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Passenger comfort-oriented distributed cooperative control method for multiple automatic driving trains

A technology of collaborative control and control method, which is applied to the control system of the transportation center, railway car body components, railway signal and safety, etc. It can solve the problems of the large amount of calculation of the train control center and the delay of transmission control, so as to improve the ride comfort. improve the efficiency of train operation

Active Publication Date: 2020-05-19
BEIJING JIAOTONG UNIV
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Problems solved by technology

[0006] The train automatic driving system uses the ATP (Automatic Train Protection, automatic train protection) system to transmit data information between trains, and there are two problems in transmitting the control amount of the train through the automatic train monitoring (ATS, Automatic Train Supervision) on the ground. One is the transmission control Second, the train control center has a huge amount of calculation

Method used

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  • Passenger comfort-oriented distributed cooperative control method for multiple automatic driving trains
  • Passenger comfort-oriented distributed cooperative control method for multiple automatic driving trains
  • Passenger comfort-oriented distributed cooperative control method for multiple automatic driving trains

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Embodiment Construction

[0060] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions. The following embodiments described with reference to the accompanying drawings are exemplary, and are only used to explain the present invention, and cannot be construed as limiting the present invention.

[0061] Those skilled in the art can understand that, unless specifically stated otherwise, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, Integers, steps, operations, el...

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Abstract

The invention provides a passenger comfort-oriented distributed cooperative control method for multiple automatic driving trains. The method comprises the steps of: obtaining an equation containing atrain jerk item through derivation based on a train second-order physical model, and establishing a high-order kinetic model of a train according to the equation containing the train jerk item; constructing the passenger comfort-oriented control model of the train by using the high-order kinetic model through adoption of a high-order nonsingular terminal sliding mode control method; and utilizingthe passenger comfort-oriented control model of the train to perform tracking control on multiple trains by using a distributed cooperative control method and a high-order nonsingular terminal slidingmode control method. According to the invention, the problems of passenger riding comfort, train operation safety and operation efficiency are effectively solved, and a development direction is provided for further improving riding comfort and multi-train formation. Accurate control over the comfort of the automatic driving train is achieved, and the running efficiency of the train is improved.

Description

Technical field [0001] The present invention relates to the technical field of automatic train control, in particular to a distributed collaborative control method for multi-automatic trains oriented to passenger comfort. Background technique [0002] The traditional automatic driving train control system uses classical Newtonian mechanics equations to establish a second-order dynamics model to directly control the speed. The control method is simple and efficient. However, the control strategy does not include the control of jerk, which cannot effectively meet the high comfort requirements of passengers. For the control of multiple trains, the control based on the departure interval cannot guarantee safety, and the principle of mobile blocking requires the collection and control of train data in the control command center, and the control efficiency needs to be improved. [0003] NTSM (hybrid nonsingular terminal sliding mode, non-singular terminal sliding mode control) method is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B61L27/00
CPCB61L27/10B61L27/20
Inventor 董立静邱明富韩冲冲魏丰金
Owner BEIJING JIAOTONG UNIV
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