The invention discloses a multi-train cooperative tracking control method under relative braking protection constraint. The method comprises the following steps: constructing an optimization model; cooperative tracking control; the step of constructing the optimization model specifically comprises train dynamic model establishment, train operation constraint and optimization control problem; the cooperative tracking control specifically comprises model reconstruction based on an augmented Lagrangian method, solution by adopting a trust region method, and design of a multi-train cooperative tracking control algorithm under relative braking protection constraint. According to the solution algorithm based on the trust region method, efficient solution of the multi-train cooperative tracking control strategy under the relative braking distance is achieved. The cooperative control strategy designed by the invention is solved through a trust region method, so that the control force of the high-speed train can be adjusted at each decision moment. By means of the adjustment, the actual train distance can be rapidly converged to the expected train distance, and the efficiency and safety of train operation are guaranteed.
本发明公开了一种相对制动防护约束下多列车协同追踪控制方法,包括:构建优化模型;协同跟踪控制;所述构建优化模型,具体包括,列车动态模型建立,列车运行约束,优化控制问题;所述协同跟踪控制,具体包括,基于增广拉格朗日方法的模型重构,采用信赖域方法求解,相对制动防护约束下多列车协同追踪控制算法设计。本发明基于信赖域方法的求解算法,实现了对于相对制动间距下的多列车协同追踪控制策略的高效求解。本发明设计的协同控制策略通过信赖域方法求解,使高速列车能够在每个决策时刻调整控制力。此调整使实际车间距能够迅速收敛到期望车间距,确保了列车运行的效率和安全性。
Multi-train cooperative tracking control method under relative braking protection constraint
一种相对制动防护约束下多列车协同追踪控制方法
2025-02-14
Patent
Electronic Resource
Chinese
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