Train automatic driving control system and control method with preset performance
A technology of automatic train driving and preset performance, which is applied in the direction of railway signal and safety, can solve problems such as inability to guarantee control performance, and achieve the effect of improving tracking control accuracy, reducing margin, and reducing the probability of braking
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Embodiment 1
[0057] Such as figure 1 As shown, Embodiment 1 of the present invention provides a train automatic driving control system with preset performance, and the system includes:
[0058] The train operation strategy optimization module is used to optimize the train driving strategy in real time, generate a target position-speed curve, and transform the target position-speed curve into a target time-position curve and a target time-speed curve;
[0059] The train position protection module is used to obtain the current position of the train in real time, and calculates the train virtual control law in conjunction with the target time-position curve;
[0060] The train speed protection module is used to obtain the current speed of the train in real time, and calculate the actual control law of the train in combination with the target time-speed curve and the virtual control law;
[0061] The train control module is used to control the operation of the train according to the actual co...
Embodiment 2
[0095] Such as image 3 As shown, Embodiment 2 of the present invention provides a train automatic driving control system with preset performance, which is mainly composed of four modules:
[0096] Module 1: Driving strategy optimization module; Module 2: Position tracking error constraint module; Module 3: Speed tracking error constraint module; Module 4: Train control module.
[0097] For module 1, module 1 optimizes the driving strategy in real time according to information such as line information, inter-station operation hours and temporary speed limits sent by the dispatch center, generates a target position-speed curve, and transforms the target position-speed curve into a target time-distance curve x 1r (t) and target time-velocity curve x 2r (t).
[0098] For module 2, module 2 calculates the train position according to the integral of the train speed information, and updates the train position according to the data of the positioning transponder, thereby calculat...
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