diff --git a/component/component_proto/psd.pb.go b/component/component_proto/psd.pb.go
index a9a8c5d..21dc2e6 100644
--- a/component/component_proto/psd.pb.go
+++ b/component/component_proto/psd.pb.go
@@ -74,7 +74,8 @@ type PsdState struct {
 	sizeCache     protoimpl.SizeCache
 	unknownFields protoimpl.UnknownFields
 
-	Close bool `protobuf:"varint,1,opt,name=close,proto3" json:"close,omitempty"`
+	Close    bool `protobuf:"varint,1,opt,name=close,proto3" json:"close,omitempty"`
+	Obstacle bool `protobuf:"varint,2,opt,name=obstacle,proto3" json:"obstacle,omitempty"`
 }
 
 func (x *PsdState) Reset() {
@@ -116,6 +117,13 @@ func (x *PsdState) GetClose() bool {
 	return false
 }
 
+func (x *PsdState) GetObstacle() bool {
+	if x != nil {
+		return x.Obstacle
+	}
+	return false
+}
+
 type Psd struct {
 	state         protoimpl.MessageState
 	sizeCache     protoimpl.SizeCache
@@ -222,20 +230,22 @@ var File_component_psd_proto protoreflect.FileDescriptor
 var file_component_psd_proto_rawDesc = []byte{
 	0x0a, 0x13, 0x63, 0x6f, 0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74, 0x2f, 0x70, 0x73, 0x64, 0x2e,
 	0x70, 0x72, 0x6f, 0x74, 0x6f, 0x12, 0x09, 0x63, 0x6f, 0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74,
-	0x22, 0x20, 0x0a, 0x08, 0x50, 0x73, 0x64, 0x53, 0x74, 0x61, 0x74, 0x65, 0x12, 0x14, 0x0a, 0x05,
+	0x22, 0x3c, 0x0a, 0x08, 0x50, 0x73, 0x64, 0x53, 0x74, 0x61, 0x74, 0x65, 0x12, 0x14, 0x0a, 0x05,
 	0x63, 0x6c, 0x6f, 0x73, 0x65, 0x18, 0x01, 0x20, 0x01, 0x28, 0x08, 0x52, 0x05, 0x63, 0x6c, 0x6f,
-	0x73, 0x65, 0x22, 0x44, 0x0a, 0x03, 0x50, 0x73, 0x64, 0x22, 0x3d, 0x0a, 0x05, 0x46, 0x61, 0x75,
-	0x6c, 0x74, 0x12, 0x0d, 0x0a, 0x09, 0x55, 0x6e, 0x64, 0x65, 0x66, 0x69, 0x6e, 0x65, 0x64, 0x10,
-	0x00, 0x12, 0x12, 0x0a, 0x0e, 0x41, 0x73, 0x64, 0x43, 0x61, 0x6e, 0x6e, 0x6f, 0x74, 0x43, 0x6c,
-	0x6f, 0x73, 0x65, 0x10, 0x01, 0x12, 0x11, 0x0a, 0x0d, 0x41, 0x73, 0x64, 0x43, 0x61, 0x6e, 0x6e,
-	0x6f, 0x74, 0x4f, 0x70, 0x65, 0x6e, 0x10, 0x02, 0x22, 0x44, 0x0a, 0x08, 0x41, 0x73, 0x64, 0x53,
-	0x74, 0x61, 0x74, 0x65, 0x12, 0x12, 0x0a, 0x04, 0x67, 0x6d, 0x64, 0x77, 0x18, 0x01, 0x20, 0x01,
-	0x28, 0x08, 0x52, 0x04, 0x67, 0x6d, 0x64, 0x77, 0x12, 0x12, 0x0a, 0x04, 0x6b, 0x6d, 0x64, 0x77,
-	0x18, 0x02, 0x20, 0x01, 0x28, 0x08, 0x52, 0x04, 0x6b, 0x6d, 0x64, 0x77, 0x12, 0x10, 0x0a, 0x03,
-	0x6d, 0x67, 0x6a, 0x18, 0x03, 0x20, 0x01, 0x28, 0x08, 0x52, 0x03, 0x6d, 0x67, 0x6a, 0x42, 0x1d,
-	0x5a, 0x1b, 0x2e, 0x2f, 0x63, 0x6f, 0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74, 0x2f, 0x63, 0x6f,
-	0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74, 0x5f, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x62, 0x06, 0x70,
-	0x72, 0x6f, 0x74, 0x6f, 0x33,
+	0x73, 0x65, 0x12, 0x1a, 0x0a, 0x08, 0x6f, 0x62, 0x73, 0x74, 0x61, 0x63, 0x6c, 0x65, 0x18, 0x02,
+	0x20, 0x01, 0x28, 0x08, 0x52, 0x08, 0x6f, 0x62, 0x73, 0x74, 0x61, 0x63, 0x6c, 0x65, 0x22, 0x44,
+	0x0a, 0x03, 0x50, 0x73, 0x64, 0x22, 0x3d, 0x0a, 0x05, 0x46, 0x61, 0x75, 0x6c, 0x74, 0x12, 0x0d,
+	0x0a, 0x09, 0x55, 0x6e, 0x64, 0x65, 0x66, 0x69, 0x6e, 0x65, 0x64, 0x10, 0x00, 0x12, 0x12, 0x0a,
+	0x0e, 0x41, 0x73, 0x64, 0x43, 0x61, 0x6e, 0x6e, 0x6f, 0x74, 0x43, 0x6c, 0x6f, 0x73, 0x65, 0x10,
+	0x01, 0x12, 0x11, 0x0a, 0x0d, 0x41, 0x73, 0x64, 0x43, 0x61, 0x6e, 0x6e, 0x6f, 0x74, 0x4f, 0x70,
+	0x65, 0x6e, 0x10, 0x02, 0x22, 0x44, 0x0a, 0x08, 0x41, 0x73, 0x64, 0x53, 0x74, 0x61, 0x74, 0x65,
+	0x12, 0x12, 0x0a, 0x04, 0x67, 0x6d, 0x64, 0x77, 0x18, 0x01, 0x20, 0x01, 0x28, 0x08, 0x52, 0x04,
+	0x67, 0x6d, 0x64, 0x77, 0x12, 0x12, 0x0a, 0x04, 0x6b, 0x6d, 0x64, 0x77, 0x18, 0x02, 0x20, 0x01,
+	0x28, 0x08, 0x52, 0x04, 0x6b, 0x6d, 0x64, 0x77, 0x12, 0x10, 0x0a, 0x03, 0x6d, 0x67, 0x6a, 0x18,
+	0x03, 0x20, 0x01, 0x28, 0x08, 0x52, 0x03, 0x6d, 0x67, 0x6a, 0x42, 0x1d, 0x5a, 0x1b, 0x2e, 0x2f,
+	0x63, 0x6f, 0x6d, 0x70, 0x6f, 0x6e, 0x65, 0x6e, 0x74, 0x2f, 0x63, 0x6f, 0x6d, 0x70, 0x6f, 0x6e,
+	0x65, 0x6e, 0x74, 0x5f, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f,
+	0x33,
 }
 
 var (
diff --git a/component/psd.go b/component/psd.go
index 74f765d..46559c7 100644
--- a/component/psd.go
+++ b/component/psd.go
@@ -103,8 +103,8 @@ type Psc struct {
 	MkxGM bool
 	MkxPL bool
 
-	QDTC   bool
-	TZTC   bool
-	ZAW    bool
+	QDTC bool
+	TZTC bool
+	//ZAW    bool
 	JXTCPL bool
 }
diff --git a/proto/src/component/psd.proto b/proto/src/component/psd.proto
index 66e00d9..ce4bb1f 100644
--- a/proto/src/component/psd.proto
+++ b/proto/src/component/psd.proto
@@ -6,6 +6,7 @@ option go_package = "./component/component_proto";
 
 message PsdState {
   bool close = 1;
+  bool obstacle = 2;
 }
 
 message Psd {
diff --git a/sys/circuit_sys/psd.go b/sys/circuit_sys/psd.go
index f9fd5e0..86c666c 100644
--- a/sys/circuit_sys/psd.go
+++ b/sys/circuit_sys/psd.go
@@ -47,13 +47,18 @@ func (p *PsdSys) Update(world ecs.World) {
 				p.driveMPLJ(world, psdCircuit, component.UidType.Get(entry))
 				psc.InterlockMPL = component.BitStateType.Get(psdCircuit.MPLJ).Val
 			}
-			//间隙探测
+			//间隙探测驱动
 			if psdCircuit.QDTCJ != nil && psdCircuit.TZTCJ != nil {
 				p.exciteQDTCJ(worldData, psdCircuit)
 				p.exciteTZTCJ(worldData, psdCircuit)
 				psc.QDTC = component.BitStateType.Get(psdCircuit.QDTCJ).Val
 				psc.TZTC = component.BitStateType.Get(psdCircuit.TZTCJ).Val
 			}
+			//间隙探测
+			if psdCircuit.ZAWJ != nil {
+				p.exciteZAWJ(psdCircuit, asdList)
+				psdState.Obstacle = component.BitStateType.Get(psdCircuit.ZAWJ).Val
+			}
 		} else {
 			psdState.Close = p.isAllAsdMotorClosed(asdList)
 		}
@@ -246,3 +251,17 @@ func (p *PsdSys) exciteTZTCJ(data *component.WorldData, circuit *component.PsdCi
 		component.RelayDriveType.Get(circuit.TZTCJ).Td = !qdtcj.Val
 	}
 }
+
+func (p *PsdSys) exciteZAWJ(circuit *component.PsdCircuit, asdList *component.AsdList) {
+	if component.BitStateType.Get(circuit.QDTCJ).Val {
+		for _, asd := range asdList.List {
+			if asd.HasComponent(component.AsdHasObstacleTag) {
+				component.RelayDriveType.Get(circuit.ZAWJ).Td = true
+				return
+			}
+		}
+		component.RelayDriveType.Get(circuit.ZAWJ).Td = false
+	} else {
+		component.RelayDriveType.Get(circuit.ZAWJ).Td = false
+	}
+}