摘要
针对驾驶货运机车劳动强度大和操纵难等问题,提出一种分场景的目标曲线规划方法,设计专家系统比例积分微分(Proportion Integral Differential,PID)控制算法,实时跟随并迭代优化目标曲线,实现了货运机车自动驾驶(Automatic Train Operation, ATO)功能。针对试验中的重点难点控制场景进行了验证研究,结果表明控制方法安全有效。
Aiming at the problems of high-labor intensity and difficult operation of freight locomotive, a scenario-specific objective curve planning method was proposed, and the proportional-integral-differential(PID) control algorithm of expert system was designed to follow and optimize iteratively the objective curve in real time. The automatic train operation(ATO) function of freight locomotive was realized. The key and difficult control scenarios in the experiment were verified, and the results show that the control method is safe and effective.
作者
何海兴
白金磊
杜凯冰
熊佳远
蔡君祯
陈飞
HE Haixing;BAI Jinlei;DU Kaibing;XIONG Jiayuan;CAI Junzhen;CHEN Fei(CRRC Zhuzhou Institute Co.,Ltd.,Zhuzhou,Hunan 412001,China;Ankang Locomotive Depot of China Railway Xi'an Bureau Group Co.,Ltd.,Ankang Shaanxi 725005,China)
出处
《机车电传动》
北大核心
2021年第4期112-118,共7页
Electric Drive for Locomotives
基金
国铁集团重大课题(K2018J019)。
关键词
自动驾驶
运行场景
PID控制算法
货运机车
仿真
automatic train operation
operation scenario
PID control algorithm
freight locomotive
simulation
