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 |
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DOI: |
中文关键词: 多高速列车 协同巡航控制 舒适性 安全距离 |
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 |
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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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