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A train speed control method based on h∞ and multi-objective optimization

A multi-objective optimization and speed control technology, applied in the field of control algorithms, can solve the problems of difficult to calculate the total driving force of the train, the car can not provide the target driving force, and it is difficult to control the target speed of the train, so as to reduce the force and reduce the complexity. Effect

Active Publication Date: 2021-08-27
BEIHANG UNIV
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Problems solved by technology

[0006] These uncertainties not only make it difficult to calculate the total driving force (or braking force) of the train, but may also cause some cars to fail to provide the calculated target driving force (or braking force), and ultimately make it difficult to control the train to accurately track the target speed.

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  • A train speed control method based on h∞ and multi-objective optimization

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[0062] specific implementation plan

[0063] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0064] The present invention controls the total driving force and braking force of the train based on the method of H∞ and multi-objective optimal distribution, accurately tracks the target speed under the premise of reducing the wear of the hook buffer device, and first establishes the resistance model of the train for accurate calculation of the train Real-time motion resistance; secondly, build a train dynamics model based on the single-particle model, and then perform Lagrangian expansion at the real-time speed to convert the nonlinear model into a linear model; and then use the multi-cell technology to decompose the uncertain parameters , then introduce the ideal speed as the reference input of the system, expand the system into a form where the deviation is the state variable, design the H∞ optimization inde...

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Abstract

The invention provides a train speed control method based on H∞ and multi-objective optimization, which belongs to the field of control algorithms. First, a train running resistance calculation model and a single-mass train kinematics model are constructed, and then the Lagrangian expansion method is used to The model is linearized and a reference velocity is introduced to change the model into a tracking error model. On this basis, the state feedback controller is designed. By optimizing the H∞ index of control error and system disturbance, the feedback gain of the controller is solved by LMI tool, and then the total driving force and braking force are calculated. The multi-particle kinematics model of the train and the tension model of the hook and buffer device are constructed to obtain the dynamic model of each carriage. The present invention utilizes the polytope method to deal with the parameter uncertainty of the dynamic model, and the H∞ control method to ensure the robustness of the driving force or braking force control under all operating conditions.

Description

technical field [0001] The invention belongs to the field of control algorithms, in particular to a train speed control method based on H∞ and multi-objective optimization. Background technique [0002] In recent years, the design speed of trains has been increasing, and the latest design of maglev trains can reach a speed of 600 kilometers per hour. Because of the high convenience, reliability, safety and punctuality of trains, trains have become the preferred means of transportation for more and more people to travel long distances. [0003] At the same time, in order to improve the comfort and safety of train rides, the overall design of trains has become increasingly complex. In addition, the train speed is getting faster and faster, and it becomes very difficult for all operations to be completed only by the train driver. With the emergence and development of automation technology and automatic driving technology, a series of automatic monitoring and control technolog...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B61L23/14B61C15/14
CPCB61C15/14B61L23/14
Inventor 张辉陶斯友
Owner BEIHANG UNIV