The invention discloses a self-adaptive preset time stable tracking control method for virtual coupled trains, and relates to the technical field of rail transit, for each train in the virtual coupled trains, based on an operation control model of the train, an improved obstacle Lyapunov function is utilized to constrain the spacing distance of the trains, so that the stability of the train in the virtual coupled trains is improved. According to the method, a traditional obstacle Lyapunov function is used for restraining the speed of a train, a self-adaptive steady tracking controller is designed for the train, the self-adaptive steady tracking controller is used for controlling the train, an improved obstacle Lyapunov function is established by combining the traditional obstacle Lyapunov function and a preset time function so as to restrain the interval distance of the train, and the speed of the train is controlled. It is guaranteed that the virtual coupled train can have a large constraint in the initial state, and a small constraint range is achieved after the virtual coupled train is established, so that the line transport capacity is guaranteed.
本发明公开一种虚拟联挂列车自适应预设时间平稳追踪控制方法,涉及轨道交通技术领域,对于虚拟联挂列车中每一列车,基于列车的运行控制模型,利用改进的障碍Lyapunov函数对列车的间隔距离进行约束,利用传统的障碍Lyapunov函数对列车的速度进行约束,为列车设计自适应平稳追踪控制器,并利用自适应平稳追踪控制器对列车进行控制,通过结合传统的障碍Lyapunov函数和预设时间函数建立改进的障碍Lyapunov函数,以对列车的间隔距离进行约束,保证虚拟联挂列车在初始状态下可以具有一个较大的约束,并在虚拟联挂列车建立完毕后具有一个较小的约束范围,以保证线路运力。
Self-adaptive preset time stable tracking control method for virtual coupling train
虚拟联挂列车自适应预设时间平稳追踪控制方法
2024-05-28
Patent
Electronic Resource
Chinese
IPC: | B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC |
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