基于UML的CTCS-2级列控车载设备的建模及实现
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摘要
随着我国经济的快速发展,对铁路行车的安全和效率提出了更高的要求,而列车运行控制系统在提高运输效率、保证行车安全等方面具有重要的作用。其中的列车超速防护系统(Automatic Train Protection,以下简称ATP)是关键部分,它的主要任务是监督列车的运行速度,自动控制列车的制动系统,实现列车的超速防护,这样一种安全性很高的控制系统,软件设计上必须要保证系统安全。本论文主要研究CTCS-2级列控车载设备的建模设计方法。
本文介绍了列车运行控制系统开发遇到的问题,随着计算机技术在列车运行控制系统中的应用,安全问题显得越发的重要和复杂,传统的安全系统设计、分析和测试方法难以满足以计算机技术为基础的安全系统的需要。近年来,对系统进行模型的开发,为解决列控系统设计开发的正确性问题提供了一条可能的途径。
本文介绍了UML以及基于UML的实时嵌入式系统软件开发环境Rhapsody建模的优势。针对传统列控系统开发的瀑布生命周期的缺点,引入了CTCS-2列控车载设备的建模方法——嵌入式系统的快速面向对象开发过程(RapidObject-Oriented Process for Embedded System,以下简称ROPES)。
根据ROPES过程,论文将CTCS-2列控车载设备的软件开发分为分析、设计、实现和测试四个阶段,并以模式切换和等级转换为例,详细介绍了ROPES的具体应用。基于UML的建模开发方法将ATP软件开发的抽象层次由传统的代码层提升到了模型层,以使开发者可以更加专注于所要解决的领域问题,而不是繁锁的程序代码,实现了在模型层就可以对系统功能进行测试和验证;由UML模型所自动生成的代码是基于实时框架技术的可以高效地运行于目标平台的代码,并且模型与代码之间可以保持自动关联,因而不但解决了传统系统模型与系统实现之间往往存在脱节的问题,每次迭代开发的生命周期也大为降低,对所开发出的软件的质量有着必要的保障。
最后,本文将模型在VxWorks上实现,对其分别进行了白盒和黑盒测试,验证了该论文建模方法的有效性和可行性。基于UML的列控车载设备的建模方法利用UML的优势,在保证系统实时性、安全性的前提下,有效地降低了软件设计的复杂度,并使得软件具有更好的层次性、可移植性、完整性。
Along with the development of our country's economy, the safety and efficiency of the railway system are becoming higher. And the automatic train control system plays significant role in assuring operation safety and improving operation efficiency. Among which, the Automatic Train Protection is one of the main component, and it is used to supervise the speed of the high-speed train in real time and continuously, to control the brake system automatically and to realize automatic train protection. This kind of control system needs to be high safety, and the software must be designed safely. In this paper, the author has researched the modeling design of CTCS-2 ATP on-board device software.
The paper introduces meeting problems in developing train control system. With the rapid development of computer technology, the safety assurance methods and techliologies formierly used could no longer satisfy the ever increasing safety demand of complex computer system. Recently, model based design method give a possible solution to safety assurance of Automatic Train Protection.
The paper introduces the advantage of modeling with UML and real-time embedded-system modeling tool Rhapsody. To avoid disadvantage of waterfall life cycle used in development, this paper brings Rapid Object-Oriented Process for Embedded System (ROPES) in the modeling of CTCS-2 ATP on-board system.
The software development of ATP is divided into four stages: analyzing, design, implementation and testing, according to this process. Taking modes and levels transitition as examples, this dissertation introduces the concrete application of ROPES in ATP software development in details. The model development method with UML brings abstract layer of software development from traditional code layer up to the model layer, so that the developer can be absorbed in the specific domain problems instead of cockamamie program codes. It can also test and verify the system function on the model layer. The codes generated automatically from UML model are based on the real-time framework technology and can execute on the target platform efficiently and can change with the UML model synchronously. So this method not only solves the existing disjointed problem between the traditional system model and system implementation but also reduces the iterative lifecycle and guarantees the software quality.
Finally, by realization of the model on VxWorks, the author does white-box and black-box test on the model, which indicates the feasibility and validity of the model method in this paper. The method to design software of ATP on-board device takes advantage of UML. On the premise of guaranteeing the safety, reliability and real-time of the system, it simplified the management of system resource, reduced the complexity of software design and improved the transplant, hierarchy and integrality of the software.
本文介绍了列车运行控制系统开发遇到的问题,随着计算机技术在列车运行控制系统中的应用,安全问题显得越发的重要和复杂,传统的安全系统设计、分析和测试方法难以满足以计算机技术为基础的安全系统的需要。近年来,对系统进行模型的开发,为解决列控系统设计开发的正确性问题提供了一条可能的途径。
本文介绍了UML以及基于UML的实时嵌入式系统软件开发环境Rhapsody建模的优势。针对传统列控系统开发的瀑布生命周期的缺点,引入了CTCS-2列控车载设备的建模方法——嵌入式系统的快速面向对象开发过程(RapidObject-Oriented Process for Embedded System,以下简称ROPES)。
根据ROPES过程,论文将CTCS-2列控车载设备的软件开发分为分析、设计、实现和测试四个阶段,并以模式切换和等级转换为例,详细介绍了ROPES的具体应用。基于UML的建模开发方法将ATP软件开发的抽象层次由传统的代码层提升到了模型层,以使开发者可以更加专注于所要解决的领域问题,而不是繁锁的程序代码,实现了在模型层就可以对系统功能进行测试和验证;由UML模型所自动生成的代码是基于实时框架技术的可以高效地运行于目标平台的代码,并且模型与代码之间可以保持自动关联,因而不但解决了传统系统模型与系统实现之间往往存在脱节的问题,每次迭代开发的生命周期也大为降低,对所开发出的软件的质量有着必要的保障。
最后,本文将模型在VxWorks上实现,对其分别进行了白盒和黑盒测试,验证了该论文建模方法的有效性和可行性。基于UML的列控车载设备的建模方法利用UML的优势,在保证系统实时性、安全性的前提下,有效地降低了软件设计的复杂度,并使得软件具有更好的层次性、可移植性、完整性。
Along with the development of our country's economy, the safety and efficiency of the railway system are becoming higher. And the automatic train control system plays significant role in assuring operation safety and improving operation efficiency. Among which, the Automatic Train Protection is one of the main component, and it is used to supervise the speed of the high-speed train in real time and continuously, to control the brake system automatically and to realize automatic train protection. This kind of control system needs to be high safety, and the software must be designed safely. In this paper, the author has researched the modeling design of CTCS-2 ATP on-board device software.
The paper introduces meeting problems in developing train control system. With the rapid development of computer technology, the safety assurance methods and techliologies formierly used could no longer satisfy the ever increasing safety demand of complex computer system. Recently, model based design method give a possible solution to safety assurance of Automatic Train Protection.
The paper introduces the advantage of modeling with UML and real-time embedded-system modeling tool Rhapsody. To avoid disadvantage of waterfall life cycle used in development, this paper brings Rapid Object-Oriented Process for Embedded System (ROPES) in the modeling of CTCS-2 ATP on-board system.
The software development of ATP is divided into four stages: analyzing, design, implementation and testing, according to this process. Taking modes and levels transitition as examples, this dissertation introduces the concrete application of ROPES in ATP software development in details. The model development method with UML brings abstract layer of software development from traditional code layer up to the model layer, so that the developer can be absorbed in the specific domain problems instead of cockamamie program codes. It can also test and verify the system function on the model layer. The codes generated automatically from UML model are based on the real-time framework technology and can execute on the target platform efficiently and can change with the UML model synchronously. So this method not only solves the existing disjointed problem between the traditional system model and system implementation but also reduces the iterative lifecycle and guarantees the software quality.
Finally, by realization of the model on VxWorks, the author does white-box and black-box test on the model, which indicates the feasibility and validity of the model method in this paper. The method to design software of ATP on-board device takes advantage of UML. On the premise of guaranteeing the safety, reliability and real-time of the system, it simplified the management of system resource, reduced the complexity of software design and improved the transplant, hierarchy and integrality of the software.
引文
[1]郜春海,唐涛,张建明.高速铁路列车运行控制系统车载设备的软件设计.北方交通大学学报.1999年10月,第23卷第5期
[2]郜春海,唐涛,燕飞.基于CENELEC铁路标准的列车自动防护系统车载设备研究与设计.铁道学报.2006年2月,第28卷第1期
[3]燕飞,唐涛.实时操作系统及其列车运行控制系统中的应用分析.北方交通大学学报,2002,26(6)
[4]中华人民共和国铁道部.中国列车运行控制系统CTCS-2级技术条件(暂行).铁运函[2005]121号,2005
[5]中华人民共和国铁道部.时速200和300公里动车组主要技术条件.铁运函[2006]462号,2006
[6]傅世善.闭塞与列控概论.北京:中国铁道出版社,2006
[7]傅世善.CTCS2列控系统简介.铁路通信信号工程技术(RSCE).2005
[8]中华人民共和国铁道部.TB/T 3060-2002机车信号信息定义及分配
[9]中华人民共和国铁道部.中国列车运行控制系统CTCS技术规范总则.铁运函[2004]14号,2004
[10]刘虎兴,范明.中国铁路列控系统现状及发展.铁道通信信号,2003,(1)
[11]范丽君.ETCS技术在列控系统中应用的探讨.中国铁道科学,2003,(6)
[12]裘韧.京郑既有线CTCS-2级信号系统方案研究.电气化铁道.2006年第2期
[13]毛俊杰.高速铁路列车自动控制系统.北京:中国铁道出版社,1994
[14]胡东源.GSM-R/CTCS在中国铁路的应用与发展战略.铁道通信信号,2003,(1)
[15]胡耀华.我国铁路速差式自动闭塞的发展及在提速中的作用.中国铁路,2002,(6)
[16]胡耀华.我国铁路提速中列车超速防护系统的分析与研究.中国铁路,2002,(8)
[17]铁道科学研究院通信信号研究所.CTCS2-200C车载设备培训教材.2007年3月
[18]张利芝,唐俊同,陈展.CTCS2-200C型车载列车控制系统.机车电传动.2008.1
[19]高军礼.基于模型驱动开发方法的开放式结构计算机数控系统的研究.广东:湖南理工大学,2005
[20]赵波波.基于UML的CBTC轨旁设备的建模与实现.北京:北京交通大学,2007
[21]赵波波,唐涛.基于UML的城市交通列车超速防护系统建模.城市轨道交通.2006
[22]谢火明.VxWorks在列车超速防护系统中的应用研究.北京:北京交通大学,2007
[23]刘苗苗.UML在嵌入式软件开发中的研究与应用.山东:中国海洋大学,2006
[24]洪洋.用Rhapsody开发嵌入式实时系统.光电技术应用,2003,No4:39-46
[25]Grady Booch等.UML用户指南.北京:机制工业出版社.2001,(6)
[26]Douglass,Bruce Powel.实时UML--开发嵌入式系统高效对象.北京:中国电力出版社.2003
[27]Selic,B.and Rumbaugh,J.Using UML for Modeling Complex Real-Time Systems,white paper,Rational(Object Time),March 11,1998
[28]Ulla Isaksen,Jonathan Bowen,Nimal Nissanke.System and Software Safety in Critical System.Technical Report RUCS/97/TR/O62/A,Department of Computer Science, The University of Reading,UK,1997
[29]Meyer zu Hoerste,Michael Schnieder,Eckehard.Modeling Train Control Systems with Petri Nets-a Functional Reference Architecture.In:Proceedings of the IEEE International Conference on Systems,Man and Cybernetics,2000
[30]L.Jansen,E.Schnieder.Technical Issues in Modeling the European Train Control System(ETCS)Using Colored Petri Nets and Design CPN Tools.In:Workshop on Practical Use of Colored Petri Nets and Design.Denmark,Aarhus:Jensen,K:Daimi PB-532,1998
[31]G.K.Palshikar.Safety Checking in an Automatic Train Operation System.Information and Software Technology,2001(43)
[32]王铁江,郦萌.计算机联锁软件的Z规格说明.铁道学报,2003,25(4)
[33]S.Baeherini,S.Bianehi,L.Capeeehi,C.Beeheri,A.Felleea,A.Fanteehi,E.Spinicci.Modeling a Railway Signaling System using SDL,In:Proceedings of the International Symposium on Formal Methods for Railway Operation and Control Systems,Budapest,Hungary,May 2003
[34]J.P.Bowen,V.Stavridou.Safety-Critical Systems,Formal Methods and Standards.IEE BCS Software Engineering Journal,1993,8
[35]S.Gerhart,D.Craigen,T.Ralston.Case study:Paris Metro Signaling System.IEEE Software,1994
[36]V.L.Winter,D.Kapur,R.S.Berg.Formal Specification and Refinement of a Safe Train Control Function.Submitted to The Computer Journal,draft available at www.sandia.gov/AST
[37]Nirsten Berkenkotter.Executable Hybrid UML and its Application to Train Control Systems.In:Proceedings of Integration of Software Specification Techniques for Applications in Engineering 2004,Springer-Verlag,2004
[38]Kirsten Berkenkotter,Stefan Bisanz,Ulrich Hannemann,Jan Peleska.The Hybrid UML Profile for UML2.0.Technical Report 30,Technologie Zentrum Information TZI,Universit at Bremen,April 2004
[39]Jurgen Bohn,Werner Damm,Hartmut Wittke.Modeling and Validating Train System Applications Using Statemate and Live Sequence Charts.Integrated Design and Process Technology,IDPT-2002
[40]A.H.Cribbens.Solid-State Interlocking(SSI):An Integrated Electronic Signaling System for Mainline Railways.IEE Proceedings,1987
[41]Booch.G rady Object Solutions:Managing the Object-Oriented Project;Reading.MA Addison-Wesley,1996
[42]Douglass,Bruce Powel.Doing Hard Time:Developing Real-Time Systems using UML,Objects,Frameworks and Patterns Reading,MA:Addison-Wesley,1999
[43]张磊,吴芳美.铁路信号域形式化方法研究.同济大学学报,2002,30(10)
[2]郜春海,唐涛,燕飞.基于CENELEC铁路标准的列车自动防护系统车载设备研究与设计.铁道学报.2006年2月,第28卷第1期
[3]燕飞,唐涛.实时操作系统及其列车运行控制系统中的应用分析.北方交通大学学报,2002,26(6)
[4]中华人民共和国铁道部.中国列车运行控制系统CTCS-2级技术条件(暂行).铁运函[2005]121号,2005
[5]中华人民共和国铁道部.时速200和300公里动车组主要技术条件.铁运函[2006]462号,2006
[6]傅世善.闭塞与列控概论.北京:中国铁道出版社,2006
[7]傅世善.CTCS2列控系统简介.铁路通信信号工程技术(RSCE).2005
[8]中华人民共和国铁道部.TB/T 3060-2002机车信号信息定义及分配
[9]中华人民共和国铁道部.中国列车运行控制系统CTCS技术规范总则.铁运函[2004]14号,2004
[10]刘虎兴,范明.中国铁路列控系统现状及发展.铁道通信信号,2003,(1)
[11]范丽君.ETCS技术在列控系统中应用的探讨.中国铁道科学,2003,(6)
[12]裘韧.京郑既有线CTCS-2级信号系统方案研究.电气化铁道.2006年第2期
[13]毛俊杰.高速铁路列车自动控制系统.北京:中国铁道出版社,1994
[14]胡东源.GSM-R/CTCS在中国铁路的应用与发展战略.铁道通信信号,2003,(1)
[15]胡耀华.我国铁路速差式自动闭塞的发展及在提速中的作用.中国铁路,2002,(6)
[16]胡耀华.我国铁路提速中列车超速防护系统的分析与研究.中国铁路,2002,(8)
[17]铁道科学研究院通信信号研究所.CTCS2-200C车载设备培训教材.2007年3月
[18]张利芝,唐俊同,陈展.CTCS2-200C型车载列车控制系统.机车电传动.2008.1
[19]高军礼.基于模型驱动开发方法的开放式结构计算机数控系统的研究.广东:湖南理工大学,2005
[20]赵波波.基于UML的CBTC轨旁设备的建模与实现.北京:北京交通大学,2007
[21]赵波波,唐涛.基于UML的城市交通列车超速防护系统建模.城市轨道交通.2006
[22]谢火明.VxWorks在列车超速防护系统中的应用研究.北京:北京交通大学,2007
[23]刘苗苗.UML在嵌入式软件开发中的研究与应用.山东:中国海洋大学,2006
[24]洪洋.用Rhapsody开发嵌入式实时系统.光电技术应用,2003,No4:39-46
[25]Grady Booch等.UML用户指南.北京:机制工业出版社.2001,(6)
[26]Douglass,Bruce Powel.实时UML--开发嵌入式系统高效对象.北京:中国电力出版社.2003
[27]Selic,B.and Rumbaugh,J.Using UML for Modeling Complex Real-Time Systems,white paper,Rational(Object Time),March 11,1998
[28]Ulla Isaksen,Jonathan Bowen,Nimal Nissanke.System and Software Safety in Critical System.Technical Report RUCS/97/TR/O62/A,Department of Computer Science, The University of Reading,UK,1997
[29]Meyer zu Hoerste,Michael Schnieder,Eckehard.Modeling Train Control Systems with Petri Nets-a Functional Reference Architecture.In:Proceedings of the IEEE International Conference on Systems,Man and Cybernetics,2000
[30]L.Jansen,E.Schnieder.Technical Issues in Modeling the European Train Control System(ETCS)Using Colored Petri Nets and Design CPN Tools.In:Workshop on Practical Use of Colored Petri Nets and Design.Denmark,Aarhus:Jensen,K:Daimi PB-532,1998
[31]G.K.Palshikar.Safety Checking in an Automatic Train Operation System.Information and Software Technology,2001(43)
[32]王铁江,郦萌.计算机联锁软件的Z规格说明.铁道学报,2003,25(4)
[33]S.Baeherini,S.Bianehi,L.Capeeehi,C.Beeheri,A.Felleea,A.Fanteehi,E.Spinicci.Modeling a Railway Signaling System using SDL,In:Proceedings of the International Symposium on Formal Methods for Railway Operation and Control Systems,Budapest,Hungary,May 2003
[34]J.P.Bowen,V.Stavridou.Safety-Critical Systems,Formal Methods and Standards.IEE BCS Software Engineering Journal,1993,8
[35]S.Gerhart,D.Craigen,T.Ralston.Case study:Paris Metro Signaling System.IEEE Software,1994
[36]V.L.Winter,D.Kapur,R.S.Berg.Formal Specification and Refinement of a Safe Train Control Function.Submitted to The Computer Journal,draft available at www.sandia.gov/AST
[37]Nirsten Berkenkotter.Executable Hybrid UML and its Application to Train Control Systems.In:Proceedings of Integration of Software Specification Techniques for Applications in Engineering 2004,Springer-Verlag,2004
[38]Kirsten Berkenkotter,Stefan Bisanz,Ulrich Hannemann,Jan Peleska.The Hybrid UML Profile for UML2.0.Technical Report 30,Technologie Zentrum Information TZI,Universit at Bremen,April 2004
[39]Jurgen Bohn,Werner Damm,Hartmut Wittke.Modeling and Validating Train System Applications Using Statemate and Live Sequence Charts.Integrated Design and Process Technology,IDPT-2002
[40]A.H.Cribbens.Solid-State Interlocking(SSI):An Integrated Electronic Signaling System for Mainline Railways.IEE Proceedings,1987
[41]Booch.G rady Object Solutions:Managing the Object-Oriented Project;Reading.MA Addison-Wesley,1996
[42]Douglass,Bruce Powel.Doing Hard Time:Developing Real-Time Systems using UML,Objects,Frameworks and Patterns Reading,MA:Addison-Wesley,1999
[43]张磊,吴芳美.铁路信号域形式化方法研究.同济大学学报,2002,30(10)