The invention discloses a virtual marshalling train distributed tracking control method and system and a train, and relates to the field of virtual marshalling train control. In the process of solving the optimal control problem to obtain the optimal control command of the train, the optimal control problem is solved based on the real-time state of the rear train and the predicted trajectory of the front train to generate the optimal control command of the rear train at the current moment; in this way, it is ensured that the control command, predicted before the front vehicle delays, received by the rear vehicle at the current moment is consistent with the actual control command of the front vehicle at the current moment, the accuracy of the prediction information of the front vehicle is improved, and therefore the rear vehicle makes a more accurate control strategy. The accuracy of track tracking of the virtual marshalling train is effectively improved, the influence of communication delay can be overcome, the tracking distance of the virtual marshalling train units is reduced, and the risk that the train units in the virtual marshalling violate safety constraints to trigger emergency braking is effectively avoided.
本发明公开一种虚拟编组列车分布式追踪控制方法、系统及列车,涉及虚拟编组列车控制领域。本发明在解最优控制问题得到列车最优控制命令的过程中,通过基于后车实时状态以及前车的预测轨迹求解最优控制问题生成当前时刻后车的最优控制命令,以此来保证后车当前时刻收到的前车延迟前预测的当前时刻的控制命令与前车当前时刻的实际控制命令一致,提高了前车预测信息的准确性,从而使得后车做出更加准确的控制策略。这有效提升了虚拟编组列车轨迹追踪的精确度,并且能够克服通信延时的影响、减小虚拟编组列车单元追踪间距,有效规避了虚拟编组内列车单元违背安全约束触发紧急制动的风险。
Distributed tracking control method and system for virtual marshalling train and train
一种虚拟编组列车分布式追踪控制方法、系统及列车
2024-05-10
Patent
Elektronische Ressource
Chinesisch
IPC: | B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC |
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