Station flow limiting control method and device based on dynamic passenger flow

Abstract

The present invention provides a station flow limiting control method and device based on dynamic passenger flow, the method comprising: obtaining the passenger flow entering and leaving the station and obtaining the passenger flow of each train entering and getting on and off the station, and determining the total passenger flow of the station according to the passenger flow entering and leaving the station and the passenger flow of each train entering and getting on and off the station; determining the passenger flow deviation according to the total passenger flow and the preset ideal passenger flow; determining the control amount of the input passenger flow in the current control cycle based on the state observer according to the total passenger flow and the passenger flow deviation of the previous control cycle, and controlling the station gate. The method is not affected by uncertain factors such as the station staff's own experience and external conditions. At the same time, when the difference between the total passenger flow and the ideal passenger flow is large, it can avoid the problem that when the ideal passenger flow is directly applied for restriction, it causes passenger congestion and reduces user experience. When a small amount of control is performed, effective flow limiting cannot be achieved, and the passenger flow cannot be made close to the ideal value as soon as possible.

Description

Technical Field

[0001] The present invention relates to the field of rail transit technology, and in particular to a station flow limiting control method and device based on dynamic passenger flow. Background Art

[0002] Stations are the basic units of urban rail transit operations. Research on passenger flow control measures at stations can effectively ensure the safety of rail transit operations and improve passengers' travel experience. In addition, with the development of intelligent technology, the construction of smart subways has become a consensus and trend in the current urban rail transit industry. In the future, smart subway stations will be more intelligent and unmanned. The research on smart security will reduce the configuration and use of station security equipment. The construction of station halls and platforms may be merged, which will further reduce stairs, escalators, elevators and other equipment. As a key equipment in stations, gates are the hub for passenger flow control and evacuation in large passenger flow scenarios. Therefore, research on how to organize station passenger transportation through gates will help ensure operational safety, improve rail transit transportation efficiency, improve passenger travel comfort, and save passenger travel time.

[0003] However, the subway operation network structure is becoming more and more complex, the passenger flow is increasing, and the contradiction between the rapidly growing passenger flow and the limited station management service level is becoming increasingly prominent. Most of the existing station flow limiting technologies directly provide flow limiting measures. The specific implementation of these measures is entirely up to the on-site station staff based on their own experience, external conditions and other factors. This makes the formulation of specific implementation plans for flow limiting through gates in the conventional flow limiting measures for station passenger flow lack of scientific basis. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a station flow limiting control method and device based on dynamic passenger flow.

[0005] The present invention provides a station flow limiting control method based on dynamic passenger flow, comprising: obtaining the passenger flow entering and leaving the station and the passenger flow entering, boarding and getting off each train, and determining the total passenger flow of the station according to the passenger flow entering and leaving the station and the passenger flow entering, boarding and getting off each train; determining the passenger flow deviation according to the total passenger flow and a preset ideal passenger flow; determining the control amount of the input passenger flow in the current control cycle based on a state observer according to the total passenger flow of the previous control cycle and the passenger flow deviation, and controlling the station entrance gate.

[0006] According to a station flow limiting control method based on dynamic passenger flow provided by the present invention, the obtaining of inbound and outbound passenger flow includes: calculating the inbound passenger flow according to the total inbound passenger flow of each gate at each entrance; calculating the outbound passenger flow according to the total outbound passenger flow of each gate at each exit.

[0007] According to a station flow limiting control method based on dynamic passenger flow provided by the present invention, after the control amount of the passenger flow input in the current control cycle is determined based on a state observer according to the total passenger flow in the previous control cycle and the passenger flow deviation, and the station entrance gate is controlled, it also includes: entering a subsequent control cycle, and repeating the above process of controlling the station entrance gate in each control cycle, according to the total passenger flow in the previous control cycle and the passenger flow deviation, and determining the control amount of the passenger flow input in the current control cycle based on a state observer.

[0008] According to a station flow limiting control method based on dynamic passenger flow provided by the present invention, the control amount of the passenger flow input in the current control cycle is determined based on a state observer according to the total passenger flow in the previous control cycle and the passenger flow deviation, and the entry gate is controlled, including: determining a first state variable according to the total passenger flow in the control cycle, and determining an expanded state variable according to the difference between the total passenger flow and the entry passenger flow; determining a first control amount of the passenger flow input in the current control cycle based on an expanded state observer according to the first state variable, the expanded state variable and the total passenger flow in the previous control cycle; determining a second control amount of the passenger flow input in the current control cycle based on a controller of the expanded state observer according to the passenger flow deviation in the previous control cycle; determining the control amount of the passenger flow input in the current control cycle according to the sum of the first control amount and the second control amount, and controlling the entry gate.

[0009] According to a station flow limiting control method based on dynamic passenger flow provided by the present invention, the first control amount of the input passenger flow in the current control cycle is determined based on the expanded state observer according to the first state variable, the expanded state variable and the total passenger flow in the previous control cycle, including:

[0010] According to the following extended state observer:

[0011]

[0012] The first control quantity for determining the input passenger flow in the current control period is:

[0013]

[0014] Among them, u1 is the first control variable; x1 and x2 are the first state variable and the expanded state variable respectively; and are the estimated values ​​of x1 and x2 obtained by the state observer; α1 and α2 are the state observer gains, u is the total passenger flow in the previous control cycle, is the error between the estimated value of x1 and the true value.

[0015] According to a station flow limiting control method based on dynamic passenger flow provided by the present invention, the controller based on the extended state observer determines the second control amount of the input passenger flow in the current control period according to the passenger flow deviation in the previous control period, including: determining the second control amount as follows:

[0016] Among them, u2 is the second control quantity, e=Q ref -Q is the passenger flow deviation of the previous control cycle; Q ref is the ideal passenger flow number for a control cycle, is the ideal passenger flow, Q is the total passenger flow in the previous control cycle; K p is the controller gain of the state observer.

[0017] The present invention also provides a station flow limiting control device based on dynamic passenger flow, including: a collection module, used to obtain the passenger flow entering and leaving the station and the passenger flow of each train entering and getting on and off the station, and determine the total passenger flow of the station based on the passenger flow entering and leaving the station and the passenger flow of each train entering and getting on and off the station; a processing module, used to determine the passenger flow deviation based on the total passenger flow and the preset ideal passenger flow; a control module, used to determine the control amount of the input passenger flow in the current control cycle based on the total passenger flow and the passenger flow deviation in the previous control cycle, based on a state observer, and control the entry gate.

[0018] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a station flow limiting control method based on dynamic passenger flow as described above is implemented.

[0019] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, it implements any of the station flow limiting control methods based on dynamic passenger flow as described above.

[0020] The present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-mentioned station flow limiting control methods based on dynamic passenger flow.

[0021] The station flow limiting control method and device based on dynamic passenger flow provided by the present invention determine the input passenger flow to control the incoming passenger flow based on the total passenger flow and passenger flow deviation of the previous control cycle and based on a state observer. It is not affected by uncertain factors such as the station staff's own experience and external conditions, but saves human resources for the station and improves the objectivity of flow limiting measures. At the same time, when the difference between the total passenger flow and the ideal passenger flow is large, it can avoid the problem that when the ideal passenger flow is directly applied for restriction, it causes congestion of passengers and reduces user experience. When a small amount of control is performed, effective flow limiting cannot be achieved, and the passenger flow cannot be brought close to the ideal value as soon as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a flow chart of a station flow limiting control method based on dynamic passenger flow provided by the present invention;

[0024] Figure 2 It is a schematic diagram of the input and output of passenger flow of a station provided by the present invention;

[0025] Figure 3 It is a structural block diagram of the station passenger flow closed-loop control system provided by the present invention;

[0026] Figure 4 It is a structural schematic diagram of a station current limiting control device based on dynamic passenger flow provided by the present invention;

[0027] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Combine the following Figure 1-Figure 5 The present invention describes a station flow limiting control method and device based on dynamic passenger flow. Figure 1 is a flow chart of a station flow limiting control method based on dynamic passenger flow provided by the present invention, such as Figure 1As shown, the present invention provides a station flow limiting control method based on dynamic passenger flow, comprising:

[0030] 101. Obtain the passenger flow entering and leaving the station, and the passenger flow entering, boarding and getting off each train; determine the total passenger flow of the station based on the passenger flow entering and leaving the station, and the passenger flow entering, boarding and getting off each train.

[0031] The present invention dynamically analyzes the passenger flow input and output of the station based on the dynamic passenger flow model of the station. Figure 2 is a schematic diagram of the station passenger flow input and output provided by the present invention. The station dynamic passenger flow model of the present invention is as follows Figure 2 shown.

[0032] The station passenger flow dynamic system includes two input quantities, namely, the passenger flow entering the station through the gate and the passenger flow entering and getting off the train, and two output quantities, namely, the passenger flow entering the station and getting on the train through the gate. First, the above two input quantities and two output quantities are obtained. For example, through sensors, monitors and other measuring and transmitting devices, the passenger flow of trains entering and getting on and getting off the train is read in real time, and the passenger flow of entering and leaving the station is read through the counter of the gate when the user enters and exits the station through the gate.

[0033] The total passenger flow of the station can be expressed as:

[0034] ω=ω in +β in -ω out -β out ;

[0035] Among them, ω in represents the passenger flow entering the station through the gate within a unit time, β in represents the passenger flow of trains entering and getting off the station per unit time, ω out represents the passenger flow through the gate in unit time, β out It indicates the passenger flow of trains entering the station and boarding the trains per unit time.

[0036] Based on the above analysis of passenger flow, the total real-time passenger flow Q of the station within time t can be obtained as follows (i.e., the dynamic passenger flow model of the station):

[0037] Q=ωt.

[0038] 102. Determine a passenger flow deviation according to the total passenger flow and a preset ideal passenger flow.

[0039] The ideal passenger flow is predetermined, such as obtained by multiplying the building area of ​​the station by a corresponding coefficient, or obtained by statistics based on historical data or experimental data. The difference between the total passenger flow and the ideal passenger flow is determined as the passenger flow deviation.

[0040] 103. According to the total passenger flow of the previous control cycle and the passenger flow deviation, based on the state observer, determine the control amount of the input passenger flow in the current control cycle, and control the entry gate.

[0041] The passenger flow of the entrance gate is controlled so that the passenger flow of the station approaches the above ideal passenger flow. For example, when the passenger enters the station by swiping the card to pass through the entrance gate, the response time of the gate is increased or decreased to achieve the control of the total passenger flow, that is, by adjusting the delayed release time of the gate in the rail transit station to control the change in the number of passengers entering and leaving the station, so as to effectively alleviate the passenger congestion in the station. However, it is difficult to guarantee the amount of control. If the control amount is too large, it will cause congestion of people entering the station. If the control amount is too small, it will be difficult to quickly approach the above ideal passenger flow.

[0042] In this regard, the present invention determines the control quantity of the next cycle based on the observed value of the previous cycle, and uses a state observer to determine a reasonable control quantity. A state observer is a type of dynamic system that obtains estimated values ​​of state variables based on the actual measured values ​​of the system's external variables (input variables and output variables).

[0043] First, the total passenger flow of the previous control cycle and the passenger flow deviation are used as state quantities or observation quantities, and the passenger flow is input as the control quantity, that is, the control quantity is the passenger flow of the gate entering the station per unit time or within a control cycle. Then, the final control quantity is determined according to the controller based on the state observer to control the gate.

[0044] The station flow control method based on dynamic passenger flow of the present invention determines the input passenger flow to control the passenger flow entering the station based on the total passenger flow and passenger flow deviation of the previous control cycle and based on the state observer. It is not affected by uncertain factors such as the station staff's own experience and external conditions, but saves human resources for the station and improves the objectivity of the flow control measures. At the same time, when the difference between the total passenger flow and the ideal passenger flow is large, it can avoid the problem that when the ideal passenger flow is directly applied for restriction, it causes passenger congestion and reduces user experience. When a small amount of control is performed, effective flow control cannot be achieved, and the passenger flow cannot be made close to the ideal value as soon as possible.

[0045] In one embodiment, obtaining the inbound and outbound passenger flow includes: calculating the inbound passenger flow based on the total inbound passenger flow of each gate at each entrance; calculating the outbound passenger flow based on the total outbound passenger flow of each gate at each exit.

[0046] For example, the station has four entrances and exits, A, B, C and D, and each entrance and exit is equipped with an entry gate and an exit gate. The inbound passenger flow and the outbound passenger flow are calculated as follows:

[0047] ω in =ωA +ω B +ω C +ω D ;

[0048] ω out =ω′ A +ω′ B +ω′ C +ω′ D ;

[0049] in:

[0050]

[0051]

[0052]

[0053]

[0054]

[0055]

[0056]

[0057]

[0058] In the above formula, variables a1, a2, and a3 are the number of door-type gates, three-bar gates, and other types of gates at entrance A, respectively; variables b1, b2, and b3 are the number of door-type gates, three-bar gates, and other types of gates at entrance B, respectively; variables c1, c2, and c3 are the number of door-type gates, three-bar gates, and other types of gates at entrance C, respectively; variables d1, d2, and d3 are the number of door-type gates, three-bar gates, and other types of gates at entrance D, respectively.

[0059] Correspondingly, variables a′1, a′2, and a′3 are the number of door-type gates, the number of three-bar gates, and the number of other types of gates at exit A, respectively; variables b′1, b′2, and b′3 are the number of door-type gates, the number of three-bar gates, and the number of other types of gates at exit B, respectively; variables c′1, c′2, and c′3 are the number of door-type gates, the number of three-bar gates, and the number of other types of gates at exit C, respectively; variables d′1, d′2, and d′3 are the number of door-type gates, the number of three-bar gates, and the number of other types of gates at exit D, respectively.

[0060] ω1 represents the passing capacity of door-type gate machine per unit time, ω2 represents the passing capacity of three-bar gate machine per unit time, and ω3 represents the passing capacity of other types of gate machines per unit time.

[0061] The station flow limiting control method based on dynamic passenger flow of the present invention determines the inbound passenger flow and the outbound passenger flow according to the passenger flow of all inbound and outbound gates, can achieve accurate statistics of the inbound and outbound passenger flow, and provide objective data support for passenger flow control through inbound gates.

[0062] In one embodiment, after the control amount of the input passenger flow in the current control cycle is determined based on the state observer according to the total passenger flow in the previous control cycle and the passenger flow deviation, and the entry gate is controlled, it also includes: entering a subsequent control cycle, and in each control cycle, repeating the above process of determining the control amount of the input passenger flow in the current control cycle based on the state observer according to the total passenger flow in the previous control cycle and the passenger flow deviation, and controlling the entry gate.

[0063] Figure 3 is a structural block diagram of the station passenger flow closed-loop control system provided by the present invention, such as Figure 3 As shown, each control cycle of the present invention repeats the reading of the total passenger flow of the station, calculates the control quantity output by the controller according to the difference between the ideal passenger flow set at the station and the total passenger flow, and performs the passenger flow control implementation process, thereby completing the closed-loop control of the dynamic passenger flow of the station.

[0064] Specifically, based on the above steps, after calculating the deviation according to the ideal passenger flow and the actual passenger flow, the controller based on the state observer calculates the control amount and sends it to the actuator (i.e., the gate). The actuator controls the number of passengers entering the station, completes the passenger flow control of a control cycle, and enters the next control cycle. In the next control cycle, according to the above station dynamic passenger flow model, two input passenger flows and two output passenger flows are determined, that is, four passenger flows are read through measuring and transmitting devices such as sensors and detectors to obtain the actual passenger flow, and then the deviation from the current ideal passenger flow is calculated, and the control amount is calculated to control the passenger flow. Repeating this process can make the total passenger flow eventually approach the ideal passenger flow.

[0065] The station flow limiting control method based on dynamic passenger flow of the present invention realizes the control of the control quantity in each cycle, so that the total passenger flow gradually approaches the ideal passenger flow, realizes the closed-loop control of the passenger flow entering the station, and finally improves the traffic efficiency of passengers in the station and enhances the user's riding experience.

[0066] In one embodiment, the control amount of the input passenger flow in the current control cycle is determined based on a state observer according to the total passenger flow in the previous control cycle and the passenger flow deviation, and the entry gate is controlled, including: determining a first state variable according to the total passenger flow in the control cycle, and determining an expanded state variable according to the difference between the total passenger flow and the entry passenger flow; determining a first control amount of the input passenger flow in the current control cycle based on an expanded state observer according to the first state variable, the expanded state variable and the total passenger flow in the previous control cycle; determining a second control amount of the input passenger flow in the current control cycle based on a controller of the expanded state observer according to the passenger flow deviation in the previous control cycle; determining the control amount of the input passenger flow in the current control cycle according to the sum of the first control amount and the second control amount, and controlling the entry gate.

[0067] The present invention adopts an extended state observer (ESO) to determine a reasonable control quantity. Compared with a conventional state observer, the extended state observer expands disturbances and uncertainties into system states, and can estimate the extended state variables to obtain the unmodeled parts of the system and the disturbance quantities outside the system.

[0068] The control quantity is defined as u, let u = ω in , that is, the control quantity is the passenger flow entering the station through the gate per unit time or within a control cycle, and the total passenger flow in the previous control cycle is the input quantity.

[0069] Define the first state variable x1=Q, that is, the total real-time passenger flow in each control cycle; define the expanded state variable x2=-F, that is, the expanded state variable is the total passenger flow minus the inbound passenger flow, which is equivalent to the outbound passenger flow.

[0070] Based on the extended state observer, x2 can be accurately estimated to obtain the first control variable, while the conventional state observer cannot determine the accurate estimated value of x2.

[0071] The remaining control quantity can be obtained by using the controller based on the above state observer, that is, according to the passenger flow deviation of the previous control cycle, the controller based on the extended state observer determines the second control quantity of the input passenger flow of the current control cycle. Finally, the total control quantity u of the control cycle can be determined by combining the two parts.

[0072] The station flow limiting control method based on dynamic passenger flow of the present invention combines the total passenger flow of the previous control cycle with multiple state variables of the expanded state observer. The expanded state observer can realize the observation of disturbance and uncertainty, thereby avoiding the problem of inaccurate control quantity calculation caused by measurement errors of passenger flow when trains enter the station and get on and off.

[0073] In one embodiment, determining the first control amount of the input passenger flow in the current control cycle based on the expanded state observer according to the first state variable, the expanded state variable and the total passenger flow in the previous control cycle includes:

[0074] According to the following extended state observer:

[0075]

[0076] The first control quantity for determining the input passenger flow in the current control period is:

[0077]

[0078] Among them, u1 is the first control variable; x1 and x2 are the first state variable and the expanded state variable respectively; and are the estimated values ​​of x1 and x2 obtained by the state observer; α1 and α2 are the state observer gains, u is the total passenger flow in the previous control cycle, is the error between the estimated value of x1 and the true value.

[0079] Specifically, the control quantity is u = ω in , then the differential equation of the station passenger flow control system is:

[0080]

[0081] Then we have:

[0082]

[0083] It can be rewritten as:

[0084]

[0085] Where F = -β in +ω out +β out Indicates unknown system parameters.

[0086] Define the state variables x1 = Q, x2 = -F as expanded state variables. Then the state space expression of the system is:

[0087]

[0088] definition The estimated value of , then the extended state observer of the system is:

[0089]

[0090] in, and is the observer gain, ωo is the observer bandwidth, and ω o >0,ω o is the only parameter of the extended state observer that needs to be adjusted.

[0091] Based on the above extended state observer, the first control quantity u of the passenger flow entering the station in the current control cycle can be obtained:

[0092] The station flow limiting control method based on dynamic passenger flow of the present invention determines the first control quantity through the above-mentioned extended state observer, which, on the one hand, avoids the influence of disturbances such as measurement errors and ensures the accuracy of the control quantity. On the other hand, it can make the total passenger flow reach the ideal passenger flow as soon as possible and avoid the problem of reducing the user's travel efficiency due to excessive flow limiting.

[0093] In one embodiment, the determining of the second control amount of the input passenger flow in the current control period based on the controller of the extended state observer according to the passenger flow deviation in the previous control period includes: determining the second control amount as follows:

[0094]

[0095] Among them, u2 is the second control quantity, e=Q ref -Q is the passenger flow deviation of the previous control cycle; Q ref is the ideal passenger flow number for a control cycle, is the ideal passenger flow, Q is the total passenger flow in the previous control cycle; K p is the controller gain of the state observer.

[0096] Specifically, the following controller can be designed based on the above extended state observer:

[0097]

[0098]

[0099] Among them, K p is the controller gain that needs to be adjusted.

[0100] Finally, we can get The control quantity of the controller is calculated and sent to the gate (actuator). The gate executes the control instruction and gives the control variable, thereby controlling the passenger flow through the gate.

[0101] The station flow limiting control method based on dynamic passenger flow of the present invention, based on an expanded state observer, determines the second control quantity of the current control cycle according to the passenger flow deviation of the previous control cycle, and can realize reasonable control of the passenger flow value of each control cycle.

[0102] The station current limiting control device based on dynamic passenger flow provided by the present invention is described below. The station current limiting control device based on dynamic passenger flow described below and the station current limiting control method based on dynamic passenger flow described above can be referred to each other.

[0103] Figure 4 Schematic diagram of the structure of the station current limiting control device based on dynamic passenger flow provided by the present invention, such as Figure 4 As shown, the station flow control device based on dynamic passenger flow includes: a collection module 401, a processing module 402 and a control module 403. Among them, the collection module 401 is used to obtain the passenger flow entering and leaving the station and the passenger flow of each train entering and getting on and off the station, and determine the total passenger flow of the station according to the passenger flow entering and leaving the station and the passenger flow of each train entering and getting on and off the station; the processing module 402 is used to determine the passenger flow deviation according to the total passenger flow and the preset ideal passenger flow; the control module 403 is used to determine the control amount of the input passenger flow in the current control cycle based on the total passenger flow and the passenger flow deviation of the previous control cycle, based on the state observer, and control the station gate.

[0104] In one device embodiment, the collection module 401 is specifically used to: calculate the incoming passenger flow based on the total incoming passenger flow of each gate at each entrance; calculate the outgoing passenger flow based on the total outgoing passenger flow of each gate at each exit.

[0105] In one device embodiment, the control module 403 is also used to determine the control amount of the passenger flow input in the current control cycle based on the state observer according to the total passenger flow and the passenger flow deviation of the previous control cycle, and then control the entry gate: enter the subsequent control cycle, and in each control cycle, repeat the above process of determining the control amount of the passenger flow input in the current control cycle based on the state observer according to the total passenger flow and the passenger flow deviation of the previous control cycle, and controlling the entry gate.

[0106] In one device embodiment, the control module 403 is specifically used to: determine a first state variable based on the total passenger flow in the control cycle, and determine an expanded state variable based on the difference between the total passenger flow and the incoming passenger flow; determine a first control amount of the input passenger flow in the current control cycle based on an expanded state observer based on the first state variable, the expanded state variable and the total passenger flow in the previous control cycle; determine a second control amount of the input passenger flow in the current control cycle based on a controller of the expanded state observer based on the passenger flow deviation in the previous control cycle; determine the control amount of the input passenger flow in the current control cycle based on the sum of the first control amount and the second control amount, and control the incoming gate.

[0107] In an embodiment of the device, the control module 403 is specifically used to: determine the first control amount of the input passenger flow in the current control cycle based on the expanded state observer according to the first state variable, the expanded state variable and the total passenger flow in the previous control cycle, including:

[0108] According to the following extended state observer:

[0109]

[0110] The first control quantity for determining the input passenger flow in the current control period is:

[0111]

[0112] Among them, u1 is the first control variable; x1 and x2 are the first state variable and the expanded state variable respectively; and are the estimated values ​​of x1 and x2 obtained by the state observer; α1 and α2 are the state observer gains, u is the total passenger flow in the previous control cycle, is the error between the estimated value of x1 and the true value.

[0113] In an apparatus embodiment, the control module 403 is specifically used to determine the second control amount as follows:

[0114] Among them, u2 is the second control quantity, e=Q ref -Q is the passenger flow deviation of the previous control cycle; Q ref is the ideal passenger flow number for a control cycle, is the ideal passenger flow, Q is the total passenger flow in the previous control cycle; K p is the controller gain of the state observer.

[0115] The device embodiments provided in the embodiments of the present invention are for implementing the above-mentioned method embodiments. For specific processes and detailed contents, please refer to the above-mentioned method embodiments, which will not be repeated here.

[0116] The station current limiting control device based on dynamic passenger flow provided in the embodiment of the present invention has the same implementation principle and technical effects as the aforementioned station current limiting control method based on dynamic passenger flow embodiment. For the sake of brief description, for parts not mentioned in the embodiment of the station current limiting control device based on dynamic passenger flow, reference may be made to the corresponding contents in the aforementioned station current limiting control method based on dynamic passenger flow embodiment.

[0117] Figure 5 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 5As shown, the electronic device may include: a processor 501, a communication interface 502, a memory 503 and a communication bus 504, wherein the processor 501, the communication interface 502 and the memory 503 communicate with each other through the communication bus 504. The processor 501 may call the logic instructions in the memory 503 to execute a station flow limiting control method based on dynamic passenger flow, the method comprising: obtaining the passenger flow entering and leaving the station and obtaining the passenger flow of each train entering and getting on and off the station, and determining the total passenger flow of the station according to the passenger flow entering and leaving the station and the passenger flow of each train entering and getting on and off the station; determining the passenger flow deviation according to the total passenger flow and the preset ideal passenger flow; determining the control amount of the input passenger flow in the current control cycle based on the state observer according to the total passenger flow and the passenger flow deviation of the previous control cycle, and controlling the station gate.

[0118] In addition, the logic instructions in the above-mentioned memory 503 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0119] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the station flow limiting control method based on dynamic passenger flow provided by the above methods. The method includes: obtaining the passenger flow entering and leaving the station and obtaining the passenger flow of each train entering and getting on and off the station, and determining the total passenger flow of the station based on the passenger flow entering and leaving the station and the passenger flow of each train entering and getting on and off the station; determining the passenger flow deviation based on the total passenger flow and the preset ideal passenger flow; determining the control amount of the input passenger flow in the current control cycle based on the state observer according to the total passenger flow and the passenger flow deviation in the previous control cycle, and controlling the entry gate.

[0120] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the station flow limiting control method based on dynamic passenger flow provided by the above-mentioned methods, the method comprising: obtaining the passenger flow entering and leaving the station and obtaining the passenger flow entering and getting off each train, and determining the total passenger flow of the station based on the passenger flow entering and leaving the station and the passenger flow entering and getting off each train; determining the passenger flow deviation based on the total passenger flow and a preset ideal passenger flow; determining the control amount of the input passenger flow in the current control cycle based on the state observer according to the total passenger flow and the passenger flow deviation in the previous control cycle, and controlling the entry gate.

[0121] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0122] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A station flow control method based on dynamic passenger flow, characterized in that: include: Obtaining the passenger flow entering and leaving the station and the passenger flow entering, boarding and getting off each train, and determining the total passenger flow of the station based on the passenger flow entering and leaving the station and the passenger flow entering, boarding and getting off each train; Determining a passenger flow deviation according to the total passenger flow and a preset ideal passenger flow; Determine the first state variable according to the total passenger flow in the control period, and determine the expansion state variable according to the difference between the total passenger flow and the passenger flow entering the station; Determine a first control amount of the input passenger flow in the current control cycle based on an expanded state observer according to the first state variable, the expanded state variable and the total passenger flow in the previous control cycle; According to the passenger flow deviation of the previous control cycle, the controller based on the extended state observer determines the second control amount of the input passenger flow of the current control cycle; Determine the control amount of the passenger flow input in the current control period according to the sum of the first control amount and the second control amount, and control the station entrance gate; The step of determining the first control amount of the input passenger flow in the current control cycle based on the expanded state observer according to the first state variable, the expanded state variable and the total passenger flow in the previous control cycle includes: According to the following extended state observer: The first control quantity for determining the input passenger flow in the current control period is: Among them, u1 is the first control variable; x1 and x2 are the first state variable and the expanded state variable respectively; and are the estimated values ​​of x1 and x2 obtained by the state observer; α1 and α2 are the state observer gains, u is the total passenger flow in the previous control cycle, is the error between the estimated value and the true value of x1; The method of determining the second control amount of the input passenger flow in the current control cycle based on the controller of the extended state observer according to the passenger flow deviation in the previous control cycle includes: The second control quantity is determined as follows: Among them, u2 is the second control quantity, e=Q ref -Q is the passenger flow deviation of the previous control cycle; Q ref is the ideal passenger flow number for a control cycle, is the ideal passenger flow, Q is the total passenger flow in the previous control cycle; K p is the controller gain of the state observer.

2. The station flow limiting control method based on dynamic passenger flow according to claim 1 is characterized in that: The obtaining of inbound and outbound passenger flow includes: The passenger flow at the station is calculated based on the total number of passenger flows at each gate at each entrance; The outbound passenger flow is calculated based on the total outbound passenger flow of each gate at each exit.

3. The station flow limiting control method based on dynamic passenger flow according to claim 1 is characterized in that: After determining the control amount of the input passenger flow in the current control cycle based on the state observer according to the total passenger flow in the previous control cycle and the passenger flow deviation and controlling the station entrance gate, the method further includes: Enter the subsequent control cycle, and in each control cycle, repeat the above process of controlling the station entrance gate by determining the control amount of the input passenger flow in the current control cycle based on the state observer according to the total passenger flow and the passenger flow deviation of the previous control cycle.

4. A station flow limiting control device based on dynamic passenger flow, characterized in that: include: The acquisition module is used to obtain the passenger flow of entering and leaving the station and the passenger flow of each train entering the station, getting on and getting off the train, and determine the total passenger flow of the station based on the passenger flow of entering and leaving the station and the passenger flow of each train entering the station, getting on and getting off the train; A processing module is used to determine the passenger flow deviation according to the total passenger flow and the preset ideal passenger flow; determine the first state variable according to the total passenger flow in the control period, and determine the expansion state variable according to the difference between the total passenger flow and the passenger flow entering the station; determine the first control amount of the input passenger flow in the current control period based on the expansion state observer according to the first state variable, the expansion state variable and the total passenger flow in the previous control period; determine the second control amount of the input passenger flow in the current control period based on the controller of the expansion state observer according to the passenger flow deviation in the previous control period; A control module, configured to determine a control amount of the passenger flow input in the current control period according to the sum of the first control amount and the second control amount, and control the station entrance gate; The step of determining the first control amount of the input passenger flow in the current control cycle based on the expanded state observer according to the first state variable, the expanded state variable and the total passenger flow in the previous control cycle includes: According to the following extended state observer: The first control quantity for determining the input passenger flow in the current control period is: Among them, u1 is the first control variable; x1 and x2 are the first state variable and the expanded state variable respectively; and are the estimated values ​​of x1 and x2 obtained by the state observer; α1 and α2 are the state observer gains, u is the total passenger flow in the previous control cycle, is the error between the estimated value and the true value of x1; The method of determining the second control amount of the input passenger flow in the current control cycle based on the controller of the extended state observer according to the passenger flow deviation in the previous control cycle includes: The second control quantity is determined as follows: Among them, u2 is the second control quantity, e=Q ref -Q is the passenger flow deviation of the previous control cycle; Q ref is the ideal passenger flow number for a control cycle, is the ideal passenger flow, Q is the total passenger flow in the previous control cycle; K p is the controller gain of the state observer.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the station flow limiting control method based on dynamic passenger flow as described in any one of claims 1 to 3 is implemented.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the station flow limiting control method based on dynamic passenger flow as described in any one of claims 1 to 3 is implemented.

7. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the station flow limiting control method based on dynamic passenger flow as described in any one of claims 1 to 3 is implemented.

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