Consistency control method for EMU parking based on multi-agent

Abstract

The invention proposes a consistent parking control method based on multi-agent system EMUs, establishes a multi-agent system model of distributed EMUs, designs a PID controller to track the displacement velocity curve of a virtual navigator according to the control target, and designs a compound tracking The controller includes a sliding mode variable structure observer, which can feed back disturbance information to the controller, improve tracking accuracy, and have strong anti-interference ability, and the tracking controller designed in the present invention can realize the consistent tracking of the speed of the EMU during braking, and ensure the corresponding Adjacent cars are always at a safe distance between cars.

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 ...

AI Technical Summary

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 system gradually converge. It shows many excellent characteristics in solving the consistency tracking problem of the distributed model, so it is also introduced into the EMU distribution system. In the brake control method of the mathematical model of the formula, the coordinated control of the EMU is realized. This algorithm greatly simplifies the complexity of the controller, but it does not take into account that the braking speed displacement of the actual EMU is a curve change, nor does it involve The nonlinear and uncertain resistance disturbances encountered during the actual EMU operation make these methods insufficient in robustness and cannot be directly applied to the actual engineering braking background

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