Method for controlling parking consistency of train set of multi-agent system

A multi-agent system and control method technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of not being able to directly apply engineering braking background, enhanced nonlinear coupling effect of the carriage, and insufficient robustness And other issues

Active Publication Date: 2018-10-09
HUNAN UNIV OF TECH
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Problems solved by technology

Most high-speed trains adopt a distributed structure composed of multiple carriages. However, as the train speed continues to increase, the uncertain resistance of different carriages and the nonlinear coupling between carriages are significantly enhanced. The traditional single-mass model can no longer Good simulated braking process
The existing research is mainly to establish a distributed EMU mathematical model, and the brake control algorithm based on the distributed mathematical model has also been greatly developed. Among them, the consensus algorithm, with a simple controller structure and less information, It makes the various states (such as position, speed, etc.) in the large and complex multi-agent syst

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  • Method for controlling parking consistency of train set of multi-agent system
  • Method for controlling parking consistency of train set of multi-agent system
  • Method for controlling parking consistency of train set of multi-agent system

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Embodiment Construction

[0027] The present invention will be further described below in combination with specific embodiments.

[0028]Step 1 establishes the EMU multi-agent system model:

[0029] First, the force analysis of each car of the EMU is carried out, and the following dynamic model is obtained:

[0030]

[0031] In the formula, i is the number of carriages, m i is the mass of the carriage, x i ,v i Represent the running speed and displacement of the i-th car respectively; u i (t) is the control input of the i-th carriage;

[0032] d i is the uncertain external disturbance received by the i-th carriage, a 1i 、a 2i 、a 3i are the constant items in the running resistance formula, d r 、d c 、d t are the additional resistance of the tunnel, ramp and bend, respectively, and their expressions are

[0033] f i is the nonlinear coupling force of the i-th car, which comes from the adjacent car, k 0i =80000N / m, ε=-0.5, the spring under this parameter model is a typical hardening-Spri...

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Abstract

The invention provides a method for controlling parking consistency of a train set of a multi-agent system. The method includes the steps of establishing a multi-agent system model of a distributed train set, designing a PID controller according to the control target to track a displacement speed curve of a virtual navigator, and designing a composite tracking controller which comprises a slidingmode variable structure observer to feed disturbance information back to the controller. The tracking precision is improved, and the anti-jamming capability is high. The tracking controller designed by the invention can track the consistency of the braking speed of the train set. The adjacent carriages are always in a safe vehicle distance.

Description

technical field [0001] The invention relates to the field of EMU braking control, and more specifically, to a method for controlling EMU parking consistency based on a multi-agent system. Background technique [0002] High-speed trains have become the mainstream carrier of China's rail transit. In order to meet my country's huge demand for high-speed line transportation construction and safe operation, research on high-speed railway-related basic theories and key technologies is particularly important. Among them, the braking control of high-speed trains is The key technology to ensure the safe operation of high-speed trains and punctual stops. Most high-speed trains adopt a distributed structure composed of multiple carriages. However, as the train speed continues to increase, the uncertain resistance of different carriages and the nonlinear coupling between carriages are significantly enhanced. The traditional single-mass model can no longer Good simulation of the braking ...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 何静杨步充张昌凡刘建华史来成刘志天谌雪媛
Owner HUNAN UNIV OF TECH
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