steps of initializing the system (step s100), checking whether the system is started (step S101), performing an error check before starting, , Collecting information such as an encoder value, a distance value through a distance sensor, GPS information, etc. (step s104), controlling a motion through a servo (step s105) (Step s106). If it arrives, it repeats a series of procedures starting from the next step. If it does not arrive, it sets a stop condition (step s107), checks an error (step s108) (S109) of providing the motion controller to the motion controller, and a series of steps (S110) of stopping the system when there is an error.

The tourist train control device according to the present invention not only precisely controls the speed of the mini tourism train by the carriage and monitors the state but also controls the simultaneous control through the communication between the control units installed on a plurality of carriages, The risk of collision or derailment between carriages can be significantly reduced.

In addition, precise position tracking using WIFI, GPS, etc. can precisely control the starting and trailing sightseeing trains from the center, which is very easy to manage in terms of safety as well as the position of the operator.

In particular, since the control unit applied to the present invention can perform various programming on the central processing unit through the input / output interface unit, various motion control using the servo power source is possible, and various modules can be mounted using the expansion connector, .

In addition, to control the servo motor, accurate reference voltage is presented when converting the digital signal to analog signal, and precise servo control can be performed through 12 bit unit processing. By using bi / unipolar setting and variable resistor, The output polarity setting and the output range can be set.

In addition, the driving apparatus is equipped with a precise digital input / output unit which receives a signal of an external device such as a sensor and has a leading edge function and a chattering filter function so as to be able to adapt to various environments and to monitor the state precisely.

FIG. 1 is a state diagram for explaining a necessary function for each position of a tourist train,
FIG. 2 is a block diagram showing a main configuration of an operating carriage part of a tourist train control device according to the present invention.
3 is a block diagram showing a main configuration of a passenger car portion of a tourist train control apparatus according to the present invention,
4 is a block diagram showing a main configuration of a control unit according to the present invention;
5 is a block diagram showing the configuration of an input / output interface unit of a control unit according to the present invention;
6 is a block diagram showing the configuration of a servo feedback control unit of the control unit according to the present invention.
7 is a block diagram showing a configuration of a digital input / output unit of a control unit according to the present invention.
8 is a flowchart for explaining the main functions of the tourist train control apparatus according to the present invention,
9 is a schematic diagram showing an application example of a tourist train control device according to the present invention.

A preferred embodiment of a servo control apparatus according to the present invention will be described below with reference to the drawings.

Fig. 1 is a diagram illustrating functions required for each position in a mini-sightseeing train according to the present invention. As shown in FIG. 1, the mini-sightseeing train is composed of a carriage t1, a car t2, and a plurality of passenger cars t3 on which tourists ride. The necessary function for each position requires a collision prevention function in the front part A, and the part B needs a function of setting the reference position of the train and detecting the position of the train in order to accurately locate the relation with other trains. In part C, it is necessary to detect the speed through the feedback function of the servo connected to the rear wheel of the train. This function will be performed on all carriages where the device is installed. The D part needs a function to control the generator that supplies power to the passenger car and to check the status, and each carriage (E) controls the torque as in the operating carriage. Each passenger car must be supplied with power (F), and its internal condition needs to be monitored and monitored by a CC camera or the like.

2 is a block diagram of a control apparatus for an operating carriage of a tourism train control apparatus according to the present invention. The control apparatus for the operating carriage includes a carriage carriage control unit 900a, a plurality of components .

The wireless communication unit 901 may include a wireless communication unit 901 for wireless communication with the central control unit and a location tracking unit 902 for locating the carriage. It is to be able to receive the speed command through the WIFI communication with installed APs. Location tracking can be compensated by using GPS to reduce the position error range to 2 ~ 2.5 meters in the outdoors, and by installing an RFID deck in the sleeping area such as a tunnel.

And an anti-collision sensor unit 903a that detects an object ahead through the non-contact sensor to avoid collision in front of the train.

A speed sensing unit 911a for reading the encoder value from the servo 920a to precisely control the operation of the train, a motor controller 912a for controlling the servo 920a connected to the wheel, A brake portion 913a connected to the wheel 1000a for stopping, and a state check portion 904 for controlling the generator and checking the state.

3 shows a main configuration of a control device for a passenger car. The control device for the passenger car includes a boarding passenger control unit 900b and a plurality of components connected to the passenger control unit, A speed sensing unit 911b that reads the encoder value from the servo 920b and senses the speed to precisely control the driving as well as the operating carriage, in addition to the power transmitting unit 905 for receiving the electric power from the servo 920b; A motor controller portion 912b for controlling the servo 920b connected to the wheels; And a brake portion 913b connected to the wheel 1000b for stopping the operation.

Each of the controllers 900a and 900b is identical in terms of hardware, and the functional differences between the controllers 900a and 900b are mainly diversified through software programming. In order to expand additional functions, a modular board is inserted into a slot .

The control unit 900a of the operating carriage and the control unit 900b of the passenger car exchange data about the speed command, the status check, and the forward / in-car monitoring through the inter-carriage communication unit 940. The communication unit between the carriages may be realized by various communication methods of wired and wireless which are already known.

FIG. 4 is a block diagram illustrating a main configuration of a controller 900, which is a core configuration of a tourist train control system according to the present invention. Since the control unit 900 can be variously and flexibly programmed in software, it can be installed in an operating carriage to perform a function of a main controller, and a wagon or passenger car apparatus can perform a function of a motion controller.

The main control unit 900 includes a main control unit 1 and a distribution board 2, a servo drive 3 controlled by the main control unit 1 and the distribution board 2, An external input device 100 such as a keyboard and a monitor, servo power sources 200 serving as various driving devices, a digital sensor such as a sensor, a switch, a lamp, etc., which are connected to the control unit according to the present invention, A device 300 and a high-load digital device 400 such as a navigation panel, a power status monitor, etc. are connected from the outside.

The main controller 1 is installed inside the box-shaped housing, and the housing is formed with a sliding guide so that the card-shaped boards can be easily detached. An input / output interface unit 13 including an expansion connector 11 having a plurality of slots and a central processing unit 12 and serving as an interface of the central processing unit 12 and connected to the expansion connector 11, A feedback control section 14 and a digital input / output section 15. Since the expansion connector 11 further includes an extra slot, the expandability and ease of maintenance can be secured.

One of the main functions of the central processing unit 12 is to compare the speed command value with the speed command value read from the servo feedback control unit 14 and to command a new output value (torque value) to the servo motor.

The servo feedback controller 14 performs a servo motor torque command, an encoder count, a state check of the servo, and an alarm check function.

The digital input / output unit 15 responds to an external input circuit such as a collision avoidance sensor, a button, a switch, and the like, and processes a signal for status check. By adding a relay, etc., it is possible to operate even under a large load.

Each constituent part included in the present invention is composed of a board in the form of a card and is detachably attached to the expansion connector 11. Each card performs status check, logic setting, data read and write via the outportb (wAddress, bValue) and inportb (wAddress) commands of the servo motor control program. Since the servo feedback controller 14 and the servo driver 3 correspond to the servo power source 200 on a one-to-one basis, one or more servo feedback controllers 14 may be included in the form of a card. Similarly, if it is necessary to exchange signals from various kinds of sensors, the digital input / output unit 15 can also be expanded into two or more types of cards.

Each constituent part is connected to each chip via data bus buffers 1351, 1451 and 1551, address comparators 152, 1452 and 1552, address decoders 1353, 1453 and 1553, and logic circuits 1354, 1454 and 1554, It activates the Read, Write, Chip Select, Load Count / Latch, Control Gate, and Date signals.

Each component should be initialized and terminated by default. It is necessary to prevent the malfunction of the machine by inputting and outputting the garbage value by setting the garbage value in the memory or buffer to the initial value after the power is turned on through the initialization. In the shutdown procedure, the most stable value should be set to the system before shutdown. If there is a moving subsystem by storing the card output value, there is a possibility of causing malfunction due to the last received value, so that the arbitrary value is continuously output after the card power is cut off.

Each component will be described in more detail as follows. The servo control apparatus according to the present invention includes a computer for programming and controlling the entire system, that is, a central processing unit (12). The central processing unit 12 may be an industrial computer such as a Micro-Controller 8051 / AVR.

The input / output interface unit 13 connected to the central processing unit 12 serves as an interface between external devices such as a keyboard and a monitor. It has an 8-bit data bus and output initialization function by emergency stop, and it is possible to set the interrupt level. The input / output interface unit 13 is formed of a board in the form of a card, and is guided by the sliding guide to the housing and inserted into the expansion slot 11. And exchanges data with the central sink unit 12 and the external input / output device 100 through standard input / output connectors such as the PC / 104.

The input / output interface unit may be constituted by a known digital circuit. The main configuration will be described with reference to FIG. 5, and is connected to a system register 1311 and a watchdog timer 132 for exchanging control signals with the system, A control register 1312 for exchanging control signals, an output register 1313 for exchanging output signals with the system, and a power / expansion status register 1314 for exchanging signals regarding the system and the status.

The input / output interface card 13 includes a data bus buffer 1351 for exchanging data with a system connected to an expansion slot, an address comparator 1352 for transferring an address decode signal together with a base address setting, an address decoder 1353, And logic circuitry 1354 for circuit logic signals. The input / output interface card conforms to the PC / 104 standard, which is an embedded computer standard, and is connected to the external input / output device 100 such as the central processing unit 12 and a keyboard and a monitor through a PC / 104 standard connector 136.

The servo feedback control unit 14 is also formed of a board in the form of a card and is guided to the housing 11 by a sliding guide and inserted into the expansion slot 11. [ One-to-one correspondence with the servo motor. And is responsible for precise control and speed command of the servo motor as a core part of the present invention. It is necessary to initialize the control register state-output value and initialize the digital-to-analog converter voltage value output at the start of the servo feedback control unit 14.

The servo feedback controller 14 according to the present invention will be described with reference to the block diagram of FIG. 6. Referring to FIG. 6, the servo feedback controller 14 includes an analog output unit 141 for controlling the power source, an encoder counter unit 142 and a digital input / output signal unit 143.

The analog output unit 141 outputs an analog signal for controlling a drive unit for motion control, that is, a servo power source. The analog output unit 141 basically includes a digital analog converter 1411, a reference voltage unit 1412, and a digital analog mux (DA MUX) 1413. A DA bit high latch 1414 is further included to distinguish the upper 4 bytes from the value of the digital analog converter in which the basic unit is processed in units of 8 bytes. The function of the digital-to-analog converter 1411 is to convert a digital value into a voltage form value. At this time, the reference voltage unit 1412 provides a reference point for capturing an accurate reference value when converted into a voltage form through the digital-to-analog converter 1411. The digital analog mux 1413 can select to output a plurality of inputs such as an analog output, a zero setting, and the like on one channel.

The analog output unit 141 according to the present invention can process with various bit numbers, but it is preferable to use 12 bits. This is considering a chip that is widely available in the industry and has a high possibility of receiving and high possibility of discontinuance, while increasing the precision of the control range of the target to be controlled.

The servo feedback controller 14 may set the bipolar and the unipolar mode to enable the PCB setting before using the card by setting the uni / bipolar setting unit 1415. This is because the input signals are different when the kinds of power sources to be operated, that is, servomotor, inverter, oil / pneumatic servo valve, etc., are different. In addition, variable resistors can be set to set the range before use of the card, so that it can be applied to various motion driving devices.

The encoder counter unit 142 includes an encoder counter 1421 and a line receiver 1422. The encode has an absolute expression and a relative expression. In the present invention, only the relative expression is used. The encode counter chip uses a dedicated chip such as the LS7166. The CPU counts the encoded signal input from the outside, and the CPU reads the counted value as needed. The encoded counter chip used in the embodiment of the present invention reads 8 bits of 3 bits per unit of 8 bits as a basic unit and takes 24 bits as a unit. The line receiver 1422 can take a scheme of reading three phases of the relative encoders A, B, and Z using the differential method. Z phase which is the origin signal can be selected according to the system to be applied.

To explain the use of the encoder signal in detail, you need to know the current speed when you want to move at 5.5m / sec per second. To know the speed value, you first need to know how fast the motor is rotating. This can be confirmed by the encode value. The speed can be obtained by using the front and rear values of the code, elapsed time, reduction ratio, wheel diameter, and the like. Since the current speed is known, a constant ratio to the difference from the target value (5.5m / sec) can be used to obtain command values such as the speed, torque, and position to be output by the power source such as the servo motor. By repeating this, the target value can be maintained, and the target value can be changed every moment.

The servo feedback controller 14 according to the present invention includes a digital input / output signal unit 143 including a digital output latch 1431 and a digital input buffer 1432. The digital input / output signal unit 143 provides a digital input / output signal for servo control such as an emergency stop of the servo amplifier, an upper / lower limit signal, a speed arrival signal, an input signal of an operation / non-operation of the magnetic contactor, It is for receiving.

The servo feedback controller 14 includes a data bus buffer 1351 for exchanging data with a system connected to an expansion slot, an address comparator 1352 for transmitting an address decode signal together with a base address setting, an address decoder 1353, And logic circuitry 1354 for logic signals.

7, the digital input / output unit 15 includes a digital input unit 151 and a digital output unit 152 and includes a status register 154 and a system connected to the expansion slot. Further comprising an address comparator 1552 and an address decoder 1553 for transferring an address decode signal together with a base address setting and a logic circuit 1554 for a circuit logic signal, And an interface connector unit 156 for connecting to an external digital device such as a panel.

In the present embodiment, the digital input unit 151 and the digital output unit 152 are composed of two bytes, and each sub-component is configured in parallel by a pair of basic 1-byte (8-bit) units. Although the 8-bit processing configuration is extended to 2 bytes in consideration of space constraints, it can be configured as flexible as necessary.

The digital input unit 151 includes a photocoupler 511 and a digital input buffer 1512 for pairing the signals received from the sensor 300. The porter couplers 1511 electrically isolate external signals to protect the card by preventing noise, surge, and reverse voltage. Further, it may further include chatter removing circuits 1513. It does not come in a clean square wave when receiving digital input such as buttons or contacts, and it functions as a filter to prevent it from being input in one operation. The signal updates and reads of the input buffers 1511 follow a Truth Table.

The digital output unit 152 includes an output drive 1521, a photocoupler 1522, and a digital output latch 1523 in pairs. Data is written to the digital output latch 1523 in accordance with the truth table by data writing, is isolated by the photocoupler 1522, and output by the output drive 1521 which is TR array.

The digital input / output unit 15 must initialize the control register state output value, initialize the digital output port state storage variable, and initialize the digital output port in the starting step.

Distribution board (2) Since it is difficult to fit the external I / O connector to the card, it is connected to the distribution board with a flat cable. The servo distribution board 12 is a distribution board for servomotor interface, the digital input / output distribution 13 is a distribution board for connection with sensors, switches, and lamps, and the high load distribution board 14 is a known distribution board The circuit is used in connection with the digital I / O distribution board when a high load is required among the digital outputs such as the operating panel and the power status monitor. The distribution board utilizes well known circuitry, and the distribution boards are one-to-one port applications.

8 is a flowchart illustrating a main function of the tourism-train control apparatus according to the present invention.

One of the main functions of the tourist train control apparatus according to the present invention is to initialize the system (step s100), to check whether the system is started (step s101), to check whether the system is in the pre-start state Collecting information such as an encode value, a distance value through a distance sensor, GPS information, etc., s104, controlling the motion through the servo (s105), arriving (S106). If it arrives, it repeats a series of procedures from the next step of initializing the system. If it does not arrive, it sets a stop condition (s107), checks an error (s108) (Step s109), and stopping the system if there is an error (s110).

FIG. 9 is a schematic diagram showing an example of utilization of a tourist train control apparatus according to the present invention. In a control center, a plurality of APs (Access Points) installed using a LAN access controller and a plurality of trains Speed, and provides location information to avoid collisions and help safe and smooth operation.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It is natural to do.

900: control unit 901: wireless communication unit
902: Position tracking unit 903:
904: Status check unit 911: Speed check unit
912: Motor control unit 913: Brake unit
920: Servo 930: Monitoring section
940: Inter-vehicle communication unit 1000:
1: main control unit 11: extension connector
12: central processing unit unit 13: input / output interface unit
1311: System register
1312: Watchdog timer control register
1313: Output enable register 1314: Power & extended status register
132: watchdog timer 1331: control register
1332: Status register 1334: Emergency input
136: I / O connector
14: servo feedback control section 141: analog output section
1411: Digital to Analog Converters
1412: Reference voltage section 1413: Digital analogue mux
1414: Digital Analog High Byte Latch
1415: Uni / bipolar setting unit 142: Encode counter unit
1421: Encode counter 1422: Line receiver
143: Digital signal input / output unit 1431: Digital output latch
1432: Digital Input Latch
146: Servo feedback control interface connector
15: digital input / output unit 151: digital input unit
1511, 1522: photo coupler 1512: digital input buffer
1513: Chattering elimination circuit 152: Digital output section
1521: Output Drive 1523: Digital Output Latch
154: Status register
156: Digital I / O sub-interface connector
1351, 1451, 1551: Data buffer
1352, 1452, 1552: address comparator
1353, 1453, 1553: an address decoder
1354, 1454, 1554: logic circuit
2: distribution board 21: servo distribution board
22: Digital distribution board 23: Digital distribution board for high load
3: Servo drive 4: Power supply
100: external input / output device 200: servo power source
300: Digital device 400: High load digital device

Claims

A control device for controlling a tourist train, comprising:

A control device for an operating carriage comprises an operating carriage control unit; A wireless communication unit for wireless communication with a central control unit including a plurality of components connected to the operating carriage control unit; A location tracking unit for locating a carriage; An anti-collision sensor unit for sensing an object ahead through the non-contact sensor; A speed sensing part for reading the encoder value from the servo and sensing the speed; A motor controller for controlling the servo connected to the wheels; A brake part connected to the wheel for stopping the vehicle; And a status check unit for controlling the generator and checking the status,

A controller for the passenger car comprises a boarding passenger control unit; A power transmission unit including a plurality of components connected to the passenger car control unit for receiving power from the car; A speed sensing part for reading the encoder value from the servo and sensing the speed; A motor controller for controlling the servos connected to the wheels; And a brake unit connected to the wheels for stopping the vehicle,

The control unit of the operating carriage and the control unit of the passenger car exchange data related to the speed command, the status check, and the forward / in-door monitoring through the inter-vehicle communication unit. The control unit includes a main controller, a distribution board for connection between the main controller and the external device, At least one servo drive for controlling the servo motor and a power supply unit,

The main control unit includes an expansion connector fixed to the housing and having a plurality of slots, a central processing unit having a central processing unit, an input / output interface unit connected to the central processing unit to function as an interface, A servo feedback control unit for controlling a power source and receiving feedback, and a digital input / output unit for exchanging signals with an external digital device,

The distribution board includes a servo distribution board for interfacing the servo feedback controller and the servo drive, a digital distribution board for connecting the digital input / output unit and the external digital device, and a digital distribution board for connecting the digital distribution board And a high-load digital distribution board connected to the high-

Wherein the input / output interface unit, the servo feedback control unit, and the digital input / output unit include a data bus buffer, an address comparator, an address decoder, and a logic circuit.

The tourism train control apparatus according to claim 1, further comprising a monitoring unit having a plurality of cameras for monitoring the front and the inside of the passenger compartment and the passenger compartment.

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The servo control apparatus according to claim 1, wherein the servo feedback controller includes an analog input / output unit for controlling the servo power source, an encoder counter unit for an encoder counter for precise control of the servo power source, and a digital signal input / output unit, A reference voltage unit for presenting a reference voltage at the time of conversion, and a digital analog mux for outputting a multiplexed signal in one channel, wherein the digital signal input / output unit includes a digital output latch and a digital input buffer And a control unit for controlling the control unit.

The method of claim 1, wherein the control of the operating carriage and the control of the passenger car initialize the system; Checking whether the vehicle is departing; Performing an error check and checking whether or not to start again; Commanding a speed when starting; Collecting information such as an encoding value, a distance value through a distance sensor, and GPS information; Controlling the motion through the servo; Confirming arrival; Initializing the system when it arrives, repeating a series of procedures from the next step, and establishing a stop condition when not arrived; Checking an error; Monitoring and providing to the motion controller if there is no error; And stopping the system when there is an error. The tourism train control device according to claim 1, further comprising: