电子测量与仪器学报

周峰,陶克武,杨迎泽,李烁,朱正发,梁宏坤.面向乘客舒适性的多列车协同巡航控制[J].电子测量与仪器学报,2023,37(2):151-159

面向乘客舒适性的多列车协同巡航控制

Cooperative cruise control for multiple trains with ride comfort

DOI：

英文关键词:multiple high-speed trains cooperative cruise control comfort safety distance

基金项目:国家自然科学基金青年项目 ( 61502055)、湖南省自然科学基金面上项目 ( 2021JJ30876)、长沙理工大学科研创新项目 (CXCLY2022077)资助

作者	单位
周峰	1. 长沙理工大学电气与信息工程学院
陶克武	1. 长沙理工大学电气与信息工程学院
杨迎泽	2. 中南大学计算机学院
李烁	1. 长沙理工大学电气与信息工程学院
朱正发	1. 长沙理工大学电气与信息工程学院
梁宏坤	1. 长沙理工大学电气与信息工程学院

Author	Institution
Zhou Feng	1. School of Electrical and Information Engineering, Changsha University of Science and Technology
Tao Kewu	1. School of Electrical and Information Engineering, Changsha University of Science and Technology
Yang Yingze	2. School of Computer Science and Engineering, Central South University
Li Shuo	1. School of Electrical and Information Engineering, Changsha University of Science and Technology
Zhu Zhengfa	1. School of Electrical and Information Engineering, Changsha University of Science and Technology
Liang Hongkun	1. School of Electrical and Information Engineering, Changsha University of Science and Technology

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中文摘要:

为了提高多高速列车在协同运行时的安全性以及舒适性,提出了一种基于改进分布式一致性算法的多高速列车协同巡航控制策略。首先,设计了可随列车运行速度实时变化的安全距离间隔。其次,联合加权双曲正切函数给出分布式协同控制策略;同时通过坐标变换将列车闭环动力学误差模型转换为典型的二阶多智能体系统模型,并利用李雅普诺夫稳定性证明了闭环系统在误差状态下的渐进稳定性。最后,通过仿真对所提方法进行验证,所提方法能动态的调节列车之间的安全距离,且始终将加速度限制在[-0. 7,0. 7]m/ s 2 以内。结果表明了多列车跟踪运行的安全性和舒适性都能得到保障。

英文摘要:

In order to enhance the safety as well as comfort of multiple high-speed trains in cooperative operation, a cooperative cruise control strategy of multiple high-speed trains based on improved distributed consensus algorithm is proposed. Firstly, the safety distance interval is designed that can change with the train speed in real time. Secondly, the distributed cooperative control strategy is given by combining weighted hyperbolic tangent function. Meanwhile, the error model of the closed-loop train dynamics is transformed into a typical second-order multi-agent system model by coordinate transformation, and the asymptotic stability of the closed-loop system under the error state is proved by using Lyapunov’ s stability theorem. Finally, the proposed method is verified by simulation, the proposed method can dynamically adjust the safety distance between trains and always keep it within [-0. 7,0. 7]m/ s 2 . The results show that the safety and comfort of multiple trains tracking operation can be guaranteed.

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