The invention belongs to the technical field of virtual marshalling train control, and particularly relates to a virtual marshalling train marshalling stage control method based on specified performance control. On the basis of a specified performance control theory and a Lyapunov stability theory, the speed difference between a front train and a rear train in the train virtual marshalling operation process and the uncertainty of train model parameters and external disturbance are considered, and a formation control law design method based on specified performance control is provided to control operation of trains in the marshalling process. Under the grouping control strategy provided by the invention, the controlled train runs according to the designed reference speed curve, when the grouping stage is finished, the controlled train (namely the rear train) in the virtual group runs at the same speed as the front train, and the actual running interval is converged to the expected running interval.
本发明属于虚拟编组列车控制技术领域,具体地说,涉及一种基于指定性能控制的虚拟编组列车编组阶段控制方法;本发明基于指定性能控制理论和Lyapunov稳定性理论,考虑了列车虚拟编组运行过程中前后列车的速度差异以及列车模型参数和外部扰动的不确定性,提出了一种基于指定性能控制的编队控制律设计方法来控制处于组编过程中列车的运行;在本发明提出的组编控制策略下,被控列车按照设计的参考速度曲线运行,在组编阶段结束时,虚拟编组内的被控列车(即后车)与前车以相同的速度行驶,且实际运行间隔收敛于期望运行间隔。
Virtual marshalling train marshalling stage control method based on specified performance control
一种基于指定性能控制的虚拟编组列车编组阶段控制方法
2024-09-10
Patent
Electronic Resource
Chinese
IPC: | B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC |
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