城轨列车虚拟联挂高效协同控制策略研究

Research on Efficient Coordination Control System of Virtual Coupling for Urban Rail Train

城市轨道交通(简称“城轨”)列车虚拟联挂是轨道交通领域的研究前沿,其目标是提升既有线上列车的运行效率,而其运行效率的提升主要体现在起车和停车阶段。为提升城轨列车虚拟联挂编组列车在起车和停车阶段的编组运行效率,文章提出一种虚拟联挂高效协同控制策略。其首先构建城轨列车编组内列车之间的相对制动模型,得到编组内列车之间的相对制动距离;接着,在协同控制层构建高效起车、停车目标函数,设计优化控制器,在约束下对目标函数进行求解,得到起车和停车阶段领航车和跟随车的关键决策信息;然后,研究操纵序列规划技术,分别得到领航车和跟随车的可执行操纵序列;最后,设计线性二次调节器(LQR)算法,对操纵序列进行精准跟随控制,得到执行指令。仿真结果表明,采用该虚拟联挂控制系统,城轨列车编组可在0~60 km/h车速范围内实现领航车和跟随车的停车时间间隔最小为1.6 s,有效提升了城轨列车编组在起车和停车阶段的运行效率。

Virtual coupling of urban rail train sets represents a cutting-edge frontier in urban rail transit research,with the goal of improving operational efficiency of trains on the existing lines,particularly in the starting and stopping stages.This paper proposes an efficient collaborative control system for virtual coupling.Firstly,a model was constructed to simulate relative braking between urban rail train sets and it was used to generate relative braking distances between trains virtually coupled.Next,an efficient starting and stopping objective function was constructed at the collaborative control layer,and an optimized controller was devised to solve the objective function under constraints,generating key decision-making information for the leading and following trains during the starting and stopping stages.Subsequently,this study focused on the operation sequence planning technology,yielding the executable operation sequences of the leading and following trains,respectively.Finally,an LQR controller was designed,enabling the accurate following and control of operation sequences and the generation of execution instructions.Simulation results showed that the proposed control system for virtual coupling could achieve a parking time interval of less than 1.6s between the leading and following trains in urban rail transit within a speed range of 0~60 km/h,effectively improving the operational efficiency of virtually coupled urban rail train sets during the starting and stopping stages.