Train automatic driving prediction control method taking full road section environment and human factors into consideration

A technology for automatic driving and predictive control of trains, applied in automatic systems, railway signaling and safety, special data processing applications, etc.

Active Publication Date: 2019-10-25
BEIHANG UNIV
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Problems solved by technology

These influencing factors will appear during the running of the train, and the common control algorithm rarely or even cann

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  • Train automatic driving prediction control method taking full road section environment and human factors into consideration
  • Train automatic driving prediction control method taking full road section environment and human factors into consideration
  • Train automatic driving prediction control method taking full road section environment and human factors into consideration

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Embodiment Construction

[0073] The present invention will be further described in detail below in conjunction with accompanying drawings and examples.

[0074] The invention relates to a predictive controller design considering the environment and human factors of the whole road section. The basis of the controller is to rely on figure 1 The prediction model built by the train dynamics model structure, the traction force and braking force of the train are taken as the control quantity of this controller. The entire control process is as figure 2 shown.

[0075] A kind of train automatic driving predictive control method of the present invention considers the environment of whole section and human factors, such as figure 2 The flow shown, the specific steps are as follows:

[0076] Step 1, considering the basic resistance and additional resistance in the train running process, and establishing the resistance model of the train;

[0077] (1) Basic resistance:

[0078] a. Bearing resistance (fric...

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Abstract

The invention discloses a train automatic driving prediction control method taking full road section environment and human factors into consideration, and belongs to the technical field of urban railtransit control. The method comprises the following steps that firstly, a dynamic model of a train is established, and the traction, the braking force, the basic resistance and the additional resistance of the train are considered; then, the dynamic model of the train serves as a prediction model, an optimal control objective function of the train is established, and constraint conditions for solving the objective function are determined; the environmental factors and the human factors in the train running road section are introduced and are used for updating the dynamic model and the controlconstraint conditions of the train; and train running information is obtained, and the real-time road section information is combined, so that the optimal control objective function is solved, and thetraction control expected value in the prediction period is obtained. According to the method, by means of the advantage of a model predictive control algorithm on solving the control problem of theconstraint system, the environmental influence and human influence in the actual running process of the train are considered, and the comfortable and efficient automatic driving control of the train is realized.

Description

technical field [0001] The invention relates to the technical field of urban rail traffic control, in particular to a train automatic driving predictive control method considering the environment of the entire road section and human factors. Background technique [0002] my country's urban rail transit has developed rapidly and is widely used. Compared with other urban public transportation, it has the characteristics of safety, comfort, speed, environmental protection, and large capacity. Therefore, it has gradually become the preferred mode of transportation for people to travel. Especially in developed cities, urban rail transit has become the largest transportation carrier, and the huge and changeable passenger traffic every day has very high requirements on the driving control technology of trains. [0003] The existing automatic train driving system (ATC-Automatic Train Control) can automatically control the speed of the train to avoid accidents such as speeding, rushi...

Claims

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Application Information

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IPC IPC(8): B61L23/14B61L27/04G06F17/50
CPCB61L23/14B61L27/04G06F2119/06G06F30/20
Inventor 张辉罗乾悦刘春璐
Owner BEIHANG UNIV
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