高速动车组列车网络控制若干问题研究
摘要
随着中国高速动车组的发展及对其研究的深入,列车网络控制作为其关键技术之一,得到越来越多的研究者的关注。基于列车通信网络(Train Communication Network, TCN)的控制系统代替原有的、传统的微机集中式控制,具有交互性好、系统布线少、易于扩展和维护、系统的柔性和可靠性高等优点。同时列车通信网络的介入使得控制系统的设计和分析面临更复杂的因素,需要与列车网络控制系统相适应的分析和设计理论。因此,本文结合唐山轨道客车有限责任公司CRH3型高速动车组的消化吸收以及CRH380BL型动车组的设计开发,围绕列车网络控制的性能、稳定性和实时性以及实时调度特性进行研究和分析。
TCN网络传输介质采用屏蔽双绞线,是高速动车组网络控制信号的承载,对控制系统的稳定性起着至关重要的作用。TCN传输介质-双绞线采用四个性能指标进行评价：衰减、近端串扰、阻抗特性和时延。在CRH3型动车组调试过程中经常出现由于MVB(Multifunction Vechicle Bus)、WTB(Wired Train Bus)电缆不满足性能且不能准确判断问题产生的原因,基于此,本文推导并建立了双绞线的分布参数模型,应用传输线理论对插入损耗、时延偏移和近端串扰进行求解。利用所建立的模型,对高速动车组上所采用的传输线进行仿真,并和试验结果进行了对比研究。为了研究布线方式对传输线特性的影响,改变导线的布置,计算此时的特性参数,并对此进行比较、仿真和分析。为了研究特性参数对性能的恶化程度,改变单个特性参数进行仿真研究。试验和仿真结果表明：本文推导的模型具有非常高的适用性,可以利用此模型对高速动车组的双绞线进行分析和布局优化；特性参数的扰动对传输介质性能的恶化非常明显,使得各性能指标的裕量降低；不同的特性参数的改变,对性能恶化的程度和范围不同。
本文针对CRH3型高速动车组TCN控制网络的特点,提出了基于OPNET仿真的TCN网络研究方法,并结合其周期轮询策略,推导并建立了MVB总线和WTB总线初运行模型。数据通量、延时和碰撞特性一直是网络性能评估的重点,对于新型动车组控制网络的开发,也需要对上述的网络性能进行评估,因此本文根据MVB网络的过程数据调度和消息数据响应机制,在不同的仿真场景下进行了仿真测试,研究了不同消息数据发送节点、不同消息数据发送率等条件对MVB网络性能的影响。为了研究CRH3高速动车组列车重联过程中的列车控制流程,本文深入研究了WTB总线初运行机制,并在正常初运行模式和WTB重联过程模式下进行仿真,研究了WTB编组的自适应特性。为了研究MVB数据链路层协议机制,实现了MVB控制器的编码和解码算法,通过采用FPGA方案代替MVB控制器与MVB专用网卡进行了互联验证。
由于通信网络在控制系统中的使用,使得时延成为一个不得不考虑的因素。不合理的延时设定或对延时的估计不准确,会影响系统的稳定性裕度乃至不稳定,从而导致列车控制系统部分功能的锁闭。在CRH3型高速动车组的试验过程中,也曾出现由于时延计算和设置不准确而导致高压牵引系统锁闭的现象。本文利用李雅普诺夫理论、矩阵理论和线性矩阵不等式从不同的角度研究了网络控制系统的稳定性,得到了使网络控制系统渐近稳定的最大允许网络延时和稳定条件。研究结果表明,只要实际网络控制系统的传输延时小于最大允许网络延时或满足网络控制系统稳定定理,闭环网络控制系统就总是渐进稳定的。因此应该针对实际问题选取适当的控制网络以及设计合适的网络控制算法,使网络控制系统稳定。针对确定时延网络控制系统,本文给出了基于输出反馈的状态观测器和控制器设计理论。
高速动车组需要控制的系统较多,引起所需要的控制端口大量增加,同时各端口的长度和特征周期也不一致,因此需要对列车通信网络进行可靠的调度轮询。本文针对CRH3型高速动车组周期轮询策略中周期负载总线利用率均匀度的不足,提出了一种新的列车网络周期调度算法。通过计算高速动车组的周期数据负载率,归纳出了以总线负载率均匀度为目标的多层次优化调度算法。根据MVB轮询周期表的特点,在求解过程中增加层次性的约束条件,以局部目标函数代替全局目标函数,提高了算法的运行效率。对单调速率算法、遗传算法和多约束条件均匀度优先算法的关系进行论证,表明了此优化算法在多约束条件下具有极大优势。对优化算法进行了可调度性分析,验证了周期轮询表优化结果的有效性。仿真结果进一步证实了此优化算法实现了负载信息均匀度最优。针对非周期数据,根据事件仲裁算法,提出了基于OPNET仿真的事件调度模型,并进行了仿真分析和研究。
最后,在总结全文的基础上,提出了有待进一步研究和完善的方向。
With the rapid development of Chinese High-speed Electric Multiple Unit (EMU) and the depth of its research, the train network control system takes more and more attention of researchers as one of its key technologies. The control system based on the train communication network replacing the original and traditional centralized computer control, has the advantages of interactive, less cabling, easy to expand and maintenance, the system's flexibility, high reliability, and etc. Meanwhile, the design and analysis of the control system confronts with more complex factors because of the involvement of the train communication network and the adaptive theory of the train communication network control system analysis and design must be utilized. This dissertation does the research and analysis around the train network control performance, stability, real-time and real-time scheduling features, combined with the digestion and absorption of CRH3high-speed EMU as well as the development of the CRH380BL EMU in Tangshan Railway Vehicles Co., Ltd.
TCN network transmission medium using shielded twisted pair, is the bearer of the high-speed EMU network control signal, and plays a vital role in the stability of the control system. Aiming at evaluating the performance of the transmission media-twisted pairs used for TCN network, including attenuation, near-end crosstalk, impedance and delay. It is often occurred that the MVB and WTB cable does not meet the performance and cannot be qualitatively judged the cause of the problem in CRH3EMU debugging process, which is based, the distributed parameter model of the twisted pair is derived and established in this dissertation, then using transmission line theory to solve the insertion loss, delay, offset and near-end crosstalk. Through the model simulation of the transmission line used in the high-speed EMU, and a comparative study and experimental results is researched. In order to study the impact of wiring on the transmission line characteristics, changing the layout of the wire, calculating the parameters, and comparison, simulation and analysis is obtained. Then changing the single characteristic parameters and doing simulation research to study the characteristic parameters of the deterioration of the performance. Experimental and simulation results show that:the derivate model has very high applicability, and which can be used for analysis and layout optimization of twisted-pair on the high-speed EMUs; Disturbance of the characteristic parameters deteriorates the transmission medium performance, which make the performance margin decreased. The extent and scope of performance deterioration varies form the difference among the parameters changing.
This dissertation presents a TCN network research method based on OPNET simulation software for the characteristics of CRH3high-speed EMU TCN control network, combined with periodic polling strategy adopted in CRH3high-speed EMU, derives and establishes the MVB model and WTB inauguration model. Data throughput, delay, and collision characteristics have been the focus of the network performance assessment, also for the development of new EMU control network. According to the process scheduling and message data response mechanism of the MVB network, the simulation tests are realized in the different simulation scenarios. Under the Conditions of different message data sending node numbers and different messages data sending rate, the effects on the MVB network performance are researched. In order to research the control procedure in train coupling process of CRH3high-speed EMU, WTB inauguration mechanism is in-depth studied, and the simulation under normal inauguration mode and the WTB coupling process is done to study the adaptive features of WTB marshaling. The MVB controller encoding and decoding algorithms are achieved. Through the usage of FPGA scheme replacing the MVB controller and inter-connect verification with the dedicated MVB card, the MVB data link layer protocol mechanism is researched.
Due to the usage of the communication network in the control system, the delay become one of factors had to be considered. Unreasonable delay setting or inaccurate estimate will affect the system stability margin as well as unstable, and lead to locking some features of the train control system. We have seen the phenomenon of high-voltage traction system locking in the testing process of CRH3high-speed EMU because of inaccurate delay calculation and setting. This dissertation has researched on the stability of networked control systems from different perspective using Lyapunov theory, matrix theory and linear matrix inequality, and derived the maximum allowable network delay and stability conditions to asymptotically stable the networked control systems. The results show that as long as actual network control system transmission delay less than the maximum allowable network delay or meeting the network control system stability theorem, the closed-loop network control system is always asymptotically stable. Therefore, the appropriate network type and control algorithms should be designed against the practical conditions to stable the network control system. The state observer and controller design theory based on the output feedback has been given against the deterministic delay network control systems.
In high-speed EMU this is more systems need to be controlled, which caused a significant increase of the control port and which is also inconsistent in the length of the port and the characteristic period, therefore reliable scheduling polling is required for train communication network. This dissertation proposes a new train network period scheduling algorithm against the lack of uneven periodic bus-load utilization in CRH3high-speed EMU polling strategy. The multi-level scheduling optimization algorithm as the target on bus load rate uniformity is obtained by calculating the high-speed EMU period-data load rate. According to the characteristics of MVB polling periodic table, some hierarchical constraints are added and the Local objective function take place of global objective function in the solution process. The operational efficiency of the algorithm is greatly improved. This dissertation has also demonstrated the relationship between the rate monotonic algorithm, genetic algorithm and multi-constraint conditions evenness priority scheduling algorithm, in order to show that the optimization algorithm has great advantages under the conditions. The schedulability analysis for the optimization algorithm is processed and it shows the validity of the results after the periodic polling table is optimized. The simulation results further confirm that the optimization algorithm has achieved optimum uniformity of the load information. The event schedule model based on OPNET simulation is proposed according to the event arbitration algorithm for non-periodic data.
Finally, the research conclusions are presented and the future research works are discussed.
TCN网络传输介质采用屏蔽双绞线,是高速动车组网络控制信号的承载,对控制系统的稳定性起着至关重要的作用。TCN传输介质-双绞线采用四个性能指标进行评价：衰减、近端串扰、阻抗特性和时延。在CRH3型动车组调试过程中经常出现由于MVB(Multifunction Vechicle Bus)、WTB(Wired Train Bus)电缆不满足性能且不能准确判断问题产生的原因,基于此,本文推导并建立了双绞线的分布参数模型,应用传输线理论对插入损耗、时延偏移和近端串扰进行求解。利用所建立的模型,对高速动车组上所采用的传输线进行仿真,并和试验结果进行了对比研究。为了研究布线方式对传输线特性的影响,改变导线的布置,计算此时的特性参数,并对此进行比较、仿真和分析。为了研究特性参数对性能的恶化程度,改变单个特性参数进行仿真研究。试验和仿真结果表明：本文推导的模型具有非常高的适用性,可以利用此模型对高速动车组的双绞线进行分析和布局优化；特性参数的扰动对传输介质性能的恶化非常明显,使得各性能指标的裕量降低；不同的特性参数的改变,对性能恶化的程度和范围不同。
本文针对CRH3型高速动车组TCN控制网络的特点,提出了基于OPNET仿真的TCN网络研究方法,并结合其周期轮询策略,推导并建立了MVB总线和WTB总线初运行模型。数据通量、延时和碰撞特性一直是网络性能评估的重点,对于新型动车组控制网络的开发,也需要对上述的网络性能进行评估,因此本文根据MVB网络的过程数据调度和消息数据响应机制,在不同的仿真场景下进行了仿真测试,研究了不同消息数据发送节点、不同消息数据发送率等条件对MVB网络性能的影响。为了研究CRH3高速动车组列车重联过程中的列车控制流程,本文深入研究了WTB总线初运行机制,并在正常初运行模式和WTB重联过程模式下进行仿真,研究了WTB编组的自适应特性。为了研究MVB数据链路层协议机制,实现了MVB控制器的编码和解码算法,通过采用FPGA方案代替MVB控制器与MVB专用网卡进行了互联验证。
由于通信网络在控制系统中的使用,使得时延成为一个不得不考虑的因素。不合理的延时设定或对延时的估计不准确,会影响系统的稳定性裕度乃至不稳定,从而导致列车控制系统部分功能的锁闭。在CRH3型高速动车组的试验过程中,也曾出现由于时延计算和设置不准确而导致高压牵引系统锁闭的现象。本文利用李雅普诺夫理论、矩阵理论和线性矩阵不等式从不同的角度研究了网络控制系统的稳定性,得到了使网络控制系统渐近稳定的最大允许网络延时和稳定条件。研究结果表明,只要实际网络控制系统的传输延时小于最大允许网络延时或满足网络控制系统稳定定理,闭环网络控制系统就总是渐进稳定的。因此应该针对实际问题选取适当的控制网络以及设计合适的网络控制算法,使网络控制系统稳定。针对确定时延网络控制系统,本文给出了基于输出反馈的状态观测器和控制器设计理论。
高速动车组需要控制的系统较多,引起所需要的控制端口大量增加,同时各端口的长度和特征周期也不一致,因此需要对列车通信网络进行可靠的调度轮询。本文针对CRH3型高速动车组周期轮询策略中周期负载总线利用率均匀度的不足,提出了一种新的列车网络周期调度算法。通过计算高速动车组的周期数据负载率,归纳出了以总线负载率均匀度为目标的多层次优化调度算法。根据MVB轮询周期表的特点,在求解过程中增加层次性的约束条件,以局部目标函数代替全局目标函数,提高了算法的运行效率。对单调速率算法、遗传算法和多约束条件均匀度优先算法的关系进行论证,表明了此优化算法在多约束条件下具有极大优势。对优化算法进行了可调度性分析,验证了周期轮询表优化结果的有效性。仿真结果进一步证实了此优化算法实现了负载信息均匀度最优。针对非周期数据,根据事件仲裁算法,提出了基于OPNET仿真的事件调度模型,并进行了仿真分析和研究。
最后,在总结全文的基础上,提出了有待进一步研究和完善的方向。
With the rapid development of Chinese High-speed Electric Multiple Unit (EMU) and the depth of its research, the train network control system takes more and more attention of researchers as one of its key technologies. The control system based on the train communication network replacing the original and traditional centralized computer control, has the advantages of interactive, less cabling, easy to expand and maintenance, the system's flexibility, high reliability, and etc. Meanwhile, the design and analysis of the control system confronts with more complex factors because of the involvement of the train communication network and the adaptive theory of the train communication network control system analysis and design must be utilized. This dissertation does the research and analysis around the train network control performance, stability, real-time and real-time scheduling features, combined with the digestion and absorption of CRH3high-speed EMU as well as the development of the CRH380BL EMU in Tangshan Railway Vehicles Co., Ltd.
TCN network transmission medium using shielded twisted pair, is the bearer of the high-speed EMU network control signal, and plays a vital role in the stability of the control system. Aiming at evaluating the performance of the transmission media-twisted pairs used for TCN network, including attenuation, near-end crosstalk, impedance and delay. It is often occurred that the MVB and WTB cable does not meet the performance and cannot be qualitatively judged the cause of the problem in CRH3EMU debugging process, which is based, the distributed parameter model of the twisted pair is derived and established in this dissertation, then using transmission line theory to solve the insertion loss, delay, offset and near-end crosstalk. Through the model simulation of the transmission line used in the high-speed EMU, and a comparative study and experimental results is researched. In order to study the impact of wiring on the transmission line characteristics, changing the layout of the wire, calculating the parameters, and comparison, simulation and analysis is obtained. Then changing the single characteristic parameters and doing simulation research to study the characteristic parameters of the deterioration of the performance. Experimental and simulation results show that:the derivate model has very high applicability, and which can be used for analysis and layout optimization of twisted-pair on the high-speed EMUs; Disturbance of the characteristic parameters deteriorates the transmission medium performance, which make the performance margin decreased. The extent and scope of performance deterioration varies form the difference among the parameters changing.
This dissertation presents a TCN network research method based on OPNET simulation software for the characteristics of CRH3high-speed EMU TCN control network, combined with periodic polling strategy adopted in CRH3high-speed EMU, derives and establishes the MVB model and WTB inauguration model. Data throughput, delay, and collision characteristics have been the focus of the network performance assessment, also for the development of new EMU control network. According to the process scheduling and message data response mechanism of the MVB network, the simulation tests are realized in the different simulation scenarios. Under the Conditions of different message data sending node numbers and different messages data sending rate, the effects on the MVB network performance are researched. In order to research the control procedure in train coupling process of CRH3high-speed EMU, WTB inauguration mechanism is in-depth studied, and the simulation under normal inauguration mode and the WTB coupling process is done to study the adaptive features of WTB marshaling. The MVB controller encoding and decoding algorithms are achieved. Through the usage of FPGA scheme replacing the MVB controller and inter-connect verification with the dedicated MVB card, the MVB data link layer protocol mechanism is researched.
Due to the usage of the communication network in the control system, the delay become one of factors had to be considered. Unreasonable delay setting or inaccurate estimate will affect the system stability margin as well as unstable, and lead to locking some features of the train control system. We have seen the phenomenon of high-voltage traction system locking in the testing process of CRH3high-speed EMU because of inaccurate delay calculation and setting. This dissertation has researched on the stability of networked control systems from different perspective using Lyapunov theory, matrix theory and linear matrix inequality, and derived the maximum allowable network delay and stability conditions to asymptotically stable the networked control systems. The results show that as long as actual network control system transmission delay less than the maximum allowable network delay or meeting the network control system stability theorem, the closed-loop network control system is always asymptotically stable. Therefore, the appropriate network type and control algorithms should be designed against the practical conditions to stable the network control system. The state observer and controller design theory based on the output feedback has been given against the deterministic delay network control systems.
In high-speed EMU this is more systems need to be controlled, which caused a significant increase of the control port and which is also inconsistent in the length of the port and the characteristic period, therefore reliable scheduling polling is required for train communication network. This dissertation proposes a new train network period scheduling algorithm against the lack of uneven periodic bus-load utilization in CRH3high-speed EMU polling strategy. The multi-level scheduling optimization algorithm as the target on bus load rate uniformity is obtained by calculating the high-speed EMU period-data load rate. According to the characteristics of MVB polling periodic table, some hierarchical constraints are added and the Local objective function take place of global objective function in the solution process. The operational efficiency of the algorithm is greatly improved. This dissertation has also demonstrated the relationship between the rate monotonic algorithm, genetic algorithm and multi-constraint conditions evenness priority scheduling algorithm, in order to show that the optimization algorithm has great advantages under the conditions. The schedulability analysis for the optimization algorithm is processed and it shows the validity of the results after the periodic polling table is optimized. The simulation results further confirm that the optimization algorithm has achieved optimum uniformity of the load information. The event schedule model based on OPNET simulation is proposed according to the event arbitration algorithm for non-periodic data.
Finally, the research conclusions are presented and the future research works are discussed.
引文
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