The invention provides a virtual marshalling train cooperative control method and device, equipment and a medium. The method comprises the steps that a following adaptive area of a following train is set; the method comprises the following steps: setting an adaptive law following an adaptive region; a dynamical model of the virtual marshalling train is constructed, and a control model is constructed based on marshalling control strategies inside and outside a set following train operation following adaptive area; wherein the control strategy in the operation following adaptive area takes the speed convergence of the front and rear trains as a target, and the control strategy out of the operation following adaptive area takes the speed convergence of the front and rear trains and the minimum deviation distance between the following train and the following adaptive area as a target; and based on the state information of each train, following the adaptive law and the control model of the adaptive region, solving the control model under different control strategies through a distributed model prediction control method, and obtaining the optimal control input at the next moment. According to the invention, stable cooperative control of multiple trains is realized under the uncertain disturbance of the marshalling trains.
本公开提供了一种虚拟编组列车协同控制方法、装置、设备及介质,该方法包括设置跟随列车的跟随自适应区域;通过设定跟随自适应区域的自适应律;构建虚拟编组列车的动力学模型,基于设置的跟随列车运行跟随自适应区域内、外的编组控制策略构建控制模型;其中,运行跟随自适应区域内时控制策略是以前后列车速度趋同为目标,运行跟随自适应区域外时控制策略是以前后列车速度趋同并且跟随列车与跟随自适应区域之间的偏差距离最小为目标;基于各列车状态信息,跟随自适应区域的自适应律和控制模型,通过分布式模型预测控制方法求解不同控制策略下控制模型,得到下一时刻最优控制输入。本公开实现编组列车在不确定性的扰动下实现多列车的稳定协同控制。
Virtual marshalling train cooperative control method, device, equipment and medium
一种虚拟编组列车协同控制方法,装置,设备及介质
2024-10-29
Patent
Electronic Resource
Chinese
IPC: | B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC |
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