Virtual marshalling train cooperative control method based on adaptive nonsingular terminal sliding mode

Abstract

The invention relates to a virtual marshalling train cooperative control method based on a self-adaptive nonsingular terminal sliding mode. The method comprises the steps that A, a train kinematics model of a displacement-speed-response acceleration three-order kinematics differential equation set is established; step B, defining a speed tracking error and an acceleration tracking error of a first train in a group and a preset target curve, and constructing a nonsingular terminal sliding mode surface of the train; c, target curves of other following trains in the marshalling are calculated, the combination error of the following trains in the marshalling is defined, and a non-singular terminal sliding mode surface based on the combination error is constructed; d, collaborative automatic driving controller design of the first train and other following trains in the virtual marshalling is carried out; and step E, considering the unknown parameter estimation value of each train, and using the Lyapunov stability theory to obtain the adaptive law of the unknown parameter. Compared with the prior art, the method has the advantages that the operation safety of the virtual marshalling train is ensured, and the like.

Description

technical field [0001] The invention relates to the field of automatic driving of rail transit trains, in particular to a collaborative control method for virtual marshalling trains based on adaptive non-singular terminal sliding mode. Background technique [0002] Virtual Coupling (Virtual Coupling) is a new concept of railway transportation organization in recent years. It uses wireless vehicle-to-vehicle communication instead of mechanical coupling to realize virtual coupling of different types of trains. After the virtual formation of trains, the running interval is greatly shortened, which can further improve the transportation capacity of the line. Due to the shortening of train intervals, it is generally accepted that the control of train intervals and speeds is performed automatically by equipment, without manual operation by the driver. The traditional automatic train driving (ATO) control methods are all designed for single-train driving, and there are few solutio...

AI Technical Summary

Problems solved by technology

The traditional automatic train driving (ATO) control methods are all designed for single-train driving, and there are few solutions for multi-train cooperative driving control in emerging virtual marshalling scenarios. Under the influence of , realizing the position, speed and acceleration tracking control of the virtual marshalling train has become a technical problem to be solved

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