The invention relates to a multi-train cooperative fault-tolerant control method based on event triggering. The method comprises the following steps: constructing a multi-train operation dynamic model; calculating a position tracking error of the train and a speed tracking error of the train, and obtaining a position preset performance control signal and a speed preset performance control signal; respectively designing a fault rate estimation function of the train and a disturbance function caused by a compensation fault, designing a virtual control signal, and designing a fault-tolerant control input signal; designing a distributed event triggering condition of the train, and when the distributed event triggering condition of the train is met, updating a fault-tolerant control input signal of the train and sending a speed tracking error of the train and a speed preset performance control signal of the train to a next train of an adjacent vehicle of the train; therefore, the cooperative operation of the train is effectively ensured under the conditions that the performance of the train actuator is reduced and the communication resources are limited.
本发明涉及一种基于事件触发的多列车协同容错控制方法,包括:构建多列车运行动力学模型;计算本列车的位置追踪误差和本列车的速度追踪误差,以及得到位置预设性能控制信号和速度预设性能控制信号;分别设计本列车的故障率估计函数及补偿故障引起的扰动函数,以及设计虚拟控制信号,以及还设计容错控制输入信号;设计本列车的分布式事件触发条件,以及当满足本列车的分布式事件触发条件时,更新本列车的容错控制输入信号且同时向作为本列车的相邻车辆的下一辆列车发送本列车的速度追踪误差和本列车的速度预设性能控制信号,从而有效地实现在列车执行器性能下降情况和通信资源受限情况下保证列车协同运行。
Multi-train cooperative fault-tolerant control method based on event triggering
一种基于事件触发的多列车协同容错控制方法
05.12.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC |
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