Dynamic marshaling method, equipment and medium for virtual marshaling trains at different speeds

Abstract

The present application discloses a method for dynamic marshaling of virtual trains at different speeds, comprising: when two unit trains begin to be marshaled, in the case where the initial speeds of the first unit train and the second unit train adjacent to and catching up with it are different, obtaining the reference speed of the second unit train during the marshaling process, and obtaining the reference running interval of the two unit trains at any time; defining the interval tracking error and the speed tracking error based on the reference running interval, and constructing a non-singular terminal sliding surface; designing a non-singular terminal sliding control strategy, and controlling the dynamic marshaling of the train so that the interval tracking error and the speed tracking error can reach the non-singular terminal sliding surface under any initial conditions, and can converge asymptotically to zero within a finite time. The present application constructs a marshaling stage control model for the case of virtual trains at different speeds, and designs a non-singular terminal sliding control strategy to ensure that the trains can be safely and efficiently re-marshaled in the switch section according to the mission requirements.

Description

Technical Field

[0001] The present application relates to the field of railway traffic control technology, and more specifically, to a method, device and medium for dynamically forming a virtual train at different speeds. Background Art

[0002] Patent CN 114326385A achieves good results in controlling the stable operation of virtual train formations, but it does not address how to ensure the safety and efficient formation of virtual trains. Patent CN 116588167A assumes that the behavior of the leading vehicle is predictable, but under complex traffic conditions, the leading vehicle may make rapid behavioral adjustments, resulting in trajectory prediction errors. Therefore, the entire system may be affected by prediction errors, especially in the event of an emergency (such as an abrupt stop or acceleration of the leading vehicle), and the control strategy of the following vehicle may not be adjusted in time, posing a high risk.

[0003] Existing virtual train marshaling technologies fail to fully account for speed variations between trains during the marshaling process. Most methods control train spacing through a uniform marshaling interval or fixed-speed models, but fail to effectively address the challenges posed by speed variations between trains in actual train operations. Especially during high- and low-speed operations, differences in train acceleration, deceleration, and reaction speed can significantly impact the safety and efficiency of the marshaling process.

[0004] The control stability and robustness of virtual train systems are currently a major technical challenge. In actual operation, trains are subject to a variety of factors, such as track unevenness, train state changes, and unexpected events, which can lead to system instability or increased control errors. Traditional sliding mode control methods are particularly susceptible to interference under highly dynamic conditions, resulting in control chatter or error accumulation. Summary of the Invention

[0005] In response to at least one defect or improvement need in the prior art, the present application provides a method, equipment and medium for dynamically forming a virtual train at different speeds, which is mainly used to improve the safety, accuracy and efficiency of the virtual train during the formation process at different speeds. By constructing a control model and proposing a corresponding control method, it can ensure that the virtual train completes the formation operation efficiently and safely.

[0006] To achieve the above objectives, in a first aspect, the present application provides a method for dynamically forming a virtual train at different speeds, comprising:

[0007] When two unit trains begin to be marshaled, if the initial speeds of the first unit train and the second unit train immediately adjacent to and catching up with it are different, obtain the reference speed of the second unit train during the marshaling process to obtain the reference running interval between the two unit trains at any time;

[0008] defining an interval tracking error and a velocity tracking error based on the reference running interval, and constructing a non-singular terminal sliding mode surface;

[0009] Considering the situation where the train parameters, the upper bound of the external disturbance and the upper bound of the parameter error are known, a non-singular terminal sliding mode control strategy is designed to control the dynamic train formation so that the interval tracking error and the speed tracking error can reach the non-singular terminal sliding mode surface under any initial conditions and can asymptotically converge to zero in a finite time.

[0010] Furthermore, the calculation formula for the reference speed of the second unit train during the marshaling process includes:

[0011]

[0012] Among them, v r (t) represents the reference speed of the second unit train during the marshaling process; v2(t1) represents the initial speed of the second unit train when marshaling begins; [t1, t2] represents the first uniform speed motion period of the second unit train performing uniform speed motion starting from the initial time t1 when marshaling begins; [t2, t3] represents the uniform speed motion period of the second unit train performing uniform speed motion; [t3, t4] represents the second uniform speed motion period of the second unit train performing uniform speed motion; v 稳 represents the constant speed of the second unit train during the uniform motion period; a1 represents the first acceleration of the second unit train during the first uniformly variable speed motion period; a2 represents the second acceleration of the second unit train during the second uniformly variable speed motion period.

[0013] Furthermore, the calculation formula for the reference running interval of two unit trains at any time includes:

[0014]

[0015] Among them, d r (t) represents the reference running interval; d1 represents the interval between the two train units when they begin to be marshaled; during the marshaling process, the first train unit always moves at a constant speed of v1; t4 represents the moment when the two train units are exactly at the same speed after the marshaling is completed.

[0016] Further, defining the interval tracking error and the speed tracking error based on the reference running interval includes:

[0017] Define the actual running interval d between two unit trains j (t)=x1(t)-x2(t); wherein x1(t) represents the real-time position of the first unit train, and x2(t) represents the real-time position of the second unit train;

[0018] Define the interval tracking error e=d j (t)-d r (t);

[0019] The speed tracking error is obtained by taking the first-order time derivative of the interval tracking error. Wherein, v2(t) represents the real-time speed of the second unit train during the marshalling process.

[0020] Furthermore, constructing the non-singular terminal sliding mode surface includes:

[0021] In order to ensure that the interval tracking error e converges to zero, the non-singular terminal sliding surface is designed Wherein, z and m are both positive odd numbers, and z and m satisfy 1<z / m<2, c is a positive constant;

[0022] By taking the first-order time derivative of the non-singular terminal sliding mode surface, we can obtain:

[0023]

[0024] For the second unit train, in order to reduce the buffeting phenomenon, the sliding mode reaching law is selected as follows: Among them, j c and k c is a positive constant, α c and ξ c are all positive odd numbers, and α c and ξ c Satisfying 0<α c / ξ c <1.

[0025] Furthermore, the non-singular terminal sliding mode control strategy includes:

[0026]

[0027]

[0028]

[0029]

[0030] p=p1+p2+p3+p4;

[0031] Wherein, p represents the non-singular terminal sliding mode control strategy; p1 to p4 represent sub-strategies of the non-singular terminal sliding mode control strategy; c0, c1 and c2 represent coefficients of basic running resistance; m2 represents the mass of the second unit train; represents the slope angle; g represents the acceleration due to gravity; β represents a positive constant; G w Indicates the known upper bound of external interference; G d Indicates that the upper bound of the parameter error is known; sign() represents the sign function.

[0032] In a second aspect, the present application provides an electronic device comprising at least one processing unit and at least one storage unit, wherein the storage unit stores a computer program, and when the computer program is executed by the processing unit, the processing unit is enabled to perform the steps of any of the aforementioned dynamic grouping methods.

[0033] In a third aspect, the present application provides a storage medium storing a computer program executable by an access authentication device. When the computer program runs on the access authentication device, the access authentication device can execute the steps of any of the aforementioned dynamic grouping methods.

[0034] In general, the above technical solutions conceived by this application can achieve the following beneficial effects compared with the existing technology:

[0035] This application takes into account the differences in the initial speeds of unit trains before the virtual marshaling train is formed, provides a calculation method for the corresponding reference running intervals for different initial speeds, constructs a control model for the marshaling stage of the virtual marshaling train, and designs a controller based on a non-singular terminal sliding surface to ensure that the train can be re-formed safely and efficiently in the switch section according to the mission requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0037] Figure 1 A core flow chart of a method for dynamically forming a virtual train at different speeds provided in an embodiment of the present application;

[0038] Figure 2 A schematic diagram of the dynamic grouping process provided in an embodiment of the present application;

[0039] Figure 3 A speed curve diagram for a case where the initial speed of unit train 1 is greater than the initial speed of unit train 2 (case 1) provided in an embodiment of the present application;

[0040] Figure 4A speed curve diagram for a case where the initial speed of unit train 1 is less than the initial speed of unit train 2 (case 2) provided in an embodiment of the present application;

[0041] Figure 5 A train speed curve diagram for case 1 of the dynamic marshaling stage provided in an embodiment of the present application;

[0042] Figure 6 A train interval curve diagram for situation 1 of the dynamic marshaling stage provided in an embodiment of the present application;

[0043] Figure 7 A train speed curve diagram for situation 2 of the dynamic marshaling stage provided in an embodiment of the present application;

[0044] Figure 8 A train interval curve diagram for situation 2 of the dynamic marshaling stage provided in an embodiment of the present application;

[0045] Figure 9 A block diagram of an electronic device suitable for implementing the dynamic grouping method described above is provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining this application and are not intended to limit this application. In addition, the technical features involved in the various embodiments of this application described below may be combined with each other as long as they do not conflict with each other.

[0047] The terms "first," "second," or "nth" in the specification, claims, or drawings of this application are used to distinguish different objects, not to describe a specific order. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to the process, method, product, or apparatus.

[0048] As described in the background technology section of the specification, in the existing virtual marshaling train technology, the speed difference between trains is not fully considered during the marshaling process. Most methods control the train spacing through a unified marshaling interval or a fixed speed model, but fail to effectively address the challenges brought about by the speed difference between different trains in actual train operation. Especially when running at high speed or low speed, the acceleration, deceleration ability and reaction speed differences of the train will significantly affect the safety and efficiency of the marshaling process. In view of this, the present application provides a dynamic marshaling method, equipment and medium for virtual marshaling trains at different speeds, which are mainly used to improve the safety, accuracy and efficiency of virtual marshaling trains during the marshaling process at different speeds. By constructing a control model and proposing a corresponding control method, it can ensure that the virtual marshaling train completes the marshaling operation efficiently and safely.

[0049] refer to Figure 1 An embodiment of the present application provides a method for dynamically forming a virtual train at different speeds, which may mainly include the following steps.

[0050] Step 1: When two unit trains begin to be marshaled (i.e., marshaled), if the initial speed of the first unit train is different from that of the second unit train that is adjacent to and catching up with it, obtain the reference speed of the second unit train during the marshaling process and obtain the reference running interval of the two unit trains at any time.

[0051] In some embodiments, specifically, dynamic grouping scenario modeling is first performed. Figure 2 The route from which the grey vehicle originates), the main route ( Figure 2 The blue vehicle is always on the straight line) There are more unit trains and the transportation pressure is greater. After different unit trains enter the main line from different branch lines, they are assembled into virtual marshaling train groups on the main line to improve the line capacity of the main line. When the virtual marshaling train group contains two unit trains, the marshaling process of the unit trains on the main line is as follows: Figure 2 shown.

[0052] When the two-unit train starts to form, according to Figure 2 Determine the distance between the two unit trains and the distance they travel during the marshaling process. Assuming that the two unit trains start marshaling at time t1 and are completed at the preset time, and that the marshaling of the two unit trains must be completed within the preset time and marshaling interval, the following relationship exists:

[0053] d1=x1(t1)-x2(t1)(1)

[0054] s1=l-x1(t1)(2)

[0055] s2=s1+d1-d f (3)

[0056] In the above formulas, s1 represents the distance traveled by unit train 1 during the marshaling process, s2 represents the distance traveled by unit train 2 during the marshaling process, d1 represents the interval between the two unit trains when they start to marshal, l represents the length of the marshaling interval, and d f It represents the safe distance that the two unit trains should maintain at the end of marshaling, and x1 and x2 represent the position functions of unit train 1 and unit train 2 respectively. f It is also set as a function of the speed of the preceding vehicle and is expressed as:

[0057] d f =ζ c v1+h0(4)

[0058] Where v1 represents the speed of unit train 1 (assuming that unit train 1 keeps moving at a constant speed during the marshaling process), ζ c represents the expected headway, and h0 represents the safety margin. Therefore, the total time T of the marshaling process is c It can be expressed by the following equation:

[0059]

[0060] When the two unit trains begin to be marshaled, the speed relationship between unit train 1 and unit train 2 is unknown. Therefore, the following two situations are analyzed.

[0061] Case 1: The speed of unit train 1 is greater than the speed of unit train 2.

[0062] Case 2: The speed of unit train 1 is less than the speed of unit train 2.

[0063] For case 1, the following process is designed to enable the two unit trains to be marshaled. After the marshaling process begins, the speed of unit train 2 increases until it reaches a certain speed value v m , then at speed v m Move at a constant speed for a period of time so that unit train 2 catches up with unit train 1, and finally unit train 2 moves from v m The speed of the two unit trains is reduced to the same speed as that of the unit train 1 and the train is run in the form of a virtual marshaling train set. This also means that the marshaling process is completed. The speed curves of the two unit trains in the marshaling stage are as follows: Figure 3 As shown, at the moment of starting marshaling, the speed of unit train 1 is greater than the speed of unit train 2, and unit train 2 completes marshaling through the stages of uniform acceleration-uniform speed-uniform deceleration. Figure 3In the equation (1), a1 and a2 represent the absolute values ​​of the acceleration and deceleration of the unit train, respectively; v1(t1) and v2(t1) represent the initial speeds of unit train 1 and unit train 2 at the beginning of marshaling, respectively; T1, T2, and T3 represent the time elapsed by the corresponding stages of unit train 2, respectively; t2 and t3 represent the completion time of the acceleration stage and the completion time of the uniform speed stage, respectively.

[0064] During the marshaling process, the speed of unit train 2 increases to v m , according to formulas (1)-(3) and Figure 3 , we can get the following equation:

[0065]

[0066] unknown number v m It can be calculated by formula (6).

[0067] Combined with the above analysis, when the initial speed of unit train 1 is greater than the initial speed of unit train 2, the reference speed expression of unit train 2 during the marshaling process can be expressed as:

[0068]

[0069] In formula (7), since unit train 2 is in uniform deceleration motion during period T3, there is a negative sign before a2.

[0070] Similarly, for case 2, the following process is designed to enable the two unit trains to be marshaled. After the marshaling process begins, the speed of unit train 2 decreases until it reaches a certain speed value v l , then at speed v l Move at a constant speed for a period of time so that unit train 2 catches up with unit train 1, and finally unit train 2 moves from v l The speed of the two unit trains is reduced to the same speed as that of the unit train 1 and the train is run in the form of a virtual marshaling train set, which means that the marshaling process is completed. In this case, the speed curve of the two unit trains in the marshaling stage is as follows: Figure 4 As shown, at the moment of starting marshaling, the speed of unit train 1 is less than that of unit train 2, and unit train 2 completes marshaling through the stages of uniform deceleration-uniform speed-uniform deceleration. Figure 4 In the equation (1), a1 and a2 represent the absolute values ​​of the deceleration of the unit train, v1(t1) and v2(t1) represent the initial speeds of unit train 1 and unit train 2 at the beginning of marshaling, T1, T2 and T3 represent the time spent by unit train 2 in the corresponding stages, and t2 and t3 represent the completion time of the first deceleration stage and the completion time of the uniform speed stage, respectively.

[0071] During the marshaling process, the speed of unit train 2 is first reduced to v l, according to formulas (1)-(3) and Figure 3 The following relationship can be obtained:

[0072]

[0073] unknown number v l It can be calculated by formula (8).

[0074] Combined with the above analysis, when the initial speed of unit train 1 is less than the initial speed of unit train 2, the reference speed expression of unit train 2 during the marshaling process can be expressed as:

[0075]

[0076] In formula (9), since unit train 2 is in uniform deceleration motion during periods T1 and T3, there is a negative sign before a1 and a2.

[0077] Since both cases are uniformly accelerated (uniformly accelerated or decelerated) in the first period, uniformly accelerated in the second period, and uniformly accelerated in the third period, equations (7) and (9) can be unified into the following formula:

[0078]

[0079] Among them, v r (t) represents the reference speed of the second unit train during the marshaling process; v2(t1) represents the initial speed of the second unit train when marshaling begins; [t1, t2] represents the first uniform speed motion period of the second unit train performing uniform speed motion starting from the initial time t1 when marshaling begins; [t2, t3] represents the uniform speed motion period of the second unit train performing uniform speed motion; [t3, t4] represents the second uniform speed motion period of the second unit train performing uniform speed motion; v 稳 represents the constant speed of the second unit train during the uniform motion period; a1 represents the first acceleration of the second unit train during the first uniformly variable speed motion period; a2 represents the second acceleration of the second unit train during the second uniformly variable speed motion period. During uniform acceleration, a1 and / or a2 are positive; during uniform deceleration, a1 and / or a2 are negative.

[0080] According to the reference speed of the second unit train in formula (10), the reference running interval of the two unit trains at any time during the marshaling process can be obtained:

[0081]

[0082] Among them, d r(t) represents the reference running interval; d1 represents the interval between the two train units when they begin to be assembled; during the assembly process, the first train unit always moves at a constant speed of v1 (i.e., v1(t) is always equal to v1); t4 represents the moment when the two train units have the same speed after the assembly is completed.

[0083] Step 2: defining an interval tracking error and a velocity tracking error based on the reference running interval, and constructing a non-singular terminal sliding mode surface.

[0084] In some embodiments, specifically, the actual running interval between two unit trains is defined as:

[0085] d j (t) = x1(t) - x2(t) (12)

[0086] And define the interval tracking error as:

[0087] e=d j (t)-d r (t)(13)

[0088] The first-order time derivative of the interval tracking error (i.e., the velocity tracking error) can be obtained:

[0089]

[0090] In order to ensure that the interval tracking error e converges to zero, a non-singular terminal sliding mode surface is designed:

[0091]

[0092] Wherein, z and m are both positive odd numbers, and z and m satisfy: 1<z / m<2,ο c is a positive constant.

[0093] Taking the first-order time derivative of the non-singular terminal sliding surface yields:

[0094]

[0095] For unit train 2, in order to reduce the buffeting phenomenon, the sliding mode reaching law is selected as follows:

[0096]

[0097] Among them, j c and k c is a positive constant, α c and ξ c are all positive odd numbers, and α c and ξ c Satisfies: 0<α c / ξ c <1.

[0098] Step 3: Considering the situation where the train parameters, the upper bound of the external disturbance and the upper bound of the parameter error are known, a non-singular terminal sliding mode control strategy is designed to control the dynamic formation of the train so that the interval tracking error and the speed tracking error can reach the non-singular terminal sliding mode surface under any initial conditions and can asymptotically converge to zero within a finite time.

[0099] In some embodiments, specifically, for the dynamic marshaling process of a virtual marshaling train, a controller is designed for the virtual marshaling train set according to the following non-singular terminal sliding mode control strategy:

[0100]

[0101]

[0102]

[0103]

[0104] p=p1+p2+p3+p4;(22)

[0105] Wherein, p represents the non-singular terminal sliding mode control strategy; p1 to p4 represent sub-strategies of the non-singular terminal sliding mode control strategy; c0, c1 and c2 represent coefficients of basic running resistance; m2 represents the mass of the second unit train; represents the slope angle; g represents the acceleration due to gravity; β represents a positive constant; G w Indicates the known upper bound of external interference; G d Indicates that the upper bound of the parameter error is known; sign() represents the sign function.

[0106] Then, the interval tracking error determined by equation (13) and the velocity tracking error determined by equation (14) can reach the sliding surface s under any initial conditions. c , and it can converge asymptotically to zero in a finite time, which means that the unit train can be marshaled within the marshaling interval.

[0107] Figure 5 This is a train speed curve diagram for Case 1 of the dynamic marshaling phase provided by an embodiment of the present application. When the unit trains begin dynamic marshaling, the actual running interval between the two unit trains is greater than the running interval required for the virtual marshaling train set, and the speed of unit train 2 is less than that of unit train 1. Therefore, in order for the two unit trains to complete the marshaling, unit train 2 must first accelerate to a speed greater than that of unit train 1, then decelerate to the same speed as unit train 1, and finally run together with unit train 1 as a virtual marshaling train set.

[0108] Figure 6This is a train interval curve diagram for the dynamic marshaling stage of the embodiment of the present application in case 1. It can be seen that the actual running interval between trains can track the reference running interval.

[0109] Figure 7 This is a train speed curve diagram for Case 2 of the dynamic marshaling stage provided by an embodiment of the present application. Since the speed of unit train 2 is greater than that of unit train 1 throughout the marshaling process, the reference running interval and the actual running interval continue to decrease. As can be seen from Figure 7, the rate of decrease of the curve is different. In the early stage of the marshaling process, the speed of train 2 is high, at which time the rate of decrease of the curve is the largest. In the middle stage of the marshaling process, train 2 moves at a constant speed, at which time the rate of decrease of the curve remains unchanged. In the late stage of the marshaling process, the speed of train 2 is low, at which time the rate of decrease of the curve is the smallest.

[0110] Figure 8 This is a train interval curve diagram for the dynamic marshaling stage 2 provided by the embodiment of the present application. It can be seen that the actual running interval between trains can track the reference running interval.

[0111] Under the proposed dynamic marshaling control method, no matter what the speed relationship between trains is, the control method can ensure that the trains in the virtual marshaling train set can complete the marshaling. The final simulation results show that the control method at each stage can achieve the control purpose.

[0112] This application takes into account the differences in the initial speeds of unit trains before the virtual marshaling train is formed, provides a calculation method for the corresponding reference running intervals for different initial speeds, constructs a control model for the marshaling stage of the virtual marshaling train, and designs a controller based on a non-singular terminal sliding surface to ensure that the train can be re-formed safely and efficiently in the switch section according to the mission requirements.

[0113] Figure 9 The following schematically shows a block diagram of an electronic device suitable for implementing the dynamic grouping method described above according to an embodiment of the present application. Figure 9 The electronic device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0114] like Figure 9As shown, the electronic device 1000 described in this embodiment includes: a processor 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage part 1008 into a random access memory (RAM) 1003. The processor 1001 may include, for example, a general-purpose microprocessor (such as a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (for example, an application-specific integrated circuit (ASIC)), and the like. The processor 1001 may also include an onboard memory for caching purposes. The processor 1001 may include a single processing unit or multiple processing units for executing different actions of the dynamic grouping method flow according to an embodiment of the present application.

[0115] Various programs and data required for the operation of the electronic device 1000 are stored in the RAM 1003. The processor 1001, the ROM 1002, and the RAM 1003 are connected to each other via a bus 1004. The processor 1001 performs various operations of the dynamic grouping method according to the embodiment of the present application by executing the programs in the ROM 1002 and / or the RAM 1003. It should be noted that the programs may also be stored in one or more memories other than the ROM 1002 and the RAM 1003. The processor 1001 may also perform various operations of the dynamic grouping method according to the embodiment of the present application by executing the programs stored in the one or more memories.

[0116] According to an embodiment of the present application, electronic device 1000 may further include an input / output (I / O) interface 1005, which is also connected to bus 1004. Electronic device 1000 may further include one or more of the following components connected to I / O interface 1005: an input portion 1006 including a keyboard, mouse, etc.; an output portion 1007 including devices such as a cathode ray tube (CRT), liquid crystal display (LCD), and speakers; a storage portion 1008 including a hard disk; and a communication portion 1009 including a network interface card such as a LAN card or modem. Communication portion 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to I / O interface 1005 as needed. Removable media 1011, such as a magnetic disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed in drive 1010 as needed, so that computer programs read from the removable media can be installed into storage portion 1008 as needed.

[0117] The dynamic grouping method flow according to an embodiment of the present application can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program includes a program code for executing the dynamic grouping method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1009, and / or installed from the removable medium 1011. When the computer program is executed by the processor 1001, the above-mentioned functions defined in the system of the embodiment of the present application are executed. According to an embodiment of the present application, the system, equipment, device, module and / or unit described above, etc. can be implemented by a computer program module.

[0118] Embodiments of the present application also provide a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments, or may exist independently and not be incorporated into the device / apparatus / system. The computer-readable storage medium carries one or more programs, and when the one or more programs are executed, the steps of the dynamic grouping method according to the embodiments of the present application can be implemented.

[0119] According to an embodiment of the present application, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, it may include but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In an embodiment of the present application, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, apparatus, or device. For example, according to an embodiment of the present application, the computer-readable storage medium may include one or more memories other than the ROM 1002 and / or RAM 1003 described above.

[0120] It should be noted that the functional modules in the various embodiments of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product.

[0121] The flowcharts and / or block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart and / or block diagram can represent a module, a program segment or a part of code, and the part of the above-mentioned module, program segment or code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. It should also be noted that each box in the block diagram or flowchart, and the combination of the boxes in the block diagram or flowchart, can be implemented by a special hardware-based system that performs the specified function or operation, or can be implemented by a combination of special hardware and computer instructions.

[0122] Those skilled in the art will appreciate that the features described in the various embodiments and / or claims of this application may be combined and / or coupled in various ways, even if such combinations and / or couplings are not explicitly described in this application. In particular, without departing from the spirit and teachings of this application, the technical features described in the various embodiments and / or claims of this application may be combined and / or coupled in various ways, and all such combinations and / or couplings fall within the scope of this application.

[0123] Although the present application has been shown and described with reference to certain exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made to the present application without departing from the spirit and scope of the present application as defined by the appended claims and their equivalents. Therefore, the scope of the present application should not be limited to the above-described embodiments, but should be determined not only by the appended claims but also by the equivalents of the appended claims.

Claims

1. A method for dynamically forming a virtual train at different speeds, characterized in that: include: When two unit trains begin to be marshaled, if the initial speeds of the first unit train and the second unit train immediately adjacent to and catching up with it are different, obtain the reference speed of the second unit train during the marshaling process to obtain the reference running interval between the two unit trains at any time; The calculation formula for the reference speed of the second unit train during the marshaling process includes: ； in, represents the reference speed of the second unit train during the marshaling process; represents the initial speed of the second unit train at the beginning of marshaling; Indicates the initial time from the start of grouping The first uniformly accelerated motion period in which the second unit train performs uniformly accelerated motion; represents a uniform motion period during which the second unit train performs uniform motion; represents a second uniformly speeded motion period during which the second unit train performs uniformly speeded motion; represents the constant speed of the second unit train during the uniform motion period; represents the first acceleration of the second unit train during the first uniformly accelerated motion period; represents the second acceleration of the second unit train during the second uniformly accelerated motion period; T1 represents the period The time elapsed; T2 represents the time period the time elapsed; The calculation formula for the reference running interval between two unit trains at any time includes: ； in, represents the reference operating interval; Indicates the interval between the two trains when they start to be marshaled; during the marshaling process, the first train is always The speed of uniform motion; Indicates the moment when the two unit trains have the same speed after marshaling is completed; defining an interval tracking error and a velocity tracking error based on the reference running interval, and constructing a non-singular terminal sliding mode surface; Considering the situation where the train parameters, the upper bound of the external disturbance and the upper bound of the parameter error are known, a non-singular terminal sliding mode control strategy is designed to control the dynamic train formation so that the interval tracking error and the speed tracking error can reach the non-singular terminal sliding mode surface under any initial conditions and can asymptotically converge to zero in a finite time.

2. The dynamic grouping method according to claim 1, wherein: Defining an interval tracking error and a velocity tracking error based on the reference running interval includes: Define the actual running interval between two unit trains ;in, represents the real-time position of the first unit train, Indicates the real-time position of the second unit train; Define the interval tracking error ; The speed tracking error is obtained by taking the first-order time derivative of the interval tracking error. ;in, Indicates the real-time speed of the second unit train during the marshalling process.

3. The dynamic grouping method according to claim 2, wherein: Constructing the non-singular terminal sliding surface includes: In order to ensure the interval tracking error Converge to zero, design the non-singular terminal sliding surface ;in, and are all positive odd numbers, and and satisfy , is a positive constant; By taking the first-order time derivative of the non-singular terminal sliding mode surface, we can obtain: ; For the second unit train, in order to reduce the buffeting phenomenon, the sliding mode reaching law is selected as follows: ;in, and is a positive constant, and are all positive odd numbers, and and satisfy .

4. The dynamic grouping method according to claim 3, wherein: The non-singular terminal sliding mode control strategy includes: ； ； ； ； ； in, represents the non-singular terminal sliding mode control strategy; to represents a sub-strategy of the non-singular terminal sliding mode control strategy; 、 and The coefficient indicating the basic operating resistance; represents the mass of the second unit train; represents the inclination angle of the ramp; g represents the acceleration due to gravity; represents a positive constant; Indicates that the upper bound of external interference is known; Indicates that the upper bound of the parameter error is known; represents a symbolic function; Represents the first-order time derivative of the reference velocity of the second unit train during the marshaling process.

5. An electronic device, characterized in that: The method comprises at least one processing unit and at least one storage unit, wherein the storage unit stores a computer program, and when the computer program is executed by the processing unit, the processing unit is enabled to perform the steps of the dynamic grouping method according to any one of claims 1 to 4.

6. A storage medium, characterized in that It stores a computer program executable by an access authentication device. When the computer program runs on the access authentication device, the access authentication device is enabled to execute the steps of the dynamic grouping method according to any one of claims 1 to 4.

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