The invention discloses a dynamic marshalling method for virtual marshalling trains at different speeds, which comprises the following steps: when two unit trains start marshalling, under the condition that the initial speed of a first unit train is different from that of a second unit train adjacent to and chasing the first unit train, acquiring the reference speed of the second unit train in the marshalling process, obtaining a reference operation interval of the two unit trains at any moment; defining an interval tracking error and a speed tracking error based on the reference operation interval, and constructing a nonsingular terminal sliding mode surface; and designing a nonsingular terminal sliding mode control strategy, and controlling the train to dynamically marshal so that the interval tracking error and the speed tracking error can reach the nonsingular terminal sliding mode surface under any initial condition and can be asymptotically converged to a zero point within finite time. According to the method, the marshalling stage control model is constructed according to the situation that the virtual marshalling train is at different speeds, the non-singular terminal sliding mode control strategy is designed, and it is ensured that the train can be safely and efficiently remarshaled in the turnout section according to task requirements.

    本申请公开了一种虚拟编组列车在不同速度下的动态编组方法,包括:在两单元列车开始编组时,第一单元列车与紧邻并追赶其的第二单元列车的初始速度不同的情形下,获取编组过程中第二单元列车的参考速度,得到任意时刻两单元列车的参考运行间隔;基于参考运行间隔定义间隔跟踪误差和速度跟踪误差,构造非奇异终端滑模面;设计非奇异终端滑模控制策略,控制列车动态编组以使间隔跟踪误差和速度跟踪误差在任意初始条件下都能够到达非奇异终端滑模面,同时在有限时间内能够渐近收敛到零点。本申请针对虚拟编组列车在不同速度下的情形构建了编组阶段控制模型,设计了非奇异终端滑模控制策略,确保列车能够在道岔区段安全、高效地按照任务需求重新编组。


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    Title :

    Dynamic marshalling method and device for virtual marshalling train at different speeds and medium


    Additional title:

    虚拟编组列车在不同速度下的动态编组方法、设备及介质


    Contributors:
    FAN LIQIAN (author) / LIANG ZIYUE (author) / YANG ANYU (author) / LIANG JIUBIAO (author) / ZHANG WEI (author) / CHEN LONG (author) / WANG YU (author)

    Publication date :

    2025-05-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC



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