Dynamic marshalling method and device for virtual marshalling train at different speeds and medium

Abstract

The invention discloses a dynamic marshalling method for virtual marshalling trains at different speeds, which comprises the following steps: when two unit trains start marshalling, under the condition that the initial speed of a first unit train is different from that of a second unit train adjacent to and chasing the first unit train, acquiring the reference speed of the second unit train in the marshalling process, obtaining a reference operation interval of the two unit trains at any moment; defining an interval tracking error and a speed tracking error based on the reference operation interval, and constructing a nonsingular terminal sliding mode surface; and designing a nonsingular terminal sliding mode control strategy, and controlling the train to dynamically marshal so that the interval tracking error and the speed tracking error can reach the nonsingular terminal sliding mode surface under any initial condition and can be asymptotically converged to a zero point within finite time. According to the method, the marshalling stage control model is constructed according to the situation that the virtual marshalling train is at different speeds, the non-singular terminal sliding mode control strategy is designed, and it is ensured that the train can be safely and efficiently remarshaled in the turnout section according to task requirements.

Description

Technical Field

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

[0002] Patent CN 114326385A can achieve good results in controlling the stable operation of virtual train formations, but it does not involve much about how to ensure the safety of virtual trains and complete formation efficiently. Patent CN 116588167A assumes that the behavior of the leading vehicle is predictable, but under complex traffic conditions, the leading vehicle may make rapid behavioral adjustments, resulting in trajectory prediction errors. Therefore, the entire system may be affected by prediction errors, especially when emergencies (such as sudden stops or accelerations of the leading vehicle) occur, the control strategy of the following vehicle may not be adjusted in time, which poses a high risk.

[0003] In the existing virtual train marshaling technology, the speed difference between trains is not fully considered during the marshaling process. Most methods control the train spacing through a unified marshaling interval or a fixed speed model, but fail to effectively address the challenges brought by the speed differences of different trains in actual train operation. Especially when running at high or low speeds, the differences in the acceleration, deceleration capabilities and reaction speeds of trains will significantly affect the safety and efficiency of the marshaling process.

[0004] The control stability and robustness of virtual train systems is a major technical problem. In actual operation, trains are affected by many factors (such as uneven tracks, train state changes, and emergencies), which may cause system instability or increase in control errors. Especially in high dynamic states, traditional sliding mode control methods are often easily disturbed, resulting in control chattering or error accumulation. Summary of the invention

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

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

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

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

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

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

[0011]

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

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

[0014]

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

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

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

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

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

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

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

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

[0023]

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

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

[0026]

[0027]

[0028]

[0029]

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

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

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

[0033] In a third aspect, the present application provides a storage medium storing a computer program executable by an access authentication device, wherein when the computer program runs on the access authentication device, the access authentication device is enabled to perform the steps of any of the aforementioned dynamic grouping methods.

[0034] In general, the above technical solutions conceived by the present application can achieve the following beneficial effects compared with the prior art:

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

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the 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.

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

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

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

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

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

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

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

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

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

[0046] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as they do not conflict with each other.

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

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

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

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

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

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

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

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

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

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

[0057] d f =ζ c v1+h0(4)

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

[0059]

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

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

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

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

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

[0065]

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

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

[0068]

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

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

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

[0072]

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

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

[0075]

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

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

[0078]

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

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

[0081]

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

[0083] Step 2: Based on the reference running interval, define the interval tracking error and the velocity tracking error, and construct a non-singular terminal sliding surface.

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

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

[0086] And define the interval tracking error as:

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

[0088] Taking the first-order time derivative of the interval tracking error (i.e., the velocity tracking error) yields:

[0089]

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

[0091]

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

[0093] Taking the first-order time derivative of the non-singular terminal sliding surface, we can obtain:

[0094]

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

[0096]

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

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

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

[0100]

[0101]

[0102]

[0103]

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

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

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

[0107] Figure 5 The train speed curve diagram in case 1 of the dynamic marshaling stage provided in the embodiment of the present application. When the unit trains start to be dynamically marshaled, the actual running interval between the two unit trains is greater than the running interval required by the virtual marshaling train set, and at this time the speed of unit train 2 is less than the speed of unit train 1. Therefore, in order to complete the marshaling of the two unit trains, unit train 2 must first accelerate to a speed value greater than that of unit train 1, then decelerate to the same speed value as unit train 1, and finally run together with unit train 1 in the form of a virtual marshaling train set.

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

[0109] Figure 7 The train speed curve diagram for the dynamic marshaling stage situation 2 provided by the embodiment of the present application. Since the speed of unit train 2 is greater than that of unit train 1 during the marshaling process, the reference running interval and the actual running interval are constantly decreasing. It can be seen from Figure 7 that the rate of curve reduction is different, because in the early stage of the marshaling process, the speed of train 2 is large, and the rate of curve reduction is the largest at this time. In the middle stage of the marshaling process, train 2 moves at a constant speed, and the rate of curve reduction remains unchanged at this time. In the late stage of the marshaling process, the speed of train 2 is small, and the rate of curve reduction is the smallest at this time.

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

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

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

[0113] Fig. 9 A block diagram of an electronic device suitable for implementing the dynamic grouping method described above according to an embodiment of the present application is schematically shown. Fig. 9 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

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

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

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

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

[0118] The embodiments of the present application also provide a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments, or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the steps of the dynamic grouping method according to the embodiments of the present application can be implemented.

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

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

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

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

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

Claims

1. A method for dynamically marshaling a virtual train at different speeds, characterized in that: include: When two unit trains start to be marshaled, if the initial speed of the first unit train is different from that of the second unit train that is adjacent to and catching up with it, obtain the reference speed of the second unit train during the marshaling process, and obtain the reference running interval of the two unit trains at any time; Defining an interval tracking error and a velocity tracking error based on the reference running interval, and constructing a non-singular terminal sliding mode surface; Considering the situation that the train parameters, the upper bound of external disturbance and the upper bound of parameter error are known, a non-singular terminal sliding mode control strategy is designed to control the dynamic formation of the train so that the interval tracking error and the speed tracking error can reach the non-singular terminal sliding mode surface under any initial conditions and can asymptotically converge to zero in a finite time.

2. The dynamic grouping method according to claim 1, characterized in that: The calculation formula for the reference speed of the second unit train during the marshaling process includes: Among them, v r (t) represents the reference speed of the second unit train during the marshaling process; v2(t1) represents the initial speed of the second unit train when the marshaling starts; [t1, t2] represents the first uniform speed motion period of the second unit train performing uniform speed motion starting from the initial time t1 when the marshaling starts; [t2, t3] represents the uniform speed motion period of the second unit train performing uniform speed motion; [t3, t4] represents the second uniform speed motion period of the second unit train performing uniform speed motion; v 稳 represents the constant speed of the second unit train in the uniform motion period; a1 represents the first acceleration of the second unit train in the first uniformly accelerated motion period; a2 represents the second acceleration of the second unit train in the second uniformly accelerated motion period.

3. The dynamic grouping method according to claim 2, characterized in that: The calculation formula for the reference running interval of two unit trains at any time includes: Among them, d r (t) represents the reference running interval; d1 represents the interval between the two train units when they start to be assembled; during the assembly process, the first train unit always moves at a constant speed of v1; t4 represents the moment when the two train units have the same speed after the assembly is completed.

4. The dynamic grouping method according to claim 3, characterized in that: Defining an interval tracking error and a velocity tracking error based on the reference running interval includes: Define the actual running interval d between two unit trains j (t) = x1(t) - x2(t); wherein x1(t) represents the real-time position of the first unit train, and x2(t) represents the real-time position of the second unit train; Define the interval tracking error e=d j (t)-d r (t); The speed tracking error is obtained by taking the first-order time derivative of the interval tracking error. Wherein, v2(t) represents the real-time speed of the second unit train during the marshaling process.

5. The dynamic grouping method according to claim 4, characterized in that: Constructing the non-singular terminal sliding surface includes: In order to ensure that the interval tracking error e converges to zero, the non-singular terminal sliding surface is designed Wherein, z and m are both positive odd numbers, and z and m satisfy 1<z / m<2,ο c is a positive constant; By taking the first-order time derivative of the non-singular terminal sliding surface, we can obtain: For the second unit train, in order to weaken the buffeting phenomenon, the sliding mode reaching law is selected as follows: Among them, j c and k c is a positive constant, α c and c are all positive odd numbers, and α c and c Satisfying 0<α c / ξ c <1.

6. The dynamic grouping method according to claim 5, characterized in that: The non-singular terminal sliding mode control strategy includes: p=p1+p2+p3+p4; Wherein, p represents the non-singular terminal sliding mode control strategy; p1 to p4 represent sub-strategies of the non-singular terminal sliding mode control strategy; c0, c1 and c2 represent coefficients of basic running resistance; m2 represents the mass of the second unit train; represents the inclination angle of the ramp; g represents the acceleration due to gravity; β represents a positive constant; G w Indicates the known upper bound of external interference; G d Indicates that the upper bound of the parameter error is known; sign() represents the sign function.

7. An electronic device, characterized in that: It comprises at least one processing unit and at least one storage unit, wherein the storage unit stores a computer program, and when the computer program is executed by the processing unit, the processing unit is enabled to execute the steps of the dynamic grouping method according to any one of claims 1 to 6.

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

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