The invention relates to a train virtual marshalling operation cooperative control method, which comprises the following steps of: establishing a linear discrete state space model of a train based on state information of the train in a virtual marshalling; based on the constraint information of the train in the virtual marshalling, establishing a constraint condition model of the train operation state; constructing an optimization cost function according to the train state information in the local range and a train communication topological structure determined by the virtual marshalling; establishing a centralized model prediction control problem according to the optimization cost function, the linear discrete state space model and the constraint condition model; and decoupling a centralized model prediction control problem into a plurality of local optimization problems based on a distributed serial iteration framework, and cooperatively solving each local optimization problem in combination with the state information of the trains to obtain a cooperative control strategy of the trains in the virtual marshalling. According to the method, the conservative property of a train driving strategy formulated by a serial iteration solution framework in the prior art on global control performance is effectively reduced, and the requirement on a communication system is reduced.
本发明涉及一种列车虚拟编组运行协同控制方法,其包括:基于虚拟编组中列车的状态信息,建立列车的线性离散状态空间模型;基于虚拟编组中列车的约束信息,建立列车运行状态的约束条件模型;根据局部范围内的列车状态信息和由虚拟编组确定的列车通信拓扑结构,构建优化代价函数;根据优化代价函数、线性离散状态空间模型以及约束条件模型,建立集中式模型预测控制问题;基于分布式串行迭代框架将集中式模型预测控制问题解耦为若干局部优化问题,并结合列车的状态信息协同求解每一的局部优化问题得到虚拟编组中列车的协同控制策略。本发明有效降低了现有技术中串行迭代求解框架所制定列车驾驶策略对于全局控制性能的保守性,降低对通信系统的要求。
Train cooperative control method based on virtual marshalling
一种基于虚拟编组的列车协同控制方法
2024-05-03
Patent
Electronic Resource
Chinese
IPC: | B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC |
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