The invention discloses a multi-train adaptive cooperative tracking control method and system, and the method comprises the steps: building an artificial potential function of train cruise tracking based on the potential function characteristics of multi-train adaptive cooperative tracking control, and introducing an adaptive adjustable positive coefficient parameter a; the deviation value of the actual distance between the train and the front train and the expected distance and the absolute value of the change rate of the expected speed of the train serve as fuzzy input, the positive coefficient parameter a serves as fuzzy output, and the self-adaptive adjustable positive coefficient parameter a of the train is determined by introducing a fuzzy control algorithm; further determining a potential field force item in the train cooperative control gain by utilizing the real-time operation information and the expected operation information of each train based on the artificial potential function of the train, and finally determining the controlled traction force or braking force of each train based on the cooperative control gain of each train. And multi-train self-adaptive cooperative tracking control is realized by an actuator acting on the trains.

    本发明公开了一种多列车自适应协同跟踪控制方法及系统,该控制方法基于多列车自适应协同跟踪控制的势函数特性构建列车巡航跟踪的人工势函数,并引入自适应可调的正系数参数a:即将列车跟踪时,与前车之间实际距离与期望距离的偏差值以及列车期望速度的变化率绝对值作为模糊输入,正系数参数a为模糊输出,引入模糊控制算法确定列车的自适应可调的正系数参数a:获取各列车的实时运行信息以及期望运行信息,进而基于列车的人工势函数,利用各列车的实时运行信息以及期望运行信息确定列车协同控制增益中的势场力项,最后,基于各列车的协同控制增益确定每个列车的受控牵引力或制动力,并作用于列车的执行器实现多列车自适应协同跟踪控制。


    Access

    Download


    Export, share and cite



    Title :

    Multi-train adaptive cooperative tracking control method and system


    Additional title:

    一种多列车自适应协同跟踪控制方法及系统


    Contributors:
    ZHOU FENG (author) / TU ERZHUO (author)

    Publication date :

    2025-03-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC



    Multi-train cooperative tracking control method under relative braking protection constraint

    WANG XI / WANG HONGWEI / LIN SIYU et al. | European Patent Office | 2025

    Free access


    Multi-train virtual coupling cooperative control method and system

    LIN XUE / DONG HAIRONG / WANG YUBING et al. | European Patent Office | 2022

    Free access

    TRAIN-GROUND COOPERATIVE TRAIN OPERATION CONTROL SYSTEM AND METHOD

    JIANG JIANHUA / XU HAIGUI / ZHANG YAJING | European Patent Office | 2022

    Free access

    Train-ground cooperative train operation control system and method

    JIANG JIANHUA / XU HAIGUI / ZHANG YAJING | European Patent Office | 2021

    Free access