Layered cooperative control system and method for virtually composed train

Abstract

To provide a layered cooperative control system and method that take into account a target of synchronous operation of the entire virtually composed train, and plan and manage control behaviors of all train units in a unified manner, and greatly improve tracking efficiency of the virtually composed train.SOLUTION: An electronic map processing module in a layered cooperative control system queries railway line information for the entire train operation route on the basis of train operation plan information, and forms railway line operation data for virtually composed trains. A recommended driving curve planning module considers the virtually composed train as a whole and cooperatively plans recommended driving curves of all train units in the virtually formed train on the basis of the railway line operation data of the virtually composed train. A real-time tracking control module controls the train units to operate according to their respective recommended driving curves on the basis of the railway line operation data of the virtually composed train, and achieves a target of synchronous operation of the virtually composed train.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to the technical field of railway traffic signal control, and in particular to a hierarchical cooperative control system and method for a virtual consist train. [Background technology]

[0002] As economic development and urbanization construction continue to accelerate, the problem of urban traffic congestion is becoming more and more serious. At the same time, with the expansion of urban area, the problem of traffic connection between the central city area and the suburban area is becoming more and more serious. As an important means of alleviating traffic pressure and meeting the mobility needs of urban residents, the construction of urban rail traffic (hereinafter referred to as "urban rail") has achieved remarkable results in recent years. The characteristics of rapid development of urban rail traffic network scale, uneven distribution of passenger flow in time and space, and irregular dynamic changes are becoming increasingly prominent, which calls for further optimization of vehicle and line resources and higher requirements for the degree of matching between transportation capacity and transportation volume.

[0003] For the above needs, train virtual coupling (VC) technology is a widely recognized solution. Virtual coupling technology can greatly reduce the operation interval of train units that are not physically connected, and provide transportation service as if they were physically connected trains. Virtual coupling technology can dynamically and flexibly adjust the vehicle arrangement and formation mode online, thereby improving the effective utilization rate of vehicle and line resources, and not only meeting the need for large transportation capacity during peak passenger flow periods, but also reducing the vacancy rate of vehicles during flat peak and low peak periods. Therefore, by developing virtual coupling technology, train units can safely and efficiently perform online dynamic formation according to the plan, and maintain stable operation and synchronous operation with small intervals in the virtual formation mode, reducing the energy consumption of train operation and saving transportation costs without reducing service quality, which is of great significance to the green and sustainable development of urban rail transportation.

[0004] Currently, the virtual train set operation control system and method do not take into account the consistency and synchronization of the virtual train set operation, and only follow the idea of ​​multiple cars tracking operation with a smaller safety protection interval, where the preceding train runs independently according to its own plan, and the following train runs by tracking the preceding train based on the smaller safety protection interval. And this traffic control system architecture does not focus on the synchronous operation of the virtual train set, and the train units still use the existing system architecture in which a single train plans and controls it independently, so it is inevitable that the virtual train set does not run synchronously from the system level. In short, the conventional traffic control system and method do not embody the idea that "the virtual train set is a whole, and all train units need to run in a coordinated manner to achieve the operation goal", and such a traffic control system and method has the following problems:

[0005] 1. The following train simply tracks the preceding train, which reduces its own operational efficiency and makes it difficult to achieve operational indicators. Many conventional following trains track the preceding train using a simplified tracking interval method (e.g., fixed interval, fixed time interval, etc.), which means that they cannot track the preceding train at the minimum interval under conditions that allow safety, leading to a decrease in the tracking efficiency of the virtual train set.

[0006] 2. The following train tracks the preceding train according to the real-time status, and the requirements for communication transmission between the two trains are very high. At the same time, the virtual train set uses a more detailed and complicated safety interval calculation method, so the performance requirements for the real-time calculation of the train unit are also high, and various random environmental interferences are likely to cause deviations in tracking operation and even danger.

[0007] 3. There is a large difference in the platform stop time between virtual train units. The preceding train operates completely independently according to its own schedule without considering the consistency and synchronization of the operation of the virtual train (for example, when the railway line speed limit changes from low to high, the preceding train accelerates directly after leaving the low speed limit section, while the following train is still in the low speed section, so the distance between the two trains becomes large, and the operation methods of the two trains are not coordinated, so the time difference when stopping at the platform is also large).

[0008] The virtual consist technology does not simply break through the absolute braking distance between trains to enable closer tracking of trains, but forms multiple train units into a unified virtual train whole based on the closer tracking distance. This new type of virtual consist train is essentially considered as a vehicle when in operation, and the relationship between the virtual consist train units is not a simple relationship of the trailing train chasing the leading vehicle, but a relationship of cooperation with each other. Summary of the Invention [Problem to be solved by the invention]

[0009] The present invention aims to provide a hierarchical cooperative control system and method for virtual trainsets, which takes into account the goal of synchronous operation of the entire virtual trainset, unifies and manages the control behaviors of all train units, and greatly improves the tracking efficiency of the virtual trainset. [Means for solving the problem]

[0010] In order to achieve the above object, the present invention provides the following solutions.

[0011] A hierarchical cooperative control system for a virtual consist train, comprising: an information interaction module, an electronic map processing module, a recommended running curve planning module, and a plurality of real-time tracking control modules; One virtual train unit corresponds to one real-time tracking control module, The information interaction module is connected to the electronic map processing module, and the information interaction module is used for obtaining train operation plan information from the automatic train monitoring system and outputting the train operation plan information to the electronic map processing module; The electronic map processing module is respectively connected to the recommended running curve planning module and the multiple real-time tracking control modules, and the electronic map processing module is used for storing railway line information, and querying the railway line information of the entire train operation according to the train operation plan information, forming railway line operation data of the virtual train set, and simultaneously outputting the railway line operation data to the recommended running curve planning module and the multiple real-time tracking control modules; The recommended running curve planning module is connected to a plurality of real-time tracking control modules, and the recommended running curve planning module is used to consider the virtual train as a whole based on the railway line operation data of the virtual train, collaboratively plan recommended running curves of all train units in the virtual train, and send the recommended running curves to the real-time tracking control module of each train unit; The real-time tracking control module is used to control the train units to run according to their respective recommended running curves based on the railway line operation data of the virtual train set, so as to achieve the desired goal of synchronous operation of the virtual train set.

[0012] Optionally, the train operation plan information includes train operation destinations, desired operation times and temporary section speed limits; The railway line information includes railway line logical section number, stops, switches, transponders, gradients and railway static speed limits.

[0013] A hierarchical cooperative control method for a virtual trainset, comprising the steps of: Establishing a mathematical model for optimizing the coordinated operation of virtual trains between stations; determining railway line operation data between stations of the virtual train set based on the train station operation plan information; According to railway line operation data between stations of a virtual train set, solving a coordinated operation optimization mathematical model between the stations of the virtual train set, and obtaining a recommended operation curve between stations of each train unit in the virtual train set; and tracking the recommended operation curves between the stations of each train unit in real time based on the railway line operation data between the stations of the virtual train set according to the real-time status of each train unit and the real-time status of the train units before and after each train unit, and finally achieving the desired goal of synchronous operation of the virtual train set.

[0014] Optionally, the virtual consist train inter-station coordinated operation optimization mathematical model comprises:

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[0015] Optionally, determining the railway line operation data between stations of the virtual train set based on the train station operation plan information specifically includes: Obtaining electronic map information of a railway line; Inquiring from the electric map information about all logical sections included between stations in the operation plan and about railway line data for each logical section as railway line operation data between stations of a virtual train set, The electronic map information includes a plurality of logical sections obtained by dividing a railway line, and railway line data for each logical section, and the railway line data includes a speed limit start point, a speed limit end point, a gradient start point, a gradient end point, a curve radius start point, and a curve radius end point.

[0016] Optionally, solving the inter-station coordinated operation optimization mathematical model of the virtual train set according to the inter-station railway line operation data of the virtual train set, and obtaining the inter-station recommended operation curve of each train unit in the virtual train set, specifically includes: According to railway line operation data between stations of a virtual train set, a sequential quadratic programming method, an active set method, a heuristic algorithm or a reinforcement learning algorithm is used to solve a coordinated operation optimization mathematical model between stations of the virtual train set, and obtain a controlled acceleration sequence of the entire trip between the stations of the virtual train set operation plan; and determining a recommended operation curve between stations of each train unit in the virtual train set by obtaining positions, speeds and accelerations of the entire journey between train unit operation plan stations based on the control acceleration sequence using train dynamics equations, the train dynamics equations comprising:

number

[0017] Optionally, according to the real-time status of each train unit and the real-time status of the train units before and after each train unit, based on the railway line operation data between the stations of the virtual train set, the recommended operation curve between the stations of each train unit is tracked in real time, specifically, determining an emergency brake intervention speed of a train unit at any time using a time-space safety protection method based on railway line operation data between stations of a virtual train configuration; This includes using a feedforward PID control algorithm to track the recommended operating curve between stations of each train unit in real time according to the real-time state of each train unit and the real-time states of the train units before and after each train unit, and controlling the speed tracked by the train unit in real time to be below the emergency brake intervention speed.

[0018] Optionally, the feedforward PID control algorithm has a formula:

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[0019] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects: The present invention discloses a hierarchical cooperative control system and method for virtual train units, in which an electronic map processing module queries railway line information of the entire train operation based on train operation plan information to form railway line operation data of the virtual train units, a recommended running curve planning module considers the virtual train units as a whole based on the railway line operation data of the virtual train units and cooperatively plans recommended running curves of all train units in the virtual train units, and a real-time tracking control module controls the train units to operate according to their respective recommended running curves based on the railway line operation data of the virtual train units, so as to achieve the desired goal of synchronous operation of the virtual train units. The present invention takes into account the goal of synchronous operation of the entire virtual train units, and unifies the planning and management of the control behaviors of all train units, thereby greatly improving the tracking efficiency of the virtual train units. [Brief description of the drawings]

[0020] In order to more clearly describe the embodiments of the present invention or the technical solutions in the prior art, the drawings that need to be used in the embodiments are briefly described below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative labor.

[0021] [Figure 1] FIG. 2 is a structural schematic diagram of a hierarchical coordination control system for a virtual trainset provided by an embodiment of the present invention; [Diagram 2] FIG. 2 is a principle diagram of a hierarchical cooperative control method for a virtual trainset provided by an embodiment of the present invention; [Diagram 3] 2 is a flowchart of a hierarchical coordination control method for a virtual unit train provided by an embodiment of the present invention; [Figure 4] FIG. 2 is a structural block diagram of a feedforward PID controller provided by an embodiment of the present invention; [Diagram 5] FIG. 2 is a schematic diagram of a velocity-time curve provided by an embodiment of the present invention. [Figure 6] 2 is a schematic diagram of a velocity-position curve provided by an embodiment of the present invention; [Figure 7]FIG. 2 is a schematic diagram of an interval-time curve provided by an embodiment of the present invention. [Figure 8] FIG. 2 is a schematic diagram of an acceleration-time curve provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Hereinafter, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative labor belong to the technical scope of the present invention.

[0023] In order to make the above objects, features and advantages of the present invention more apparent and comprehensible, the present invention will be described in more detail below with reference to the drawings and specific embodiments.

[0024] Example 1 The innovation of the present invention is to provide a hierarchical control system architecture for virtual consist train synchronous operation, including a planning layer and a control layer, which considers the goal of synchronous operation of the entire virtual consist train from the architectural design level, unifies the planning and management of the control behavior of all train units, and solves the difficult problem of asynchronous operation of virtual consist trains from the system level.

[0025] As shown in Figure 1, the hierarchical cooperative control system for virtual carriage trains provided by the embodiment of the present invention includes an information interaction module, an electronic map processing module, a recommended running curve planning module and multiple real-time tracking control modules. One virtual carriage train unit corresponds to one real-time tracking control module.

[0026] The information interaction module is connected to the electronic map processing module, and the information interaction module is used for obtaining train operation plan information from the automatic train monitoring system, and outputting the train operation plan information to the electronic map processing module.

[0027] The electronic map processing module is respectively connected to the recommended running curve planning module and the multiple real-time tracking control modules, and the electronic map processing module is used to store railway line information, and query the railway line information of the entire train operation according to the train operation plan information, form railway line operation data of the virtual train set, and simultaneously output to the recommended running curve planning module and the multiple real-time tracking control modules.

[0028] The recommended running curve planning module is connected to multiple real-time tracking control modules, and the recommended running curve planning module is used to consider the virtual train as a whole based on the railway line operation data of the virtual train, collaboratively plan recommended running curves of all train units in the virtual train, and send the recommended running curves to the real-time tracking control modules of each train unit.

[0029] The real-time tracking control module is used to control the train units to run according to their respective recommended running curves based on the railway line operation data of the virtual train set, so as to achieve the desired goal of synchronous running of the virtual train set.

[0030] Here, the recommended driving curve planning module is the planning layer, and the real-time tracking control module is the control layer.

[0031] Specifically, the system is composed of the following modules:

[0032] 1) Information interaction processing module: This module is responsible for processing information interaction with the Automatic Train Supervision (ATS) system or railway resource control system, and receives information such as train operation destinations, desired operation times, and temporary speed limits for certain sections, and outputs corresponding information to the electronic map storage and processing module, the recommended operating curve planning module, and the real-time tracking control module.

[0033] 2) Electronic map storage and processing module: Used to store route information such as railway line logical section number (Link), stops, switches, transponders, gradients, railway static speed limits, etc. Based on the train operation plan information received from the information interaction processing module, it converts these information into mathematical variables that can be used by other modules, and outputs them to the recommended operation curve planning module and the real-time tracking control module.

[0034] 3) Recommended operating curve planning module: used to plan recommended operating curves of all train units in the virtual consist train. Based on the train operation destination, desired operating time and other operating conditions received, the module considers relevant electronic map information, and performs coordinated planning by considering the virtual consist train as a whole, requiring all train units to cooperate to achieve the same transportation goal (e.g., the virtual consist arrives at the destination within the shortest time). The module sends the obtained recommended operating curves to the real-time tracking control module of each train unit.

[0035] 4) Real-time tracking control module: Used to control the virtual consist train unit to run according to a desired scheme, the specific control logic of which will be described in the following control method section.

[0036] The system unifies planning and management of the operation control of all virtual train units, and generates a recommended operation curve for all train units to work together in the planning layer according to the operation plan and route conditions, so that the trains before and after are no longer chasing each other. The control layer tracks the recommended operation curve to perform actual train control, and transfers the stress of real-time tracking calculation of the following train. The hierarchical cooperative control ensures that the virtual train units meet the section synchronous operation target in a coordinated manner.

[0037] Example 2 The embodiment of the present invention provides a hierarchical cooperative control method for a virtual train set, which is applicable to the hierarchical cooperative control system for the virtual train set of embodiment 1. With reference to Figs. 2 and 3, the hierarchical cooperative control method includes steps 1 to 4.

[0038] Step 1: Establish a coordinated operation optimization mathematical model between stations for a virtual train set.

[0039] The planning layer receives the converted electronic map information. Establish the optimal control problem, and the station-to-station optimization problem is constructed as follows: (1) Optimization goals include regular stopping, regular operation, synchronized departure and stopping. (2) The constraints include comfort constraints, vehicle traction / braking characteristic constraints, safe following interval constraints, and railway line speed limit constraints. (3) Decision variables are set for each train unit to control its acceleration.

[0040] The optimization problem of the coordinated operation of virtual trains among stations can be written in the following mathematical form:

number

[0041] Step 2: Determine railway line operation data between stations of the virtual train set based on train station operation plan information.

[0042] The information interaction processing module obtains the section operation plan and index requirements of the virtual train set from the automatic train monitoring system, and transmits the information to the electronic map storage and processing module, which performs extraction processing on the railway line data of the planned operation of the virtual train set, and the processing process is as follows: The railway line is divided into a number of logical sections (Links), the electronic map storage and processing module includes the initial position and section length of each logical section, and the railway speed limit, gradient, curve radius, and transponder location information are given in the form of a logical section number and an offset amount, and the information of the corresponding railway line can be determined by querying the initial position of the corresponding logical section number and adding the corresponding position offset amount. The railway line data of the entire operation is queried based on the train operation plan, and is used in the recommended operation curve planning module and the real-time tracking control module.

[0043] Step 3: Based on the railway line operation data between the stations of the virtual train set, a coordinated operation optimization mathematical model between the stations of the virtual train set is solved, and a recommended operation curve between the stations of each train unit in the virtual train set is obtained.

[0044] The optimization problem in step 1 is solved using a general-purpose solution algorithm such as sequential quadratic programming, active set method, heuristic algorithm, or reinforcement learning algorithm to obtain a controlled acceleration sequence for the entire operation of the virtual train between stations. The controlled acceleration sequence is then applied to the train dynamics equation to obtain position, speed, and acceleration data for the entire operation of the train unit, i.e., the recommended operation curve for the virtual train. The train dynamics equation is expressed as follows:

number

[0045] Up to this point, the inter-station operation strategy of the virtual train set has already been obtained, so the next step is to just ensure that the train units can operate according to the recommended operation curve to achieve the inter-station operation index requirement.

[0046] Step 4: According to the real-time state of each train unit and the real-time state of the train units before and after each train unit, based on the railway line operation data between the stations of the virtual train set, track the recommended operation curves between the stations of each train unit in real time, and finally achieve the desired goal of synchronous operation of the virtual train set.

[0047] The detailed process is as follows: based on the railway line operation data between the stations of the virtual train set, use the time-space safety protection method to determine the emergency brake intervention speed of the train unit at any time, and use the feedforward PID control algorithm to track the recommended operation curve between the stations of each train unit in real time according to the real-time state of each train unit and the real-time state of the train units before and after each train unit, and control the speed tracked by the train unit in real time to be equal to or lower than the emergency brake intervention speed.

[0048] The control layer calculates the control action of the main train unit according to the corresponding control logic based on the specific control objective, and acts on the train. In the hierarchical cooperative control system for the virtual train set, the control objective of each train unit is to track the recommended running curve. The planning layer sends the available recommended running curve to the control layer of each train unit in the virtual train set, and the control layer of each train unit calculates the control action by combining the real-time state of the main train based on the respective recommended running curve. At the same time, each train unit further receives the real-time state information of the preceding and succeeding trains, and adjusts based on the relative running relationship (for example, if the actual distance between the two trains is closer than the planned distance, the respective controls are adjusted to increase the distance between the two). General-purpose control algorithms such as PID control and model predictive control can all track the recommended running curve in real time, and here, the inventors design a feedforward PID control algorithm for curve tracking, and the block diagram of the controller structure is shown in Figure 4.

[0049] The control acceleration output by the controller is composed of three parts: a feedforward part that controls acceleration based on the recommended running curve, a normal PID controller part, and an adjustment part based on the interval between the two train units. The feedforward part controls the average value of acceleration by querying 10 recommended running curves from the current time, and the PID controller part adjusts the proportional, integral, and differential link parameters K based on the error between the actual train state and the recommended running curve. P , K I , K D The interval adjustment part appropriately adjusts the control command when it detects that the interval between the two trains is too large or too small, and the output is zero under normal circumstances. Therefore, at the time k n Control acceleration command in JPEG2024177014000010.jpg77 can be calculated according to the following formula:

number

[0050] Up to now, the control layer of the virtual train unit operates by tracking the recommended operating curve generated by the planning layer, and no longer relies on real-time tracking operation. Since the planning layer considers the synchronicity and overall goal of the virtual train unit operation, the operation strategy of the preceding train also considers the tracking of the following train, so as to achieve that all train units can cooperate with each other to operate in a coordinated and efficient manner.

[0051] The virtual consist train hierarchical control method can feasibly and efficiently plan and control the operation strategy of the virtual consist train, and achieve the desired goal of synchronous operation. The present invention can greatly improve the tracking efficiency of the virtual consist train, simplify the complexity of the control problem of the virtual consist train, save real-time computing resources, improve the synchronization of the operation of train units, reduce the platform stop time difference (abbreviated as stop time difference) between train units, and meet the requirements of real operation indexes.

[0052] The present invention will be further described below in combination with a specific scene of a virtual train running between stations.

[0053] Taking a virtual train set including two train units as an example, other systems and methods for hierarchical cooperative control of multiple trains can be derived by analogy. A specific inter-station operation scenario is implemented by selecting data of a real line and following the steps of implementing the hierarchical cooperative control method for virtual train sets in the invention summary.

[0054] (1) Process electronic map information based on operation plans such as destinations. The inter-station operation is determined based on the operation plan of the virtual train set received from the automatic train monitoring system, and the information on the inter-station route is shown in Table 1. Here, the planned operation section is from platform 2 to platform 1 on the actual route, and the initial positions of all logical sections (Links) included between the stations are first inquired based on the electronic map information. Based on this, the railway line parameters for each position between the stations are determined by adding an offset amount to the initial position of the logical section based on the information of the railway line speed limit, gradient, and curve radius logical section (Link) number and offset amount, and the processing results of some of the data are shown in Table 2. [Table 1] [Table 2]

[0055] The processed railway line parameters are transmitted to a recommended train profile generation module and a real-time control module. The section speed limit information is used to determine the operation strategy of the recommended train profile, and the line gradient and curve radius are used to calculate the emergency brake intervention speed to ensure the safety of train operation. By sorting and obtaining the relevant information of the running route of the virtual train set, a recommended train profile for the virtual train set can be generated.

[0056] (2) Calculate the recommended operation curve of the virtual train set in the planning layer. The planning layer needs to construct an optimization problem based on the inter-station operation index of the virtual train set, and obtain the recommended operation curve of each train unit that meets the requirements by solving the problem. The inter-station operation index requirements are shown in Table 3. [Table 3]

[0057] Based on the index requirements and route data, the optimization problem for a virtual train set can be constructed as follows:

number

[0058] (3) The control layer calculates the control operations of the virtual train set. The control layer performs actual train control based on the recommended running curve of the virtual train set generated by the planning layer so that the actual speed of the train unit is basically the same as the recommended running curve, ensuring that the control error is as small as possible. The control method can use the PID control method or model predictive control method, which are mainstream in the railway industry. At the same time that the leading train and the trailing train track their respective recommended running curves, the controller monitors the running status of the two trains in real time, and assists and adjusts with control actions as necessary to ensure that the two train units do not encounter dangerous situations due to the influence of their respective control errors.

[0059] A reference curve was planned according to the method of the present invention, and dual actual train operation control was performed on the test line, and the experimental results are shown in Figures 5 to 8. In Figures 5 and 6, the actual speed of the preceding train is almost consistent with the recommended operating speed of the preceding train, and the actual speed of the following train is almost consistent with the recommended operating speed of the following train.

[0060] The performance parameters of the generated recommended operation curve and the tracking curve index data of the dual actual vehicle on site are shown in Table 5. The test data demonstrates the practical applicability of the present invention, the hierarchical cooperative control system and method for virtual trainsets, to the construction of the present invention, and its effectiveness in solving the current problem of synchronized operation of virtual trainsets. [Table 5]

[0061] In response to the problem that the current virtual trainset train operation control system and method do not consider the consistency of operation of all train units, and the design of the system structure does not match the operation needs of the virtual trainset train, resulting in unsynchronized operation, large real-time control calculation pressure, and low operation efficiency, the present invention designs a hierarchical cooperative control system and method for virtual trainset trains, in which the planning layer generates a recommended operation curve for the virtual trainset train considering the synchronous operation target of the train units, and the control layer tracks the recommended operation curve to achieve synchronous and highly efficient operation of the virtual trainset trains. The two-layer system structure combining cooperative overall planning and curve tracking control ensures the synchronous and consistent operation of the virtual trainset train units, and the real-time calculation pressure is transferred to the planning layer. The hierarchical cooperative control system for virtual trainset trains achieves a complete operation control method for the virtual trainset trains without changing other module interfaces. The main innovations and beneficial effects of the present invention are summarized as follows:

[0062] 1. Improve the tracking efficiency of virtual consist trains: The present invention optimizes the running curve of the virtual consist train based on the characteristics of the safety protection distance adopted, and maximizes the reduction in the tracking interval between train units according to the control error margin, thereby improving the tracking efficiency of the virtual consist train.

[0063] 2. Simplify the complexity of the control problem of the virtual consist train and save real-time computation resources: the present invention designs the real-time control objective of the virtual consist train unit to track the recommended running curve, thereby simplifying the nonlinear interval tracking control problem for the actual state of the front train into a curve tracking problem, avoiding the online calculation of nonlinear functions, greatly reducing the complexity of the real-time control calculation, and achieving the purpose of saving computation resources.

[0064] 3. Improve the synchronism of train unit operation and meet the requirements of actual operation indicators: the present invention makes full use of the organized characteristics of railway traffic, adjusts the operation strategy of the virtual train set according to the known operation plan, fully guarantees the synchronism of the operation state of the virtual train set, and can effectively reduce the time difference when the train stops at the platform, thereby meeting the requirements of actual operation indicators.

[0065] Each embodiment of the present specification will be described step by step, and each embodiment will be described focusing on the differences between other embodiments, and the same or similar parts between each embodiment may be referred to each other.

[0066] In this specification, the principle and embodiment of the present invention are described using specific examples, but the description of the above examples is only to help understand the method of the present invention and its core idea. In addition, a person skilled in the art can change both the specific embodiment and the application scope based on the spirit of the present invention. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A hierarchical cooperative control system for a virtual consist train, comprising: an information interaction module, an electronic map processing module, a recommended running curve planning module, and a plurality of real-time tracking control modules; One virtual train unit corresponds to one real-time tracking control module; The information interaction module is connected to the electronic map processing module, and the information interaction module is used for obtaining train operation plan information from the automatic train monitoring system and outputting the train operation plan information to the electronic map processing module; The electronic map processing module is respectively connected to the recommended running curve planning module and the multiple real-time tracking control modules, and the electronic map processing module is used for storing railway line information, and querying the railway line information of the entire train operation according to the train operation plan information, forming railway line operation data of the virtual train set, and simultaneously outputting the railway line operation data to the recommended running curve planning module and the multiple real-time tracking control modules; The recommended running curve planning module is connected to a plurality of real-time tracking control modules, and the recommended running curve planning module is used to consider the virtual train as a whole based on the railway line operation data of the virtual train, collaboratively plan recommended running curves of all train units in the virtual train, and send the recommended running curves to the real-time tracking control module of each train unit; The real-time tracking control module is used to control the train units to operate according to their respective recommended operating curves based on the railway line operation data of the virtual train set, thereby achieving the desired goal of synchronous operation of the virtual train set.

2. The train operation plan information includes a train operation destination, a desired operation time, and a temporary section speed limit, 2. The hierarchical cooperative control system for a virtual consist train according to claim 1, wherein the railway line information includes a railway line logical section number, a stop, a switch, a transponder, a gradient, and a railway static speed limit.

3. A hierarchical cooperative control method for a virtual trainset, comprising the steps of: Establishing a mathematical model for optimizing the coordinated operation of virtual trains between stations; determining railway line operation data between stations of the virtual train set based on the train station operation plan information; According to railway line operation data between stations of a virtual train set, solving a coordinated operation optimization mathematical model between the stations of the virtual train set, and obtaining a recommended operation curve between stations of each train unit in the virtual train set; and tracking in real time recommended operation curves between stations of each train unit based on railway line operation data between the stations of the virtual train set according to the real-time status of each train unit and the real-time status of train units before and after each train unit, thereby finally achieving the desired goal of synchronous operation of the virtual train set.

4. The inter-station coordinated operation optimization mathematical model of the virtual train set is as follows: [0010] and Here, Q 1 , Q 2 , Q 3 , Q 4 are the optimization weighting coefficients for the on-time stop, on-time operation, synchronous departure and synchronous stop indices, respectively, and s e l and s e f are the planned simulated stop spots of the preceding and following trains, and s g l and s g f are the actual target stop spots of the preceding and succeeding trains, and t e l and t e fare the planned simulated stopping times of the preceding and succeeding trains, and t 0 l and t 0 f are the initial departure times of the preceding and succeeding trains, and T g is the scheduled travel time between stations, and t e f -t 0 l indicates the section operation time of the planned simulation, i = 1, 2 are the preceding train and the following train, respectively, n is the total operation time between stations of the virtual train set, u i (k), u i (k+1) indicates that the train unit controls the acceleration at time k and time k+1, and U i indicates the set of control accelerations at each time when the train unit travels between stations, and s 1 (k) and s 2 (k) indicates the head positions of the preceding and following trains at time k, respectively, and v i (k) denotes the speed of the train unit at time k, and u min and u max indicates the limit value of the control acceleration of the train unit, and j min and j max denotes the limit value of the impact rate of the train unit, d(k) denotes the minimum tracking interval of the train, L is the length of the train unit, V denotes the railway line speed limit, and v EBI (s i 4. The method of claim 3, wherein (k) is an emergency brake intervention speed at time k.

5. Specifically, determining the railway line operation data between stations of a virtual train set based on the train station operation plan information includes: Obtaining electronic map information of a railway line; Inquiring, from the electric map information, all logical sections included between the operation plan stations and railway line data for each logical section as railway line operation data between the stations of the virtual train set; 4. The hierarchical cooperative control method for a virtual train set according to claim 3, wherein the electronic map information includes a plurality of logical sections obtained by dividing a railway line, and railway line data for each logical section, and the railway line data includes a speed limit start point, a speed limit end point, a gradient start point, a gradient end point, a curve radius start point, and a curve radius end point.

6. Specifically, the method includes: solving a coordinated operation optimization mathematical model between the stations of a virtual train set according to railway line operation data between the stations of the virtual train set; and obtaining a recommended operation curve between the stations of each train unit in the virtual train set. According to railway line operation data between stations of a virtual train set, a sequential quadratic programming method, an active set method, a heuristic algorithm or a reinforcement learning algorithm is used to solve a coordinated operation optimization mathematical model between stations of the virtual train set, and obtain a controlled acceleration sequence of the entire trip between the stations of the virtual train set operation plan; and determining a recommended operation curve between stations of each train unit in the virtual trainset by obtaining positions, speeds and accelerations of the entire journey between stations of the train unit operation plan based on the control acceleration sequence using train dynamics equations, the train dynamics equations comprising: [0025] and Here, a i (k), a i (k+1) indicates the resultant acceleration at time k and time k+1, respectively, and v i (k), v i (k+1) indicate the speed at time k and time k+1, respectively, and s i (k), s i (k+1) indicates the position at time k and time k+1, respectively, τ indicates the time calculation step, and g i (s i (k),v i 5. The method of claim 4, wherein (k) represents a correlation function between the operating resistance and the current position and speed of the train unit.

7. Specifically, according to the real-time status of each train unit and the real-time status of the train units before and after each train unit, based on the railway line operation data between the stations of the virtual train set, the recommended operation curve between the stations of each train unit is tracked in real time. determining an emergency brake intervention speed of a train unit at any time using a time-space safety protection method based on railway line operation data between stations of a virtual train configuration; The hierarchical cooperative control method for a virtual train configuration as described in claim 6, characterized in that it includes using a feedforward PID control algorithm to track the recommended operating curve between stations of each train unit in real time according to the real-time state of each train unit and the real-time states of the train units before and after each train unit, and controlling the speed tracked by the train unit in real time to be below the emergency brake intervention speed.

8. The calculation formula of the feedforward PID control algorithm is: [0030] and During the ceremony, 【number】 is the actual operation time k n is the control acceleration command at K P , K I , K D are the proportional, integral, and differential link parameters, respectively, and e(k n ) is the actual train speed v(k n ) and the recommended operating curve speed v r (k n ), e(k n )=v(k n )-v r (k n ), and ∫e(k n ) is the actual train position s(k n ) and recommended operating curve position s r (k n ), ∫e(k n )=s(k n )-s r (k n) and 【number】 is the actual train acceleration a(k n ) and the recommended operating curve acceleration a r (k n ) difference, 【number】 and u adj 8. The method for hierarchical cooperative control for a virtual train of units according to claim 7, wherein:

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