The invention provides a subway train control method, device and system, and the method comprises the steps: solving a measurement state vector under the conditions that a sliding mode surface tends to be zero and the running time of a subway train tends to be infinite; based on the measurement state vector, solving a measurement equation of the subway train to obtain a state vector of the subway train; based on the state vector and each state variable of the subway train, solving a control model of the subway train to obtain control input corresponding to each state variable; and controlling the subway train based on the control input corresponding to each state variable. According to the method, stable operation of the subway train near the balance point can be ensured, operation of the subway train can be controlled more accurately, rapidly and stably under complex road conditions and control requirements, and robustness is high.
本发明提供一种地铁列车控制方法、装置及系统,所述方法包括:在滑模面趋于零且地铁列车的行驶时长趋于无穷大的情况下,求解测量状态向量;基于测量状态向量,对地铁列车的测量方程求解,得到地铁列车的状态向量;基于状态向量,以及地铁列车的各状态变量,对地铁列车的控制模型求解,得到各状态变量对应的控制输入;基于各状态变量对应的控制输入,控制地铁列车。本发明能够保证地铁列车状态在平衡点附近稳定运行,实现能够在复杂路况和控制需求下,更加准确、快速、稳定控制地铁列车运行,鲁棒性较高。
Subway train control method, device and system
地铁列车控制方法、装置及系统
2024-01-12
Patent
Electronic Resource
Chinese
IPC: | B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC |
Unmanned subway train derailment detection control device
European Patent Office | 2021
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