railway control with a raspberry pi · railway control with a raspberry pi university of...
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Railway Control with a Raspberry Pi University of Strathclyde - Glasgow
22nd April 2017
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Who are Siemens?
Siemens is the largest manufacturing and electronics company in Europe
- Siemens’ UK operations were founded 174 years ago by Sir William Siemens, and we
currently employ 14,000 people in the UK.
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Who are Siemens?
Our goal is to improve quality of life through electrification, automation, and
digitalisation.
- e.g. State-of-the-art megnetic imaging technology;
£160 million investment in wind turbine assembly;
Removing 1m cars worth of CO2 through efficient drive technologies
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Who are Siemens?
Siemens Mobility develop the rolling stock and signalling control systems that
allow safe and sustainable growth of our public transport network.
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What do we do?
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What do we do?
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What do we do?
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What do we do?
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What do we do?
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Background
In 2016, Siemens graduates developed a model railway control system using
the Raspberry Pi: STEMRail
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Background
Automatic Train Operation and IP Signalling Network
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What is the STEMRail Model Railway Layout?
A tool to demonstrate programming, computing, electronics and engineering
concepts to young people using technology that is readily available to schools
and students.
Realistic enough to demonstrate railway signalling principles to all ages, yet
simple enough to engage young children.
- Programming – Uses Python language as taught in schools
- Computing – The Pi are networked using a simple text protocol
- Electronics – Simple Hall effect sensors and LEDs represent the trackside signalling
equipment
- Engineering – Problem solving, system design and physics such as train braking
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STEMRail Hardware
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System Architecture
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STEMRail Software
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Control Systems and Object Oriented Programming
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STEMRail Object Oriented Control – Data
Signal ObjectsDefined Attributes:
- Signal ID Number- List of track sections and points being protected- GIF images
Variables:- Aspect (Red / Yellow / Green)- Force Signal to Red (Yes / No)
Track Section ObjectsDefined Attributes:
- Track ID Number (location)- Speed Limit- GIF images
Variables:- Occupied / Clear- Routed / Not Routed- ID# of Train in Section
Train ObjectsDefined Attributes:
- Train ID Number- Train Type
Variables:- ID# of Current Track- Direction of Travel- Target Speed- Halt Flag- Emergency Stop Flag
Route Objects
Defined Attributes:- Direction- List of Track Sections Covered- List of Points Required
Variables:- Set / Not Set
Points Objects
Defined Attributes:- Point ID Number- Tracks involved- GIF images- Button
Variables:- Normal Lie / Reverse Lie
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STEMRail Object Oriented Control – Algorithms
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STEMRail Object Oriented Control – Algorithms
AlgorithmsNetwork Inputs Human Inputs
Incoming Network Message:# clear ; occupied ; clear ; clear *
(Track Status Update)
User clicks:Set route from Signal 1 to Signal 3
· Update the state of each Track Object· FOR EACH Signal Object:
IF train in section THEN set signal redELSEIF next signal is red THEN set signal yellowELSE set signal green
· Check if the route is validnext_signal(Signal 1) MUST = Signal 3Signal1.direction MUST = Signal3.direction
· For each Track Object in Route Object, set to Routed if unoccupied
Generate Movement Authority and Calculate Target Speed
Is the next track section clear and routed?Is there no red signal within braking distance?
YES TO BOTH:Movement Authority Level
= 2
Movement Authority Level
= 1
Is the next next track section also clear and routed?Is there no red signal in the next two tracks?
YES TO BOTH:Movement Authority Level
= 3
Was the trainstop balise in the current track sectionjust triggered?Does MA Level = 1?
YES TO BOTH:Set the halt flag until MA Level > 1.
Target Speed =% of Speed Limit
MA Level 1 : 27.5%
MA Level 2 : 75%
MA Level 3 : 100%
For each train:Load the speed limit of the current track section.
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STEMRail Object Oriented Control – Algorithms
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Object Oriented Programming
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Object Oriented Programming
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Object Oriented Programming
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Object Oriented Programming
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Object Oriented Programming
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Object Oriented Programming
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Object Oriented Programming
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Object Oriented Programming
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Object Oriented Programming
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Object Oriented Programming
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Object Oriented Programming
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Object Oriented Programming
SPAD!
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Real World Challenges – Electromagnetic Interference
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Real World Challenges – Human Factors
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Raspberry Pi – Taking it Further
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Questions Model Railway Control with a Raspberry Pi
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Thank you Model Railway Control with a Raspberry Pi