Chain type cooperative control method and system for high-speed train group under non-matching disturbance

Abstract

The invention discloses a chained cooperative control method and system for a high-speed train group under non-matching disturbance, and relates to the field of train operation optimizing.The method comprises the steps that basic operation resistance, matching disturbance and non-matching disturbance borne by all trains in the high-speed train group in the operation process are obtained; according to the basic operation resistance, constructing a dynamic model of each train and a communication topology of the high-speed train group formation; when it is set that the train does not have external disturbance, a first distributed control protocol is constructed based on the dynamic model and the communication topology; based on the first distributed control protocol, constructing a second distributed control protocol under the condition of adding matched interference and non-matched interference; and according to the second distributed control protocol, on the basis of constraint conditions and interference compensation, a composite distributed integral sliding mode control protocol with a feed-forward compensation item is constructed, and high-speed train group chained cooperative control is completed. The tracking error caused by non-matching interference in the running process of the high-speed train can be reduced.

Description

Technical Field

[0001] The present application relates to the field of train operation optimization, and in particular to a method and system for chain-type cooperative control of a high-speed train group under mismatched disturbances. Background Art

[0002] Building a multi-agent system is an effective strategy to improve the efficiency of transportation resources and enhance the performance of train operations, and this field has attracted widespread attention and attention. In a busy and complex railway network, when two or more trains need to approach closely, they may interfere with each other.

[0003] At present, many researchers at home and abroad have achieved a series of results in the control field of multiple high-speed train systems and proposed many algorithms with practical application value. However, existing research mainly focuses on building system models under ideal conditions, but fails to fully consider the interference problems that trains may encounter in real operating environments. Summary of the invention

[0004] The purpose of the present application is to provide a method and system for chain-type cooperative control of a high-speed train group under non-matching disturbance, which can reduce the tracking error caused by non-matching disturbance during the operation of high-speed trains.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a method for chained cooperative control of a high-speed train group under a mismatched disturbance, comprising:

[0007] The basic running resistance and external disturbances to which each train in the high-speed train group is subjected during operation are obtained; the external disturbances include matching disturbances and non-matching disturbances.

[0008] According to the basic running resistance, a dynamic model of each train and a communication topology of a high-speed train group formation are constructed.

[0009] When it is assumed that there is no external disturbance to the train, a first distributed control protocol is constructed based on the dynamic model and the communication topology.

[0010] Based on the first distributed control protocol, a second distributed control protocol is constructed with matching interference and non-matching interference added.

[0011] According to the second distributed control protocol, based on constraints and interference compensation, a composite distributed integral sliding mode control protocol with a feedforward compensation term is constructed to complete the chain cooperative control of the high-speed train group; the constraints are saturation constraint operators for the train running speed function; the interference compensation is the interference compensation obtained by observing the interference to the train through an interference observer and actively interfering.

[0012] Optionally, the dynamic model of the train is:

[0013]

[0014] Among them, x i (t) and v i (t) respectively represent the position and speed of the ith agent at time t. The agents include leaders and followers. represents the first-order derivative of the position of the ith agent at time t, represents the first-order derivative of the velocity of the ith agent at time t, u i (t) represents the control input of the i-th agent at time t, i = {1, 2, ···, n, n+1, ···, n+m}, n represents the number of followers, m represents the number of leaders, and the follower set and leader set are expressed as: F = {1, 2, ···, n}, L = {n+1, ···, n+m}; when the control input is not always 0, it means that the train is changing speed.

[0015] Optionally, the communication topology of the high-speed train group formation is:

[0016] G n+m =(V n+m ,E n+m ,A n+m ).

[0017] Among them, G n+m Represents the weighted connection matrix of nodes in the communication topology, V = {v1,v2,…,v n ,v n+1 ,…v n+m} represents the set of all nodes, represents the set of edges in the communication topology, A n+m It's G n+m The adjacency matrix of , the subscript m+n represents the sum of the number of followers and the number of leaders.

[0018] Optionally, when it is assumed that there is no external disturbance on the train, a first distributed control protocol is constructed based on the dynamic model and the communication topology, specifically including:

[0019] It is assumed that there is no external disturbance to the train.

[0020] According to the formula Determine the tracking error of the follower in the absence of external disturbances; represents the position tracking error of the ith follower, represents the velocity tracking error of the ith follower, x irepresents the position of the ith follower, x j represents the position of the jth follower, v i represents the velocity of the ith follower, v j represents the speed of the jth follower, a ij represents the connection weight between nodes i and j.

[0021] Based on the tracking error, the first distributed control protocol is constructed.

[0022] Optionally, the formula expression of the first distributed control protocol is:

[0023]

[0024] Among them, u i represents the control input of the i-th follower, k1 and k2 are control gains, k1>0, k2>0, α1 and α2 are positive constants, 0<α1<1, α2=2α1 / (α1+1).

[0025] Optionally, based on the first distributed control protocol, a second distributed control protocol is constructed under the condition of adding matching interference and non-matching interference, specifically including:

[0026] Add matching interference and non-matching interference to the dynamic model of the train to obtain the follower dynamic model and the Leader Dynamics Model Among them, d i1 (t) and d i2 (t) represent the matching interference and non-matching interference at time t, respectively; i∈F={1,2,···,n}, n represents the number of followers; x0(t) and v0(t) represent the position and velocity of the leader at time t, respectively, and u0(t) represents the control input of the leader at time t; and are the first-order derivatives of x0(t) and v0(t), respectively.

[0027] Add a differential link to the tracking error of the follower when there is no external disturbance, and get the updated tracking error in, and They represent the updated position tracking error and updated velocity tracking error of the i-th follower at time t, respectively; and Indicates the position tracking error and speed tracking error of the train when it is moving at a uniform speed; k u and k d is the differential link gain; represents the first-order derivative of the follower's position at time t, Represents the first-order derivative of the follower's velocity at time t.

[0028] According to the follower dynamics model and the leader dynamics model, based on the updated tracking error, the train running trajectory is tracked and a second distributed control protocol is determined.

[0029] Optionally, the formula expression of the second distributed control protocol is:

[0030]

[0031] In the formula, u i represents the control input of the i-th follower, k1 and k2 are control gains, k1>0, k2>0, α1 and α2 are positive constants, 0<α1<1, α2=2α1 / (α1+1).

[0032] Optionally, the formula expression of the composite distributed integral sliding mode control protocol with feedforward compensation term is:

[0033]

[0034] In the formula, k0>0, k1>0, k2>0, represents the disturbance observer’s estimate of the system velocity, represents the disturbance observer's estimate of the disturbance to the system, i∈F, s j is the integral sliding surface of the system, and dτ represents the derivative with respect to time.

[0035] In a second aspect, the present application provides a high-speed train group chain-type cooperative control system under non-matching disturbance, comprising:

[0036] The information acquisition module is used to obtain the basic running resistance and external disturbances suffered by each train in the high-speed train group during operation; the external disturbances include matching interference and non-matching interference.

[0037] The model building module is used to build the dynamic model of each train and the communication topology of the high-speed train group formation according to the basic running resistance.

[0038] The first control protocol building module is used to build a first distributed control protocol based on the dynamic model and the communication topology when it is assumed that there is no external disturbance on the train.

[0039] The second control protocol construction module is used to construct a second distributed control protocol based on the first distributed control protocol under the condition of adding matching interference and non-matching interference.

[0040] A collaborative control module is used to construct a composite distributed integral sliding mode control protocol with a feedforward compensation term based on constraints and interference compensation according to the second distributed control protocol to complete the chain collaborative control of the high-speed train group; the constraints are saturation constraint operators for the train running speed function; the interference compensation is interference compensation obtained by observing the interference suffered by the train through an interference observer and actively interfering.

[0041] Optionally, the formula expression of the first distributed control protocol in the first control protocol building module is:

[0042]

[0043] Among them, u i represents the control input of the ith follower, k1 and k2 are control gains, k1>0, k2>0, α1 and α2 are positive constants, 0<α1<1, α2=2α1 / (α1+1), represents the position tracking error of the ith follower, represents the velocity tracking error of the i-th follower.

[0044] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0045] The present application provides a method and system for chained cooperative control of a high-speed train group under non-matching disturbances. The method can obtain the basic running resistance and external disturbances encountered by each train in the train group during operation, wherein the external disturbances include matching disturbances and non-matching disturbances. By analyzing the basic running resistance, the dynamic model of each train and the communication topology of the high-speed train group formation are constructed. Under the assumption that the train is not subject to external disturbances, a first distributed control protocol is designed based on the dynamic model and the communication topology. Subsequently, a second distributed control protocol is further constructed under the consideration of matching disturbances and non-matching disturbances. Based on the second distributed control protocol, and in combination with constraints and disturbance compensation, a composite distributed integral sliding mode control protocol including a feedforward compensation term is proposed to realize chained cooperative control of a high-speed train group. By introducing a vehicle formation control strategy, the present application takes into account the matching disturbances and non-matching disturbances that the train may encounter during operation, ensuring that the train can travel at the desired cruising speed and safe distance, while ensuring the safety and efficient operation of the entire high-speed train system. Based on the theories of multi-agent systems and vehicle formation control, the present application provides an integral sliding mode control protocol that can be used to solve the chain instability problem that occurs when a high-speed train group runs under non-matching interference conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. 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 paying creative work.

[0047] Figure 1 A flow chart of a method for chain-type cooperative control of a high-speed train group under a mismatched disturbance provided in Example 1 of the present application.

[0048] Figure 2 A schematic diagram of the coordinated operation of high-speed trains provided in Example 1 of the present application.

[0049] Figure 3 This is a communication topology diagram of a high-speed train group formation provided in Example 1 of the present application.

[0050] Figure 4 A schematic diagram of the speed of a high-speed train under constraint conditions provided in Example 1 of the present application.

[0051] Figure 5 This is an estimated error curve of non-matching interference and matching interference of a high-speed train provided in Example 1 of the present application.

[0052] Figure 6 This is a curve of estimated values ​​of non-matching interference and matching interference of a high-speed train provided in Example 1 of the present application.

[0053] Figure 7 This is the speed consistency curve for cooperative control of a high-speed train group provided in Example 1 of the present application.

[0054] Figure 8 This is the high-speed train group collaborative control position consistency curve provided in Example 1 of the present application.

[0055] Fig. 9 This is the integral sliding surface curve of the high-speed train group cooperative control system provided in Example 1 of the present application without the feedforward compensation term.

[0056] Fig.10 It is the integral sliding surface curve of the high-speed train group cooperative control system provided in Example 1 of the present application plus the feedforward compensation term.

[0057] Fig.11 This is a speed tracking error curve of the high-speed train group cooperative control system without a differential link provided in Example 1 of the present application.

[0058] Fig.12 This is the speed tracking error curve of the high-speed train group cooperative control system provided in Example 1 of the present application after adding a differential link.

[0059] Fig.13 This is a structural block diagram of a chain-type cooperative control system for a high-speed train group under a mismatched disturbance provided in Example 2 of the present application.

[0060] Fig.14 This is a block diagram of the device structure provided in Example 3 of the present application. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0062] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0063] Embodiment 1

[0064] like Figure 1 As shown, this embodiment provides a chain-type cooperative control method for a high-speed train group under a mismatched disturbance, comprising:

[0065] Step 101: Obtain the basic running resistance and external disturbances to which each train in the high-speed train group is subjected during operation; the external disturbances include matching disturbances and non-matching disturbances.

[0066] Step 102: constructing a dynamic model of each train and a communication topology of a high-speed train group formation according to the basic running resistance.

[0067] Step 103: When it is assumed that there is no external disturbance to the train, a first distributed control protocol is constructed based on the dynamic model and the communication topology.

[0068] Step 104: Based on the first distributed control protocol, a second distributed control protocol is constructed with matching interference and non-matching interference added.

[0069] Step 105: According to the second distributed control protocol, based on constraints and interference compensation, a composite distributed integral sliding mode control protocol with a feedforward compensation term is constructed to complete the chained collaborative control of the high-speed train group; the constraints are saturation constraint operators for the train speed function; the interference compensation is interference compensation obtained by observing the interference suffered by the train through an interference observer and actively interfering.

[0070] In some implementations of this embodiment, when executing step 102, the specific steps may be as follows:

[0071] Considering the basic running resistance and external disturbances of the train during operation, the leader-follower problem is considered, such as Figure 2 As shown in the figure, the second-order nonlinear dynamic model of each train in the multi-agent system is established as follows:

[0072]

[0073] Where i = {1, 2, ···, n, n+1, ···, n+m}, n represents the number of followers, m represents the number of leaders, and the follower set and leader set are expressed as: F = {1, 2, ···, n}, L = {n+1, ···, n+m}; where x i (t) and v i (t) respectively represent the position and speed of the ith agent at time t. The agents include leaders and followers. represents the first-order derivative of the position of the ith agent at time t, represents the first-order derivative of the velocity of the ith agent at time t, u i (t) represents the control input. When the control input is not always 0, it means that the train is changing speed, which is more in line with the actual operation of the train.

[0074] Combined with algebraic graph theory knowledge, the communication topology of high-speed train group formation is established based on the adjacent communication method; the communication topology of high-speed train group formation can be described as G n+m =(V n+m ,E n+m ,A n+m ), where G n+m Represents the weight connection matrix of the node, V={v1,v2,…,v n ,v n+1 ,…v n+m} represents the set of all nodes, represents the set of edges, A n+m =[a ij ]∈R (n+m)×(n+m) It's G n+m The adjacency matrix of the communication topology is n+m =[l ij ]∈R (n+m)×(n+m) can be described as:

[0075]

[0076] Among them, L f ∈R n×n , L d ∈Rn×m , l ij is the relationship between node i and node j.

[0077] In some implementations of this embodiment, when executing step 103, the specific steps may be as follows:

[0078] Firstly, considering the case where there is no external interference, a distributed control protocol is designed so that the states of each follower can be inclusively controlled within a limited time.

[0079] The tracking error is defined as follows:

[0080]

[0081] In the formula, represents the position tracking error, represents the speed tracking error, x i represents the position of the ith follower, x j represents the position of the jth follower, v i represents the velocity of the ith follower, v j represents the speed of the ith follower, a ij is the node connection weight.

[0082] Based on the tracking error, the first distributed control protocol is constructed. The formula expression of the first distributed control protocol is:

[0083]

[0084] In the formula, u i represents the control input, k1, k2>0, 0<α1<1, α2=2α1 / (α1+1); sig α (x i )=|x i α sgn(x i );sgn(·) represents the sign function;sig α (x) = [sig α (x1),sig α (x2),…,sig α (x n )] T ; α1 and α2 are normal numbers.

[0085] Specifically, there is one-way communication between leaders and followers, and two-way communication between followers. Each agent can receive state information and interference estimation information from the adjacency matrix. Communication topology G of a multi-leader-follower multi-agent system n+m Contains at least one directed spanning tree. Distributed control protocols can achieve consistent control within a limited time.

[0086] In some implementations of this embodiment, when executing step 104, the specific steps may be as follows:

[0087] Considering a multi-agent system with multi-source interference, the matching interference and non-matching interference in the actual operation of the train are introduced, and its follower dynamics model can be written as:

[0088]

[0089] Among them, d i1 (t) and d i2 (t) represent matching interference and non-matching interference respectively; i∈F={1,2,···,n}, n represents the number of followers; x0(t) and v0(t) represent the position and velocity of the leader respectively, and u0(t) represents the control input of the leader; and are the first-order derivatives of x0(t) and v0(t), respectively.

[0090] In this embodiment, a system with one leader and four followers is considered. Figure 3 As shown, in order to better apply this system to practice, consider the case of a second-order dynamic leader, whose leader dynamics model can be written as:

[0091]

[0092] Where u0(t) represents the control input of the leader; various information of the leader will be given by actual data.

[0093] At the same time, in order to reduce the impact of interference on the system, ensure that the tracking error is always kept within an acceptable range and converges within a limited time range, a differential link is added to certain sections of the original tracking error. At this time, the updated tracking error is as follows:

[0094]

[0095] In the formula, and They represent the updated position tracking error and updated velocity tracking error of the follower at time t respectively; and and It represents the position tracking error and velocity tracking error of the train when it is moving at a constant speed. For a system with a leader, and It can be written as:

[0096]

[0097] The differential link set to reduce tracking error is as follows:

[0098]

[0099] In the formula, k u and k d is the differential link gain that needs to be designed, represents the first-order derivative of the follower's position at time t, represents the first-order derivative of the speed of the follower at time t. At this time, the second distributed control protocol set for tracking the train running trajectory is as follows:

[0100]

[0101] In the formula, control gain k1, k2>0, 0<α1<1, α2=2α1 / (α1+1), sig α (x i )=|x i | α sgn(x i ), sgn(·) represents the sign function, sig α (x) = [sig α (x1),sig α (x2),···,sig α (x n )] T .

[0102] In some implementations of this embodiment, when executing step 105, the specific steps may be as follows:

[0103] A key factor affecting the operation of high-speed trains is the non-uniformity of line characteristics. For example, the interference to trains is different between mountainous and flat terrains, and the average speed is also different. Due to the existence of these non-uniformities, the obtained train operation data fluctuates greatly. If it is directly written into the system, it will inevitably lead to large train tracking errors. To solve this problem, this embodiment proposes a distributed control protocol, the purpose of which is to use an algorithm to limit the actual speed within a certain set, thereby reducing the error. The protocol relies on state estimation and information transmission, as well as a dynamic speed constraint set.

[0104] Assume that in the speed regulation phase, the leader train needs certain constraints to keep its speed within the set. is a saturation constraint operator for the train speed function defined in this embodiment, denoted as The details are as follows:

[0105]

[0106] in, and v are two constants, which are the upper and lower bounds of the speed constraints of the train in the acceleration and braking phases, respectively, and are related to the average speed of the train running in the small section, such as Figure 4 Shown is a schematic diagram of the speed of a high-speed train under constraints.

[0107] Consider the following system:

[0108]

[0109] In the communication topology of the train formation, is the saturation constraint operator for train control input, L f It is positive. is a non-negative matrix and its row sum is 1, so we have in is an intermediate variable. Then the tracking error can be expressed as:

[0110]

[0111] To prove the stability of the control protocol, the Lyapunov function is constructed:

[0112]

[0113] Find the first-order derivative of V1:

[0114]

[0115] When V1=0,ω v = 0. Due to L f is a positive definite matrix, so because so The first-order differential equation is:

[0116]

[0117] In the formula, It is not difficult to conclude x = 0. Therefore, only when the equilibrium point V1 = 0, ω x =0,ω v = 0. According to Lyapunov's second stability theorem, the system is asymptotically stable at the equilibrium point. Distributed control protocols can achieve consistent control.

[0118] For the dynamic system, assuming r2=1+α1,κ=α1-1, then:

[0119]

[0120]

[0121] In continuous nonlinear systems x(0)=x0∈R n In the continuous vector flow f(x) = [f1(x),…,f n (x)] T With the expansion r = [r1, r2…, r n ],r i > 0 is homogeneous if for any ε > 0, x∈R n Both The above results show that the multi-agent system is homogeneous with degree κ=α1-1<0, and κ<0, that is, the system can achieve consistent control in a finite time.

[0122] Design a disturbance observer. For a general system, we know:

[0123]

[0124] in, is the first-order derivative of the state quantity, u is the control quantity, d is the system disturbance; f and g are known parameters, and the nonlinear disturbance observer is designed as follows:

[0125]

[0126] Where λ1,λ2>0, the observer converges in a finite time. Based on this, a nonlinear disturbance observer is designed for this system to estimate the state and disturbance information of the system in a finite time, as follows:

[0127]

[0128] in, is an estimate, z i1 and z i2 is an intermediate quantity, which is the observed gain. Then we have:

[0129]

[0130] Referring to the general system disturbance observer mentioned above, it can be concluded that there is an observation gain greater than zero, so that the disturbance observer converges in a finite time, that is, When t∈[0,T * ]hour, Bounded, when t>T * hour,

[0131] Among them, a design method of a composite distributed integral sliding mode control protocol with a feedforward compensation term is as follows:

[0132] In order to ensure that the tracking error converges completely, the following nonlinear dynamic integral sliding membrane function is designed:

[0133]

[0134] When t = 0, s i (0) = 0, indicating that the initial state of each agent is on the integral sliding surface. Based on the above new control protocol and the above nonlinear integral sliding surface, a composite distributed control protocol is designed, as follows:

[0135]

[0136] In the formula, k0, k1, k2>0, represents the disturbance observer’s estimate of the system velocity, Represents the estimated value of the disturbance observer on the system, i∈F, s j is the integral sliding surface of the system, and dτ represents the derivative with respect to time.

[0137] This embodiment directly observes the interference and adds an interference compensation item in the controller, which can effectively offset the influence of the interference without affecting the performance of the system.

[0138] Stability analysis of sliding surface is a key step in control system design, guiding controller design and parameter evaluation to ensure that the system remains stable and has the required performance under uncertain disturbances.

[0139] First, s i (t) Find the first-order derivative:

[0140]

[0141] Then, convert the above equation into matrix form:

[0142]

[0143] Where λ1=diag{λ 11 ,λ 21 ,···,λ n1},λ2=diag{λ 12 ,λ 22 ,···,λ n2},λ3=diag{λ 13 ,λ 23 ,···,λ n3}, The Lyapunov function is constructed as follows, and its first-order derivative is calculated:

[0144]

[0145] in,

[0146] In addition, this application takes a high-speed intercity railway as an example and selects a section between city A and city B. The maximum speed of this section of railway is 310km / h. The real data of the section is imported, and the designed system is simulated in the Matlab environment. In the simulation, the number of leader trains in the train formation is 1, and the number of follower trains is 4. The interference of the trains, the running status, the tracking error of the system, the convergence of the sliding surface, etc. are simulated.

[0147] First, according to the train communication topology diagram, the Laplace matrix is ​​given:

[0148]

[0149] To simplify the calculation process, remember:

[0150]

[0151] In the simulation, the disturbance and parameter settings are as follows:

[0152] Train 1: D 1,1 =2tanh(2t),d 1,2 =2, Train 2: d 2,1 =4tanh(t),d 2,2 =1, Train 3: d 3,1 =sigmoid(t),d 3,2 =2sigmoid(2t), train 4: d 4,1 =3sigmoid(t),d 4,2 = -tanh(t). Where d i,1 ,d i,2 (i=1, 2, 3, 4) represent the matching interference and non-matching interference of the train respectively.

[0153] The differential gain in the tracking error is set as: k u =0.05,k d =0.1.

[0154] The controller parameters are set as: k0=10, k1=20, k2=30, α1=0.8.

[0155] The disturbance observer parameters are set as: i,1 =10,λ i,2 =20,λ i,3 =15,λ i,4 =32,i=1,2,3,4.

[0156] The initial position of the train: x1=0, x2=0, x3=0, x4=0, x0=0.

[0157] Set the simulation step size to 0.12s and the simulation time to 1800s. The simulation results are as follows Figure 5-Figure 12 shown.

[0158] By analyzing Figure 5 (a) and (b) in Figure 6 From (a) and (b) in FIG. 1 , it can be concluded that the interference error converges to zero quickly, which indicates that the interference observer provided in the present application can accurately estimate the interference in the system and has good tracking performance.

[0159] By analyzing Figure 7 , Figure 8 , it can be concluded that during the operation, the four trains as followers move in the same direction at a certain speed. All followers can converge to the speed of the leader in a very short time, achieving consistent control in a limited time. This is very important for the practical application and operation of high-speed train systems, ensuring a safe distance between trains and stable operation, thereby improving the efficiency and reliability of the entire system.

[0160] By analyzing Fig. 9 , Fig.10 ,It can be concluded that, with the improved integral sliding mode controller with feedforward compensation term, the four trains are always on the sliding surface, which shows that the control algorithm proposed in this application has been well applied to the multi-agent system and successfully realizes finite-time consistency control.

[0161] By analyzing Fig.11 , Fig.12 ,It can be concluded that the composite distributed control protocol finally designed can effectively solve the problem of chain instability caused by interference in the train, which is intuitively reflected in this application through speed tracking error. Under the guidance of the composite distributed control protocol, the system can quickly eliminate the influence of interference and converge the state of the follower to the state of the leader, thereby achieving a consistent control goal.

[0162] The train distributed cooperative control algorithm with adjusted parameters is loaded into the on-board equipment of the train automatic operation system ATO, so as to realize the tracking operation of the high-speed train group.

[0163] Embodiment 2

[0164] like Fig.13 As shown, this embodiment provides a high-speed train group chain-type cooperative control system under non-matching disturbance, including:

[0165] The information acquisition module 1301 is used to obtain the basic running resistance and external disturbances encountered by each train in the high-speed train group during operation; the external disturbances include matching interference and non-matching interference.

[0166] The model building module 1302 is used to build the dynamic model of each train and the communication topology of the high-speed train group formation according to the basic running resistance.

[0167] The first control protocol construction module 1303 is used to construct a first distributed control protocol based on the dynamic model and the communication topology when it is assumed that there is no external disturbance on the train.

[0168] The second control protocol construction module 1304 is used to construct a second distributed control protocol based on the first distributed control protocol under the condition of adding matching interference and non-matching interference.

[0169] The collaborative control module 1305 is used to construct a composite distributed integral sliding mode control protocol with a feedforward compensation term based on the constraints and interference compensation according to the second distributed control protocol to complete the chain collaborative control of the high-speed train group; the constraints are the saturation constraint operator for the train speed function; the interference compensation is the interference compensation obtained by observing the interference suffered by the train through an interference observer and actively interfering.

[0170] The first control protocol building module is used to build a formula expression: The first distributed control protocol.

[0171] Among them, u i represents the control input of the ith follower, k1 and k2 are control gains, k1>0, k2>0, α1 and α2 are positive constants, 0<α1<1, α2=2α1 / (α1+1); sig α (x i )=|x i α sgn(x i );sgn(·) represents the sign function;sig α (x) = [sig α (x1),sig α (x2),…,sig α (x n )] T ; α1 and α2 are normal numbers.

[0172] Embodiment 3

[0173] See also Fig.14The electronic device provided in this embodiment includes a processor 1410, a communication interface 1420, a memory 1430 and a communication bus 1440, wherein the processor 1410, the communication interface 1420, and the memory 1430 communicate with each other through the communication bus 1440.

[0174] The memory 1430 is used to store computer programs.

[0175] The processor 1410 is used to implement the chain-type cooperative control method of a high-speed train group under mismatched disturbances as shown below when executing the program stored in the memory 1430.

[0176] The communication bus 1440 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus 1440 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0177] The communication interface 1420 is used for communication between the above electronic device and other devices.

[0178] The memory 1430 may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory 1430 may also be at least one storage device located away from the processor 1410.

[0179] The above-mentioned processor 1410 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0180] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0181] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A chain-type cooperative control method for a high-speed train group under mismatched disturbance, characterized in that: include: Obtain the basic running resistance and external disturbances to which each train in the high-speed train group is subjected during operation; The external disturbance includes matching disturbance and non-matching disturbance; According to the basic running resistance, constructing a dynamic model of each of the trains and a communication topology of a high-speed train group formation; When it is assumed that there is no external disturbance on the train, constructing a first distributed control protocol based on the dynamic model and the communication topology; Based on the first distributed control protocol, constructing a second distributed control protocol under the condition of adding matching interference and non-matching interference; According to the second distributed control protocol, based on constraints and interference compensation, a composite distributed integral sliding mode control protocol with a feedforward compensation term is constructed to complete the chain cooperative control of the high-speed train group; the constraints are saturation constraint operators for the train running speed function; the interference compensation is the interference compensation obtained by observing the interference to the train through an interference observer and actively interfering.

2. The method for chained cooperative control of high-speed train groups under mismatched disturbance according to claim 1 is characterized in that: The dynamic model of the train is: Among them, x i (t) and v i (t) respectively represent the position and speed of the ith agent at time t. The agents include leaders and followers. represents the first-order derivative of the position of the ith agent at time t, represents the first-order derivative of the velocity of the ith agent at time t, u i (t) represents the control input of the i-th agent at time t, i = {1, 2, ···, n, n+1, ···, n+m}, n represents the number of followers, m represents the number of leaders, and the follower set and leader set are expressed as: F = {1, 2, ···, n}, L = {n+1, ···, n+m}; when the control input is not always 0, it means that the train is changing speed.

3. The method for chained cooperative control of high-speed train groups under non-matching disturbance according to claim 2 is characterized in that: The communication topology of the high-speed train group formation is: G n+m =(V n+m ,E n+m ,A n+m ); Among them, G n+m Represents the weighted connection matrix of nodes in the communication topology, V = {v1,v2,…,v n ,v n+1 ,…v n+m } represents the set of all nodes, represents the set of edges in the communication topology, A n+m It's G n+m The adjacency matrix of , the subscript m+n represents the sum of the number of followers and the number of leaders.

4. The method for chained cooperative control of high-speed train groups under non-matching disturbance according to claim 3 is characterized in that: When it is assumed that there is no external disturbance on the train, a first distributed control protocol is constructed based on the dynamic model and the communication topology, specifically including: Assuming that there is no external disturbance on the train; According to the formula Determine the tracking error of the follower in the absence of external disturbances; represents the position tracking error of the ith follower, represents the velocity tracking error of the ith follower, x i represents the position of the ith follower, x j represents the position of the jth follower, v i represents the velocity of the ith follower, v j represents the speed of the jth follower, a ij represents the connection weight between nodes i and j; Based on the tracking error, the first distributed control protocol is constructed.

5. The method for chained cooperative control of high-speed train groups under mismatched disturbance according to claim 4 is characterized in that: The formula expression of the first distributed control protocol is: Among them, u i represents the control input of the i-th follower, k1 and k2 are control gains, k1>0, k2>0, α1 and α2 are positive constants, 0<α1<1, α2=2α1 / (α1+1).

6. The method for chained cooperative control of high-speed train groups under mismatched disturbance according to claim 5, characterized in that: Based on the first distributed control protocol, a second distributed control protocol is constructed under the condition of adding matching interference and non-matching interference, which specifically includes: Add matching interference and non-matching interference to the dynamic model of the train to obtain the follower dynamic model and the Leader Dynamics Model Among them, d i1 (t) and d i2 (t) represent the matching interference and non-matching interference at time t, respectively; i∈F={1,2,···,n}, n represents the number of followers; x0(t) and v0(t) represent the position and velocity of the leader at time t, respectively, and u0(t) represents the control input of the leader at time t; and are the first-order derivatives of x0(t) and v0(t), respectively; Add a differential link to the tracking error of the follower when there is no external disturbance, and get the updated tracking error in, and They represent the updated position tracking error and updated velocity tracking error of the i-th follower at time t, respectively; and Indicates the position tracking error and speed tracking error of the train when it is moving at a uniform speed; k u and k d is the differential link gain; represents the first-order derivative of the follower's position at time t, represents the first-order derivative of the velocity of the follower at time t; According to the follower dynamics model and the leader dynamics model, based on the updated tracking error, the train running trajectory is tracked and a second distributed control protocol is determined.

7. The method for chained cooperative control of a high-speed train group under non-matching disturbance according to claim 6 is characterized in that: The formula expression of the second distributed control protocol is: In the formula, u i represents the control input of the i-th follower, k1 and k2 are control gains, k1>0, k2>0, α1 and α2 are positive constants, 0<α1<1, α2=2α1 / (α1+1).

8. The method for chained cooperative control of high-speed train groups under mismatched disturbance according to claim 7, characterized in that: The formula expression of the composite distributed integral sliding mode control protocol with feedforward compensation term is: In the formula, k0>0, k1>0, k2>0, represents the disturbance observer’s estimate of the system velocity, represents the disturbance observer's estimate of the disturbance to the system, i∈F, s j is the integral sliding surface of the system, and dτ represents the derivative with respect to time.

9. A chain-type cooperative control system for high-speed train groups under non-matching disturbances, characterized in that: include: An information acquisition module is used to obtain the basic running resistance and external disturbances experienced by each train in the high-speed train group during operation; The external disturbance includes matching disturbance and non-matching disturbance; A model building module, used to build a dynamic model of each train and a communication topology of a high-speed train group formation according to the basic running resistance; A first control protocol building module, used for building a first distributed control protocol based on the dynamic model and the communication topology when it is assumed that the train does not have an external disturbance; A second control protocol construction module, configured to construct a second distributed control protocol based on the first distributed control protocol, with matching interference and non-matching interference added; A collaborative control module is used to construct a composite distributed integral sliding mode control protocol with a feedforward compensation term based on constraints and interference compensation according to the second distributed control protocol to complete the chain collaborative control of the high-speed train group; the constraints are saturation constraint operators for the train running speed function; the interference compensation is interference compensation obtained by observing the interference suffered by the train through an interference observer and actively interfering.

10. A chain-type cooperative control system for high-speed train groups under non-matching disturbances according to claim 9, characterized in that: The formula expression of the first distributed control protocol in the first control protocol building module is: Among them, u i represents the control input of the ith follower, k1 and k2 are control gains, k1>0, k2>0, α1 and α2 are positive constants, 0<α1<1, α2=2α1 / (α1+1), represents the position tracking error of the ith follower, represents the velocity tracking error of the i-th follower.

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