Design And Implementation Of Hardware-in-the-Loop Simulation For Train Control System Verification Platform

The train control system,which is the core technical equipment to ensure the safe,orderly and efficient operation of the railway,needs to be tested before being put into practical application.The traditional test methods include field test and pure software simulation test.The former has high cost,long cycle and certain danger.However,the latter needs to simulate the tested train control equipment and has limitations in model accuracy.Therefore,this thesis applies the hardware-in-the-loop(HIL)simulation method to the train control system verification platform,and develops the HIL train control system simulation environment.The main work of this thesis includes the following four aspects:(1)A modeling method of train control data based on graph theory is proposed.In this method,the train control data needed by train operation simulation environment is modeled.Compared with tabular data structure,topological data model has a higher efficiency of data query and maintenance.In addition,to ensure the correctness of the model,the topological relationship in train control data model is tested by means of the simple path matrix algorithm.(2)A simulation method of train operation environment based on topological data model is designed.Based on the topological model of train control data,the simulation methods of train operation environment visualization,train dynamics and pose calculation,train path finding and trackside equipment driving are designed,which provide support for the development of train operation simulation environment.(3)A hardware interface unit is developed.The on-board hardware interface unit has RS-422,RS-485,CAN serial communication interface,24V/110 V switch signal interface and speed pulse output interface.The hardware interface unit can incorporate the real onboard equipment host into the platform.The interlocking hardware interface unit simulates the hardware interfaces of switch,signal and track circuit,which has the ability to collect interlocking control signals and output feedback signals.(4)A train operation simulation environment is developed.According to the requirements of train operation simulation environment,train control data management module,train simulation module,trackside simulation module,and 3D visual simulation module are designed and implemented.This train operation simulation environment provides a simulation model of controlled object for HIL simulation and test of train control system.Through the hardware interface unit,the on-board and interlocking equipment forms a closed control loop with the train operation simulation environment,so as to build a HIL train control system verification platform.This platform does not need to model the tested on-board and interlocking equipment,but also includes their real hardware.Therefore,it has the advantages of development efficiency and test reliability.