基于CANopen总线的列车控制网络系统研究及应用
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摘要
随着地铁列车运输负载量的增大,运行速度不断提高,这对列车安全性和可靠性提出了更高的要求。列车控制网络系统能够实现列车全线自动驾驶、超速防护以及故障分析和远程监控的功能,减少了人工控制的环节,提高了响应速度和可靠性。
本论文以“广州地铁1号线国产化改造”为背景,提出了基于CANopen总线的地铁列车控制网络系统的设计方案。通过分析总线静态服务性能的各个参数,验证了CANopen和HDLC总线协议适配的可行性,并对其协议转换模型进行了深入的探讨。
CANopen列车控制网络系统在硬件结构上主要分为四个部分:网络主控制器、车辆控制器、CANopen/HDLC网关和中继器。在协议转换模型研究的基础上,提出CANopen/HDLC网关的设计方案。网关的硬件设计包括LPC2294处理器模块、CANopen总线通信模块和HDLC通信总线模块三部分。网络主控制器、车辆控制器和中继器选用了现有的成熟产品。根据CANopen应用层协议,设计对象字典、PDO和SDO的接口函数,然后设计了网络主控制器和其他从节点的主函数,完成了控制网络系统的软件设计。
最后对CANopen列车控制网络系统进行了测试,包括CANopen/HDLC网关的功能测试,列车控制网络系统的通信测试和实时性测试。重点测试分析了在不同的总线负载和通信速率下影响系统实时性的关键因素—报文时延,充分验证了本设计方案的可行性与正确性。
With the increasing transportation load of subway, the continually accelerating of operating speed, the security and reliability of the train become more and more important. Train Control Network System is designed to realize automatic drive, speed limit, malfunction analysis and remote control. These functions reduce the risks from manual operation, and enhance the response performance and reliability.
This paper puts forward a design project of Train Control Network System based on CANopen Bus, which belongs to the project of the "Localization of Guangzhou Metro Line No.1". By analyzing some parameters of Bus static service performance, the protocol matching of CANopen and HDLC Buses has been verificated to be feasible. Then this paper makes a detailed research of the protocol convertion model.
CANopen Train Control Network System consists of 4 hardware modules: network main controller, vechile controller, CANopen/HLDC gateway and reapter. The design project of CANopen/HLDC gateway is put forward based on the research of protocol convertion model, and the hardware structure of gateway including LPC2294 processor module, CANopen Bus communication module and HDLC Bus communication bus module. As for network main controller, vechile controller and reapter, they are selected to adopt some existing production with high performance. According to application layer protocol, the paper designs interface functions for object dictionary、PDO and SDO, then designs main functions for network main controller and other nodes, and completes software design of the whole control network system.
In the end, the paper makes several network tests of CANopen Train Control Network System, including function tests of CANopen/HDLC gateway, communication tests and real-time capability tests of CANopen Train Control Network System. On different bus loads and communication rates, the paper places emphasis on testing and analyzing message time-delay, which is key factor of system real-time capability, and fully conforms that the project is feasible and correct.
本论文以“广州地铁1号线国产化改造”为背景,提出了基于CANopen总线的地铁列车控制网络系统的设计方案。通过分析总线静态服务性能的各个参数,验证了CANopen和HDLC总线协议适配的可行性,并对其协议转换模型进行了深入的探讨。
CANopen列车控制网络系统在硬件结构上主要分为四个部分:网络主控制器、车辆控制器、CANopen/HDLC网关和中继器。在协议转换模型研究的基础上,提出CANopen/HDLC网关的设计方案。网关的硬件设计包括LPC2294处理器模块、CANopen总线通信模块和HDLC通信总线模块三部分。网络主控制器、车辆控制器和中继器选用了现有的成熟产品。根据CANopen应用层协议,设计对象字典、PDO和SDO的接口函数,然后设计了网络主控制器和其他从节点的主函数,完成了控制网络系统的软件设计。
最后对CANopen列车控制网络系统进行了测试,包括CANopen/HDLC网关的功能测试,列车控制网络系统的通信测试和实时性测试。重点测试分析了在不同的总线负载和通信速率下影响系统实时性的关键因素—报文时延,充分验证了本设计方案的可行性与正确性。
With the increasing transportation load of subway, the continually accelerating of operating speed, the security and reliability of the train become more and more important. Train Control Network System is designed to realize automatic drive, speed limit, malfunction analysis and remote control. These functions reduce the risks from manual operation, and enhance the response performance and reliability.
This paper puts forward a design project of Train Control Network System based on CANopen Bus, which belongs to the project of the "Localization of Guangzhou Metro Line No.1". By analyzing some parameters of Bus static service performance, the protocol matching of CANopen and HDLC Buses has been verificated to be feasible. Then this paper makes a detailed research of the protocol convertion model.
CANopen Train Control Network System consists of 4 hardware modules: network main controller, vechile controller, CANopen/HLDC gateway and reapter. The design project of CANopen/HLDC gateway is put forward based on the research of protocol convertion model, and the hardware structure of gateway including LPC2294 processor module, CANopen Bus communication module and HDLC Bus communication bus module. As for network main controller, vechile controller and reapter, they are selected to adopt some existing production with high performance. According to application layer protocol, the paper designs interface functions for object dictionary、PDO and SDO, then designs main functions for network main controller and other nodes, and completes software design of the whole control network system.
In the end, the paper makes several network tests of CANopen Train Control Network System, including function tests of CANopen/HDLC gateway, communication tests and real-time capability tests of CANopen Train Control Network System. On different bus loads and communication rates, the paper places emphasis on testing and analyzing message time-delay, which is key factor of system real-time capability, and fully conforms that the project is feasible and correct.
引文
[1]张元林.列车控制网络技术的现状与发展趋势[J].电力机车与城轨车辆,2005-07:1-4
[2]路向阳,曾嵘.“中原之星”车载计算机网络控制系统[J].机车电传动,2002-06:34-37
[3]李国平.列车通信网络WTB/MVB与LonWorks的技术比较与应用[J].铁道车辆,2004-01:22-25
[4]龙志强,刘曙生,佘龙华.CMS-3型磁悬浮列车微机监控与数据通信系统[J].机车电传动,2002-02:18-21
[5]赵红卫.现场总线技术在城市轻轨和地铁车辆控制系统中的应用[J].铁道机车车辆,2003-04:8-10
[6]钱存元,邵德荣,谢维达.现场总线在列车控制网络中的应用与发展[J].交通与计算机,2004-01:68-72
[7]邓家龙,周建乐.无人驾驶城轨列车控制系统的研究与开发[J].城市轨道车辆,2007-09:22-25
[8]黄良骥,唐涛.地铁列车自动运行系统的分析与设计[J].城市轨道交通研究,2003-02:51-55
[9]M.Farsi,K.Ratcliff,and Manuel Barbosa.An introduction to CANopen[J],Computer Control Engineering Journal,1999-08:161-168
[10]李正军.现场总线及其应用技术[M].北京:机械工业出版社,2006-01
[11]蔡秀珍.高级数据链路控制(HDLC)协议[J].福建电脑,2005-07:35-36
[12]ZTE.高级数据链路控制规程HDLC[DB/OL].http://www.2lic.com,2004-05
[13]彭可 等.以太网、CAN与LON 3种总线控制网络静态网络性能分析[J].测控技术,2003-12:41-44
[14]K.Tindell,H.Hansson,and A.Wellings.Analysing real-time communications:Controller Area Network[J].Real-time System Symposium,1994-04:259-263
[15]L.M.Pinho and F.Vasques.Timing analysis of reliable real-time constrains on contrller area network[C].Proceedings of the 13th Euromicro Conference on Real-time Systems,2001
[16]李晋辉,王建林.PCI-CAN总线互连技术及其实现方法的研究:[D],北京:北京化工大学,2003:18-19
[17]周立功等.ARM嵌入式系统基础教程[M].北京:北京航空航天大学出版社,2004-11
[18]Sipex Corporation.SPX1117-800mA Low Dropout Voltage Regulator[DB/OL].2004-05
[19]Application Note.基于32位ARM7的CAN节点设计[J].广州致远电子有限公司,2006-12
[20]S.M.Qasim,S.A.Abbasi.FPCA implementation of a single-channel HDLC Layer-2protocol transmitter using VHDL[C].Proceedings of the 15th International Conference on Microelectronics,2003
[21]曾富前.基于PCI总线实现HDLC协议的通信系统设计与实现[D].西安:电子科技大学,2002-03
[22]刘玉印.高级串行通信控制器SAB82525及其应用[J].计算机应用,2002-3:136-139
[23]韩露.专用HDLC协议芯片的应用[J].移动通信,2003增刊,231-232
[24]冯涛等.可编程逻辑器件开发技术—MAX+plus Ⅱ入门与提高[M].北京:人民邮电出版社,2002
[25]李逢等.基于单片机与CPLD的高速数据采集系统[J].自动化与仪表,2003-03:57-60
[26]宋万杰等.CPLD技术及其应用[M].西安:西安电子科技大学出版社,1999-09:83-87
[27]CANopen Communication Profile for Industry System Based on CAL[S],CiA Draft Standard 301,October 1996.
[28]CANopen Protocol[DB/OL].http://www.can-cia.de/canopen/Protocol.2002-5.
[29]H.Boterenbrood.CANopen high—level protoeol for CAN bus[DB/OL].NIKHEF,1999
[30]Karl Ratcliff.CANopen Implementation Issues[M].The Institution of Electrical Engineers,Print by The IEE,Savoy Place,LondonWC2R OBL,UK,1997
[31]吴爱国,刘莉.CAN总线控制系统的应用层协议CANopen剖析[J].微计算机信息,2003-04:44-45
[32]郇极,杨斌.一种开放式的现场总线协议CANopen[J].制造业自动化,2002-10:33-35
[33]程坷飞,王渝.基于CANopen协议的车载平台数据通讯系统[J].嵌入式与SOC,2005-07:23-26
[34]吴军,李晓龙.CAN控制网络实时性能分析与测量[J].工业控制计算机,2004-10:21-23
[35]王毅,龙志强.CAN网络信息传输的实时性分析[J].天津工业大学学报,2005-04:43-46
[36]唐红卫,王昌明,吕宁.CAN,总线控制网络实时性分析[J].工业控制计算机,2005-06:43-46
[37]Bhargav P Upender,Alexander G Dean.Variability of CAN Network Performance [A].International CAN Conference[C].Paris:International CAN Conference.1996.
[38]T.Nolte,M.Nolin,H.A.nansson.Real-time Server-Based Communication With CAN[J].Industrial Informatics,2005-01:192-201
[39]K.Tindell,A.Burns,and A.Wellings.Calculating Controller Area Network Message Response Time[C].In Control Engineering Practice,1995-3:1163-1169
[40]J.Nilsson.Real-time Control Systems with Delays[D].Lurid,Sweden:Lurid Institute of Technology,1998:35-50
[2]路向阳,曾嵘.“中原之星”车载计算机网络控制系统[J].机车电传动,2002-06:34-37
[3]李国平.列车通信网络WTB/MVB与LonWorks的技术比较与应用[J].铁道车辆,2004-01:22-25
[4]龙志强,刘曙生,佘龙华.CMS-3型磁悬浮列车微机监控与数据通信系统[J].机车电传动,2002-02:18-21
[5]赵红卫.现场总线技术在城市轻轨和地铁车辆控制系统中的应用[J].铁道机车车辆,2003-04:8-10
[6]钱存元,邵德荣,谢维达.现场总线在列车控制网络中的应用与发展[J].交通与计算机,2004-01:68-72
[7]邓家龙,周建乐.无人驾驶城轨列车控制系统的研究与开发[J].城市轨道车辆,2007-09:22-25
[8]黄良骥,唐涛.地铁列车自动运行系统的分析与设计[J].城市轨道交通研究,2003-02:51-55
[9]M.Farsi,K.Ratcliff,and Manuel Barbosa.An introduction to CANopen[J],Computer Control Engineering Journal,1999-08:161-168
[10]李正军.现场总线及其应用技术[M].北京:机械工业出版社,2006-01
[11]蔡秀珍.高级数据链路控制(HDLC)协议[J].福建电脑,2005-07:35-36
[12]ZTE.高级数据链路控制规程HDLC[DB/OL].http://www.2lic.com,2004-05
[13]彭可 等.以太网、CAN与LON 3种总线控制网络静态网络性能分析[J].测控技术,2003-12:41-44
[14]K.Tindell,H.Hansson,and A.Wellings.Analysing real-time communications:Controller Area Network[J].Real-time System Symposium,1994-04:259-263
[15]L.M.Pinho and F.Vasques.Timing analysis of reliable real-time constrains on contrller area network[C].Proceedings of the 13th Euromicro Conference on Real-time Systems,2001
[16]李晋辉,王建林.PCI-CAN总线互连技术及其实现方法的研究:[D],北京:北京化工大学,2003:18-19
[17]周立功等.ARM嵌入式系统基础教程[M].北京:北京航空航天大学出版社,2004-11
[18]Sipex Corporation.SPX1117-800mA Low Dropout Voltage Regulator[DB/OL].2004-05
[19]Application Note.基于32位ARM7的CAN节点设计[J].广州致远电子有限公司,2006-12
[20]S.M.Qasim,S.A.Abbasi.FPCA implementation of a single-channel HDLC Layer-2protocol transmitter using VHDL[C].Proceedings of the 15th International Conference on Microelectronics,2003
[21]曾富前.基于PCI总线实现HDLC协议的通信系统设计与实现[D].西安:电子科技大学,2002-03
[22]刘玉印.高级串行通信控制器SAB82525及其应用[J].计算机应用,2002-3:136-139
[23]韩露.专用HDLC协议芯片的应用[J].移动通信,2003增刊,231-232
[24]冯涛等.可编程逻辑器件开发技术—MAX+plus Ⅱ入门与提高[M].北京:人民邮电出版社,2002
[25]李逢等.基于单片机与CPLD的高速数据采集系统[J].自动化与仪表,2003-03:57-60
[26]宋万杰等.CPLD技术及其应用[M].西安:西安电子科技大学出版社,1999-09:83-87
[27]CANopen Communication Profile for Industry System Based on CAL[S],CiA Draft Standard 301,October 1996.
[28]CANopen Protocol[DB/OL].http://www.can-cia.de/canopen/Protocol.2002-5.
[29]H.Boterenbrood.CANopen high—level protoeol for CAN bus[DB/OL].NIKHEF,1999
[30]Karl Ratcliff.CANopen Implementation Issues[M].The Institution of Electrical Engineers,Print by The IEE,Savoy Place,LondonWC2R OBL,UK,1997
[31]吴爱国,刘莉.CAN总线控制系统的应用层协议CANopen剖析[J].微计算机信息,2003-04:44-45
[32]郇极,杨斌.一种开放式的现场总线协议CANopen[J].制造业自动化,2002-10:33-35
[33]程坷飞,王渝.基于CANopen协议的车载平台数据通讯系统[J].嵌入式与SOC,2005-07:23-26
[34]吴军,李晓龙.CAN控制网络实时性能分析与测量[J].工业控制计算机,2004-10:21-23
[35]王毅,龙志强.CAN网络信息传输的实时性分析[J].天津工业大学学报,2005-04:43-46
[36]唐红卫,王昌明,吕宁.CAN,总线控制网络实时性分析[J].工业控制计算机,2005-06:43-46
[37]Bhargav P Upender,Alexander G Dean.Variability of CAN Network Performance [A].International CAN Conference[C].Paris:International CAN Conference.1996.
[38]T.Nolte,M.Nolin,H.A.nansson.Real-time Server-Based Communication With CAN[J].Industrial Informatics,2005-01:192-201
[39]K.Tindell,A.Burns,and A.Wellings.Calculating Controller Area Network Message Response Time[C].In Control Engineering Practice,1995-3:1163-1169
[40]J.Nilsson.Real-time Control Systems with Delays[D].Lurid,Sweden:Lurid Institute of Technology,1998:35-50