Common-speed dynamic unhooking and rehooking operation control method and device in train running state

By using the status perception and linkage control of the main control vehicle, combined with environmental constraint optimization and closed-loop monitoring, the problem of inaccurate coupler docking during train operation was solved, and the safety, reliability and efficiency of dynamic train formation were achieved.

CN122354597APending Publication Date: 2026-07-10DATANG JILIN POWER GENERATION CO LTD CHANGCHUN SECOND THERMAL POWER BRANCH
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Patent Information

Application Number
CN202610733139.X
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-05-26
Publication Date
2026-07-10

AI Technical Summary

Technical Problem

In existing technologies, the target carriage is affected by track curves, gradient changes, wheel-rail vibrations, and serpentine motion during train operation. This causes the traditional fixed-distance triggering method to fail to accurately reflect the actual coupling status of the coupler, which can easily lead to coupler misalignment, collision impacts, and failure to recouple.

Method used

The main control vehicle performs state perception prediction and linkage control calculation on the target car, generates longitudinal following control quantity and posture adjustment control quantity, optimizes them in combination with environmental constraint vector, monitors relative posture deviation in real time, and implements force-position hybrid closed-loop control until the coupler mechanism reaches a stable docking state.

Benefits of technology

It improves the safety, reliability and efficiency of dynamic train formation operations, reduces the risk of coupler collisions and mechanical jamming, and achieves smooth docking and locking during operation.

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Abstract

The invention provides a common-speed dynamic unhooking and rehooking operation control method and device in a train running state, and relates to the technical field of unhooking and rehooking control. The method comprises the steps that in the process that a main control operation vehicle approaches a target compartment, linkage control calculation is conducted on the target compartment, and the longitudinal following control quantity and the pose adjustment control quantity are obtained; carrying out local environment information perception on the master control operation vehicle to obtain an environment constraint vector, and carrying out constraint optimization to obtain an optimized longitudinal control quantity; performing relative pose monitoring to obtain a relative pose deviation sequence; sliding consistency judgment is carried out, and a tail end servo instruction is triggered; and force-position hybrid closed-loop control is implemented until the coupler mechanism reaches and is locked in the target operation state. The technical problems that in the prior art, a fixed distance triggering mode or a single speed following mode is mainly adopted for unhooking and rehooking operation control, the real butt joint state of the car coupler cannot be accurately reflected, and car coupler dislocation, collision impact and unhooking and rehooking failures are likely to occur are solved.
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