The invention discloses a multi-train virtual coupling cooperative control method and system, and relates to the technical field of train control. The method comprises the steps that firstly, the operation stress condition of each train is analyzed based on the Newton second law, and a multi-train cooperative operation dynamics subsystem is constructed for each train; establishing a multi-train virtual coupling collaborative error subsystem according to the displacement tracking error and the speed tracking error of the train; constructing a multi-dimensional unknown parameter sliding mode surface based on the displacement tracking error and the speed tracking error; then constructing a multi-dimensional adaptive law of unknown train parameters and sliding mode surface coefficients, and designing a multi-train virtual coupling cooperative controller; and finally, constructing a Lyapunov function to prove the stability of multi-train virtual coupling cooperative control. According to the scheme, good position tracking performance and speed tracking performance can be obtained during cooperative operation of the high-speed trains under virtual coupling, a good safe tracking interval can be kept between every two adjacent trains, and the line utilization rate is increased.
本申请公开了一种多列车虚拟连挂协同控制方法及系统,涉及列车控制技术领域。该方法首先基于牛顿第二定律分析每辆列车的运行受力情况,并针对每辆列车分别构建多列车协同运行动力学子系统;然后根据列车的位移跟踪误差和速度跟踪误差,建立多列车虚拟连挂协同误差子系统;接下来基于位移跟踪误差和速度跟踪误差构建多维未知参数滑模面;然后构建未知列车参数和滑模面系数的多维自适应律,设计多列车虚拟连挂协同控制器;最后构造李雅普诺夫函数证明多列车虚拟连挂协同控制的稳定性。本方案在虚拟连挂下高速列车协同运行时能够获得良好的位置跟踪性能和速度跟踪性能,且相邻两车之间能够保持良好的安全追踪间隔,提高了线路利用率。
Multi-train virtual coupling cooperative control method and system
一种多列车虚拟连挂协同控制方法及系统
2022-11-01
Patent
Electronic Resource
Chinese
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