一种重载组合列车的分布式协同控制方法

Distributed Cooperative Control of Heavy-haul Trains

为解决重载组合列车在复杂地形和通信不可靠情况下的多机车间的控制问题,设计一种在通信延时和中断条件下的重载组合列车的分布式协同控制器。通过引入状态变换和控制变换,将复杂的重载组合列车纵向动力学模型简化为双重积分器形式,然后设计分布式协同控制器,在保证列车作用力最小的前提下调节每个子系统的速度到期望值。证明了组成的闭环系统能够使重载组合列车子系统在较宽松的通信条件下达到一致渐近协同稳定。通过对集中控制模式LQR控制器和分布式协同控制器在理想通信条件以及存在通信延时的性能仿真对比,充分说明了设计的分布式协同控制器的有效性。

To address the multi-locomotive cooperative control problem for heavy-haul trains under the condi- tions of complex topography and unreliable communication, the distributed cooperative controller independent on communication delay and interruption was developed. By introducing in states and input transformation, the complicated longitudinal dynamical model of heavy-haul trains was reduced to a double integrator form. On the basis of this form, the distributed cooperative controller was designed to adjust all subsystems of a heavy-haul train to conver reference velocity while keeping the minimum in-train forces. The proof of the uniform asymp- totically cooperative stability was given, which accounted for the fact that the closed heavy-haul train system was able to reach cooperative converge under unreliable communication conditions. The simulation comparison between the centralized LQR controller and the proposed cooperative controller under ideal and unreliable com- munication validates the performance and efficiency of the proposed method.