Cooperative Train Control Using Artificial Potential Fields
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Solution Overview
Problem
Urban rail transit systems face challenges in managing tidal passenger flow, leading to train bunching and inefficient resource allocation due to existing train control modes that rely on fixed braking distances and lack direct communication between trains for dynamic speed adjustments.
Innovation Solution
A method for cooperative control of multiple trains using a train dynamic model, train-to-train communication, and an artificial potential field method with Kalman filtering to optimize distance and speed convergence, allowing for flexible configuration of train resources and shorter headways.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the mode of train headway control based on absolute braking distance is used, then the train running control is simplified and stable, but the train headway cannot be effectively shortened and train turnover efficiency remains low
Solution Approach 1:
The patent transitions from static absolute braking distance control to dynamic relative braking distance control. The following train dynamically adjusts its speed based on real-time relative position and speed difference with the leading train, enabling adaptive headway optimization while maintaining safety
Solution Approach 2:
The patent implements feedback control by continuously monitoring the relative position and speed between trains. The following train receives real-time information about the leading train's state and adjusts its own speed accordingly, creating a closed-loop control system that optimizes headway dynamically
2Productivity
If more trains are put into use to relieve passenger flow pressure, then the transport capacity increases, but train bunching occurs in turn-back sections
Solution Approach 1:
The patent applies different control strategies to different sections of the track. In turn-back sections and high-density areas, the cooperative control algorithm automatically adjusts headways to prevent bunching, while allowing larger intervals in low-demand sections, achieving localized optimization of train distribution
3Ease of operation
If a unified all-stop transportation organization mode is used, then the operation is simplified, but transport capacities are wasted in directions and sections of small passenger flow
Solution Approach 1:
The patent enables dynamic adjustment of train stopping patterns based on real-time passenger flow demands. The cooperative control system allows trains to skip stations in low-demand sections while maintaining all-stop service in high-demand areas, optimizing capacity utilization without complex manual coordination
Data Source
AI summary
Embodiments of the present disclosure provide a method and a device for cooperative control of multiple trains. The method includes: S1, establishing a train dynamic model of urban rail transit; S2, modeling a train control system of urban rail transit based on train-to-train communication; S3, constructing, according to the dynamic model and a control system model, an optimized control target which comprehensively considers distance convergence and speed convergence of train formation; and S4, cooperatively controlling, on the basis of an artificial potential field method and Kalman filtering and according to the optimized control target, the multiple trains. The present disclosure is capable of effectively shortening a train headway.