Time-synchronized master-slave locomotive control method, combined train and equipment

Abstract

This invention provides a time-synchronized master-slave locomotive control method, combined train, and equipment. The method includes: maintaining time synchronization between the master locomotive and each slave locomotive; responding to a user's operation command, the master locomotive generates a control command and determines the execution time of the control command; the master locomotive wirelessly transmits the control command and the execution time of the control command to each slave locomotive; when the execution time arrives, the master locomotive and each slave locomotive execute the control command, thus achieving synchronous control of the master and slave locomotives. Since the execution time of the control command is no longer constrained by communication delay and jitter, the synchronization between the master and slave locomotives can be well guaranteed, thereby improving the longitudinal dynamic performance of the train.

Description

Technical Field

[0001] This invention relates to the field of rail transit technology, specifically to a master-slave locomotive control method, combined train, and equipment based on time synchronization. Background Technology

[0002] Wireless multiple-unit trains typically consist of multiple locomotives, with several carriages placed between each locomotive. The locomotive at the front in the direction of travel is called the master locomotive, and the others are called slave locomotives. Train dynamics tests show that the synchronization between the master and slave locomotives directly affects the train's longitudinal dynamic performance; better synchronization results in better longitudinal dynamic performance and smoother operation, and vice versa. Currently, a wireless synchronous control system is mainly used to achieve synchronous control of the master and slave locomotives. Its basic principle is that the master locomotive exchanges commands, status, and fault information with each slave locomotive via wireless communication, thereby achieving synchronous control of all slave locomotives.

[0003] However, existing wireless synchronization control systems, whether using LTE-L, GSM-R, or radio communication, are constrained by communication delays and jitter, making it difficult to guarantee synchronization. To improve control synchronization, a Chinese patent application titled "A Synchronization Control System and Method for Heavy-Duty Locomotive Signals" proposes outputting synchronization signals via GSM-R at 50ms heartbeat intervals. The Automatic Train Protection (ATP) / Automatic Train Operation (ATO) system captures and tracks these synchronization signals in real time. If a synchronization signal misalignment occurs, resynchronization is achieved by comparing a mirror counter. The main idea is to synchronize master and slave locomotive control commands using 50ms heartbeat messages, and resynchronize via a mirror counter when the heartbeat message fails. Essentially, this aims to improve the synchronization of relatively low-frequency control messages through high-frequency, low-latency heartbeat messages. However, all wireless communication is affected by the surrounding environment and the performance of the equipment itself, making communication delays and jitter unavoidable, and thus still difficult to guarantee synchronization. Summary of the Invention

[0004] This invention provides a master-slave locomotive control method, combined train and equipment based on time synchronization, to solve the problem that existing methods are constrained by communication delay and communication jitter, making it difficult to guarantee synchronization.

[0005] In a first aspect, embodiments of the present invention provide a master-slave locomotive control method based on time synchronization, comprising:

[0006] Maintain time synchronization between the master locomotive and all slave locomotives;

[0007] In response to the user's operation command, the main control locomotive generates control commands and determines the execution time of the control commands;

[0008] The master locomotive uses wireless communication to send control commands and the execution time of the control commands to each slave locomotive;

[0009] When the execution time arrives, the master locomotive and each slave locomotive execute the control commands.

[0010] In one embodiment, maintaining time synchronization between the master locomotive and each slave locomotive includes:

[0011] The master locomotive and each slave locomotive use a high-precision clock source as the system time;

[0012] The time of the Global Positioning System is obtained according to the preset calibration cycle, and the time of each high-precision clock source is calibrated to ensure that the system time of the master locomotive is synchronized with that of each slave locomotive.

[0013] In one embodiment, the preset calibration period is determined according to the following expression:

[0014]

[0015] in, Indicates the preset calibration cycle. This indicates the error of the high-precision clock source. This indicates the system's allowable error.

[0016] In one embodiment, determining the execution time of the control command includes:

[0017] The control commands are executed at the same time in the master locomotive and each slave locomotive, and the time difference between the execution time and the current time is greater than or equal to the maximum value of the wireless communication delay time of each slave locomotive.

[0018] In one embodiment, determining the execution time of the control command includes:

[0019] Obtain the control loop delay time of the master locomotive and the control loop delay time of each slave locomotive;

[0020] Based on the control loop delay time of the master locomotive and the control loop delay time of each slave locomotive, time compensation is performed on the execution time of the control command in the master locomotive and the execution time of the control command in each slave locomotive.

[0021] In one embodiment, time compensation is performed on the execution time of control commands in the master locomotive and the execution time of control commands in each slave locomotive, including:

[0022] The time difference between the execution time of the control command in the master locomotive and the execution time of the control command in each slave locomotive is equal to the time difference between the control loop delay time of the master locomotive and the control loop delay time of each slave locomotive, so as to synchronize the response of the master locomotive and each slave locomotive to the control command.

[0023] In one embodiment, when asynchronous control is implemented between the master locomotive and each slave locomotive, the method further includes:

[0024] The execution time of control commands in the master locomotive and each slave locomotive is reduced by the corresponding lead time, or the corresponding lag time is added.

[0025] In a second aspect, embodiments of the present invention provide a combined train, comprising: a master locomotive and at least one slave locomotive; the combined train is controlled by a master-slave locomotive control method based on time synchronization as described in any of the first aspects.

[0026] Thirdly, embodiments of the present invention provide an electronic device, comprising:

[0027] At least one processor and memory;

[0028] The memory stores the instructions that the computer executes;

[0029] At least one processor executes computer execution instructions stored in memory, causing the at least one processor to perform the time-synchronized master-slave locomotive control method as described in any of the first aspects.

[0030] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the time-synchronized master-slave locomotive control method as described in any of the first aspects.

[0031] The time-synchronized master-slave locomotive control method, combined train, and equipment provided in this invention maintain time synchronization between the master locomotive and each slave locomotive. In response to user operation commands, the master locomotive generates control commands and determines their execution time. The master locomotive wirelessly transmits the control commands and their execution times to each slave locomotive. When the execution time arrives, the master locomotive and each slave locomotive execute the control commands, thus achieving synchronized control of the master and slave locomotives. Since the execution time of the control commands is no longer constrained by communication delays and jitter, the synchronization between the master and slave locomotives is well guaranteed, thereby improving the train's longitudinal dynamic performance. Attached Figure Description

[0032] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0033] Figure 1 This is a schematic diagram of a wireless synchronous control system provided in an embodiment of the present invention;

[0034] Figure 2 A flowchart of a time-synchronized master-slave locomotive control method provided in an embodiment of the present invention;

[0035] Figure 3 A schematic diagram illustrating the effects of time error according to an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of master-slave time synchronization provided in an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the control command response time difference provided in an embodiment of the present invention;

[0038] Figure 6 A schematic diagram of timing differences provided in an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of asynchronous locomotive control provided in an embodiment of the present invention.

[0040] The accompanying drawings have illustrated specific embodiments of the invention, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0041] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of this application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to this application are not shown or described in the specification. This is to avoid obscuring the core parts of this application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0042] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0043] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0044] The control mode of the wireless synchronous control system for combined trains is as follows: Figure 1 As shown, a typical wirelessly coupled train consists of several locomotives, with 105-108 cars placed between each locomotive. The locomotive at the front in the direction of travel is called the master locomotive, and the others are called slave locomotives. The master locomotive exchanges control commands, locomotive status, and system fault information with each slave locomotive via wireless communication, achieving synchronous control of the slave locomotives. The slave locomotives receive commands from the master locomotive. Understandably, due to delays and jitter in wireless communication, slave locomotive control commands are always later than those of the master locomotive, which is the main factor causing control asynchrony. Delay is an important indicator in network communication, consisting of four key components: processing delay, queuing delay, transmission delay, and propagation delay, which can vary due to various factors. Jitter is based on delay—specifically, it's the inconsistency between the delay values ​​of consecutive data packets. Jitter is the difference between the delay values ​​of two data packets. Communication delays and jitter can cause control commands to be out of sync, easily leading to longitudinal impulses in the train. To eliminate the impact of wireless communication delays and jitter on the synchronization of master and slave locomotives, this application proposes a master-slave locomotive control method based on time synchronization. This method assumes that the master and slave locomotives are synchronized in time, and uses agreed-upon time information carried in communication messages to specify that the master and slave locomotives will execute control actions at a future time, thereby achieving precise timing control. The method provided in this application will be described in detail below through specific embodiments.

[0045] Figure 2 This is a flowchart illustrating a time-synchronized master-slave locomotive control method according to an embodiment of the present invention. Figure 2 As shown, the time-synchronized master-slave locomotive control method provided in this embodiment includes:

[0046] S101. Maintain time synchronization between the master locomotive and each slave locomotive.

[0047] Maintaining time synchronization between the master locomotive and each slave locomotive is a prerequisite for achieving precise control of the master and slave locomotives. In one optional implementation, a Global Positioning System (GPS) and a high-precision clock source can be used to achieve time synchronization between the master locomotive and each slave locomotive.

[0048] S102. In response to the user's operation command, the main control locomotive generates control commands and determines the execution time of the control commands.

[0049] When a user (such as a driver) operates the main control locomotive, the main control locomotive will generate corresponding control commands based on the user's input operation instructions, and determine the execution time of the control commands in the main control locomotive and each slave locomotive.

[0050] S103. The main control locomotive uses wireless communication to send control commands and the execution time of the control commands to each slave control locomotive.

[0051] The master locomotive can use wireless communication, such as sending communication messages to each slave locomotive, to transmit control commands and their execution times. Once each slave locomotive receives the communication message, it can extract the execution time of the control command. The formats of the master and slave locomotive messages are shown in Table 1, where the agreed-upon time represents the execution time of the control command.

[0052] Table 1

[0053]

[0054] S104. When the execution time arrives, the master locomotive and each slave locomotive execute the control command.

[0055] When the agreed time arrives, that is, when the execution time arrives, the master locomotive and each slave locomotive execute control commands to achieve synchronous control of the master and slave locomotives.

[0056] By agreeing on the execution time of control commands between the master locomotive and each slave locomotive, the effects of wireless communication delay and jitter in the wireless synchronous control system are eliminated, achieving precise synchronous execution of control commands and eliminating the impact of communication delay and jitter on synchronization.

[0057] The time-synchronized master-slave locomotive control method provided in this embodiment maintains time synchronization between the master locomotive and each slave locomotive. In response to user operation commands, the master locomotive generates control commands and determines their execution time. The master locomotive wirelessly transmits the control commands and their execution times to each slave locomotive. When the execution time arrives, the master locomotive and each slave locomotive execute the control commands, thus achieving synchronized control of the master and slave locomotives. Since the execution time of the control commands is no longer constrained by communication delays and jitter, the synchronization between the master and slave locomotives is well guaranteed, thereby improving the train's longitudinal dynamic performance.

[0058] To achieve precise control of the master and slave locomotives, an agreed-upon execution time is used to ensure that the master and slave locomotives perform control actions at that specific time. This "execution time" is based on their respective system times; system time errors will affect the synchronization of control. For example... Figure 3 As shown, at 9:00, the master locomotive and the slave locomotive agree to apply the air brake at 9:05 (i.e., the execution time is 9:05). When the master locomotive's system time reaches 9:05, the air brake is applied. The slave locomotive receives the instruction at 9:02, and similarly, when its system time reaches 9:05, it applies the air brake. If the master locomotive's time is faster than the slave locomotive's... If the time is less than 1 second, the master locomotive takes precedence over the slave locomotive. The timing is shown in seconds, as indicated by arrows 3 and 5 in the diagram. Conversely, the timing of the master locomotive is slower than that of the slave locomotive. If the time is less than 1 second, the slave locomotive takes precedence over the master locomotive. The second action is shown by arrows 2 and 6 in the figure; other combinations will not be elaborated upon. Synchronization can only be ensured when the master and slave locomotives are strictly synchronized. Based on the above embodiments, this embodiment provides a time-synchronized master-slave locomotive control method to maintain time synchronization between the master locomotive and each slave locomotive. Specifically, this may include: the master locomotive and each slave locomotive using the time of a high-precision clock source as their system time; and calibrating each high-precision clock source by obtaining the time of the Global Positioning System (GPS) according to a preset calibration cycle to synchronize the system time of the master locomotive and each slave locomotive. This embodiment requires the system to have GPS and a high-precision clock source (such as...). Figure 4 As shown, the system uses the time of a high-precision clock source as its real-time time, and obtains GPS time at fixed intervals to calibrate the clock source, ensuring that the clock source error is within the allowable range.

[0059] To ensure that the clock source error is within the allowable range, the preset calibration period is determined according to the following expression:

[0060]

[0061] in, Indicates the preset calibration cycle. This indicates the error of the high-precision clock source. This indicates the system's allowable error.

[0062] Furthermore, when the GPS signal is lost for more than a set time... If the time synchronization cannot be completed on time, the system time error is deemed uncontrollable, and degraded control is implemented. Degraded control typically restricts certain train functions. This includes setting the time. Determined based on the following expression:

[0063]

[0064] in, Indicates the set time. This indicates the error of the high-precision clock source. This indicates the system's allowable error.

[0065] The following sections will provide further details on how to achieve precise control of master and slave locomotives in several specific scenarios.

[0066] Based on any of the above embodiments, to address the asynchrony of control commands caused by communication delays and jitter, the master-slave locomotive control method based on time synchronization provided in this embodiment determines the execution time of the control command. Specifically, this may include: the execution time of the control command is the same in both the master locomotive and each slave locomotive, and the time difference between the execution time and the current time is greater than or equal to the maximum value of the wireless communication delay time of each slave locomotive. In other words, when only wireless communication delays and jitter need to be eliminated, the agreed execution time is the same for both the master and slave locomotives, and the selection of this future execution time fully considers the maximum wireless communication delay time within the train formation, thereby avoiding situations where the message arrives after the agreed execution time has passed.

[0067] Besides wireless communication delay and jitter, the control loop delay time between the master and slave locomotives is also a significant factor leading to control asynchrony. A control loop typically deals with analog signals; a controller determines an output based on an input signal according to certain rules and algorithms, thus forming a control loop. In this article, the control loop specifically refers to the path taken by the control commands of the wireless synchronous control system from its output to the final actuator. The master and slave locomotive control command loops differ primarily because the communication and logic processing cycles of the various subsystems within the control loop between the master and slave locomotives' wireless synchronous control systems and the actuators vary, especially when the master and slave locomotives are of different models. This is another important factor causing control asynchrony. The existing wireless synchronous control system has a master-slave locomotive control command response time difference. Depending on factors such as wireless communication delay, communication jitter, and the delay time of the master-slave locomotive control loop, the relationship between master-slave locomotive control commands on the time axis is as follows: Figure 5 As shown.

[0068] After the main locomotive sends out the command The action was delayed after a few seconds due to communication jitter affecting the slave locomotive. The instruction was received in seconds, and in The action after seconds, by Figure 5 It can be known for:

[0069]

[0070] : Indicates the average delay of wireless communication between the master and slave locomotive wireless synchronization control units;

[0071] : Indicates the jitter time difference in the delay of receiving control commands from the locomotive's wireless synchronization control unit. Indicates the actual delay in wireless communication;

[0072] : Indicates the time taken for the main locomotive control command to travel through the control loop, such as Figure 1 The control command takes time to pass through control unit 0;

[0073] : Indicates the time taken for the control command of the slave locomotive to travel through the control loop, such as Figure 1 When the control command is used through control unit 1 / 2 / ... / N, This indicates the time difference between the master and slave locomotive control loops.

[0074] Synchronization control is achieved by agreeing on execution times. Synchronization is no longer directly related to communication delays and jitter; it primarily depends on the time difference between the master and slave locomotives. Figure 6 As shown. When the master and slave locomotives agree on the same time, the response time difference of the master and slave locomotive control commands is... have:

[0075]

[0076] : Indicates the time error of the master-slave locomotive wireless synchronization control unit;

[0077] When time compensation is performed on the master and slave locomotive control loops, Synchronization will be further improved. have:

[0078]

[0079] : Indicates the agreed time difference between the master and slave locomotives.

[0080] Therefore, if the delay time of the master-slave locomotive control loop can be accurately estimated, and the agreed time difference between the master and slave locomotives can be adjusted so that the agreed time difference equals the delay time difference of the master-slave locomotive control loop, then... By controlling it within a very small range, synchronization is significantly improved.

[0081] Building upon the above embodiments, to further eliminate the impact of control loop delay time in the master and slave locomotives, the master-slave locomotive control method based on time synchronization provided in this embodiment determines the execution time of the control command. Specifically, this may include: acquiring the control loop delay time of the master locomotive and the control loop delay time of each slave locomotive; and performing time compensation on the execution time of the control command in the master locomotive and the execution time of the control command in each slave locomotive based on the control loop delay time of the master locomotive and the control loop delay time of each slave locomotive. In other words, by performing time compensation on the master and slave locomotive control loops and setting different execution times for the master and slave locomotives, the impact of the master-slave locomotive control loop delay time is eliminated, thus synchronizing the response actions of the control commands. Furthermore, in an optional implementation, time compensation is performed on the execution time of the control command in the master locomotive and the execution time of the control command in each slave locomotive. Specifically, this may include: the time difference between the execution time of the control command in the master locomotive and the execution time of the control command in each slave locomotive is equal to the time difference between the control loop delay time of the master locomotive and the control loop delay time of each slave locomotive, so as to synchronize the response of the master locomotive and each slave locomotive to the control command.

[0082] It should be noted that existing control modes typically have a delay of several seconds between master and slave locomotives. Using a combination of GPS and a high-precision clock source, the system time error can be controlled to the millisecond level. The master-slave locomotive control response loop time equals the wired communication delay plus the subsystem's processing time for control commands; this is a relatively fixed delay with minimal jitter, which can be calculated or measured and eliminated through time compensation. In summary, the time-synchronized master-slave locomotive control method provided in this application, on existing systems, does not require further improvement in wireless communication real-time performance. With only minor modifications, it can reduce the original delay of several seconds to the millisecond level, effectively solving the synchronization problem in master-slave locomotive synchronous operation.

[0083] In certain special operating conditions, to improve the longitudinal dynamic performance of trains, it is necessary to adjust the timing relationship of the master and slave locomotive control. Existing control modes cannot meet the requirements for precise timing control, cannot support the adjustment of control timing, and have large timing control errors, failing to meet control requirements. The master-slave locomotive control method based on time synchronization provided in this application is essentially precise timing control. In addition to eliminating delays and achieving high timing synchronization, it can also be used for asynchronous control. For example, it can precisely control the master and slave locomotives to act according to different timing sequences such as leading, lagging, and synchronous according to the control strategy, thereby optimizing the longitudinal dynamic performance of the train. In an optional embodiment, when asynchronous control is implemented on the master locomotive and each slave locomotive, the method may further include: subtracting the corresponding leading time from the execution time of the control command in the master locomotive and each slave locomotive, or adding the corresponding lagging time. This achieves precise asynchronous control actions of the master and slave locomotives, improving the timing accuracy of asynchronous control. The asynchronous control timing can be referenced. Figure 7 As shown.

[0084] In summary, the time-synchronized master-slave locomotive control method provided in this application eliminates the dependence of master-slave locomotive control synchronization on the real-time performance of wireless communication by adopting a pre-agreed execution time for the master and slave locomotives. Even under communication conditions with low latency and high jitter, the system can still maintain high control synchronization. When used in a wireless synchronous control system, it can significantly improve system synchronization and train longitudinal dynamics performance. Furthermore, by adopting a pre-agreed execution time and compensating for the time difference in the master-slave locomotive control loops, it can still ensure a high degree of synchronization in the response actions of master and slave locomotives to control commands when different locomotive models are mixed, different subsystems are used interchangeably, or the same subsystem has different strategies for master-slave control. When used in a wireless synchronous control system, it can further improve system synchronization and train longitudinal dynamics performance. It can achieve both high synchronization in the response actions of master and slave locomotive control commands and precise asynchronous control of master and slave locomotive actions, such as the slave locomotive acting before or after the master locomotive. This supports the implementation of asynchronous control system algorithms, further improving train longitudinal dynamics performance, enhancing train operation stability, and operational safety.

[0085] This invention also provides a combined train, which may include: a master locomotive and at least one slave locomotive; the combined train is controlled by a master-slave locomotive control method based on time synchronization as described in any of the above embodiments.

[0086] This invention also provides an electronic device, which may include a memory, a processor, and a bus. The bus is used to connect the various components.

[0087] The memory stores a computer program, which, when executed by a processor, can implement the technical solutions of any of the above method embodiments.

[0088] The memory and processor are electrically connected directly or indirectly to enable data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines, such as a bus connection. The memory stores a computer program that implements a time-synchronized master-slave locomotive control method, including at least one software functional module that can be stored in the memory in the form of software or firmware. The processor executes various functional applications and data processing by running the software program and modules stored in the memory.

[0089] The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), and Electrically Erasable Programmable Read-Only Memory (EEPROM). The memory stores programs, which are then executed by the processor upon receiving execution instructions. Furthermore, the software programs and modules within the memory may include an operating system, which can include various software components and / or drivers for managing system tasks (e.g., memory management, storage device control, power management), and can communicate with various hardware or software components to provide an operating environment for other software components.

[0090] A processor can be an integrated circuit chip with signal processing capabilities. The aforementioned processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor.

[0091] This invention also provides a computer-readable storage medium storing a computer program thereon, which is executed by a processor to implement the technical solutions of any of the above method embodiments.

[0092] The various embodiments in this disclosure are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0093] The scope of protection of this disclosure is not limited to the embodiments described above. Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its scope and spirit. If such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, then the intent of this disclosure also includes such modifications and variations.

Claims

1. A master-slave locomotive control method based on time synchronization, characterized in that, include: Maintain time synchronization between the master locomotive and all slave locomotives; In response to the user's operation command, the main control locomotive generates control commands and determines the execution time of the control commands; The master locomotive transmits the control commands and the execution time of the control commands to each slave locomotive via wireless communication. When the execution time is reached, the master locomotive and each slave locomotive execute the control command; Determining the execution time of the control command includes: Obtain the control loop delay time of the master locomotive and the control loop delay time of each slave locomotive; Based on the control loop delay time of the master locomotive and the control loop delay time of each slave locomotive, time compensation is performed on the execution time of the control command in the master locomotive and the execution time of the control command in each slave locomotive.

2. The method according to claim 1, characterized in that, Maintaining time synchronization between the master locomotive and each slave locomotive includes: The master locomotive and each slave locomotive use a high-precision clock source as the system time; The time of the Global Positioning System is obtained according to the preset calibration cycle, and the time of each high-precision clock source is calibrated to ensure that the system time of the master locomotive is synchronized with that of each slave locomotive.

3. The method according to claim 2, characterized in that, The preset calibration period is determined according to the following expression: in, Indicates the preset calibration cycle. This indicates the error of the high-precision clock source. This indicates the system's allowable error.

4. The method according to claim 1, characterized in that, Determining the execution time of the control command includes: The time difference between the execution time and the current time is greater than or equal to the maximum value of the wireless communication delay time of each slave locomotive.

5. The method according to claim 1, characterized in that, The time compensation for the execution time of the control command in the master locomotive and the execution time of the control command in each of the slave locomotives includes: The time difference between the execution time of the control command in the master locomotive and the execution time of the control command in each of the slave locomotives is equal to the time difference between the control loop delay time of the master locomotive and the control loop delay time of each of the slave locomotives, so as to synchronize the response of the master locomotive and each of the slave locomotives to the control command.

6. The method according to any one of claims 1-5, characterized in that, When asynchronous control is implemented between the master locomotive and each slave locomotive, the method further includes: The execution time of the control command in the master locomotive and each slave locomotive is reduced by the corresponding lead time, or the corresponding lag time is added.

7. A combined train, characterized in that, include: One master locomotive and at least one slave locomotive; The combined train is controlled using the time-synchronized master-slave locomotive control method as described in any one of claims 1-6.

8. An electronic device, characterized in that, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the time-synchronized master-slave locomotive control method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the time-synchronized master-slave locomotive control method as described in any one of claims 1-6.

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