智轨电车虚拟联挂系统架构与控制技术研究

Research on the Architecture and Control Technology of Virtual Coupling System for Autonomous-rail Rapid Trams

潮汐客流、瞬时大客流和共线运行等场景要求智轨电车增加编组以提升载客量,然而传统机械式物理编组操作繁琐、无法灵活调节。为此,文章提出一种基于车辆安全制动模型并考虑多控制目标的智轨虚拟联挂系统架构,研究其安全制动模型与协同控制模型,并通过设计协同规划目标函数与约束条件,实时计算出跟随车保持最小安全间距条件下的速度、加速度和牵引/制动力百分比。仿真及实车试验结果显示,当智轨虚拟编组运行车速达45 km/h时,编组车辆间距小于5 m、到站时间差小于3 s、前后车停车时间差小于0.5 s以及跟随车冲击率不超过0.4 m/s^(3),牵引与制动工况切换平稳,能有效实现编组准时、精准、舒适和节能运行。该技术为后续智轨虚拟联挂编组批量应用奠定了坚实的基础。

Scenarios such as tidal passenger flow,instantaneous large passenger flow,and mixed operation demand an increasing number of autonomous-rail rapid trams(ART)to increase passenger capacity.However,traditional mechanical physical coupling proves too cumbersome for convenient adjustments.This paper proposes a virtual coupling concept and system architecture for autonomous-rail rapid trams as a solution.This study developed a safe braking model and collaborative control model,in addition to establishing a collaborative planning objective function and constraints.Real-time calculations of speeds,accelerations and traction/braking force percentages for the following ART were conducted under the condition of maintaining the minimum safe distance.Simulations and experiments conducted with real trams demonstrated distances between the trams of less than 5 m,arrival time differences of less than 3 s,parking time differences between the leading and following trams of less than 0.5 s,jerks of the following tram not exceeding 0.4 m/s^(3),as well as seamless switching between traction and braking during the operation of virtually coupled trams at 45 km/h.These results underscored the effectiveness of the proposed system in facilitating punctual,precise,comfortable and energy-efficient operation of virtually coupled trams.This research lays a solid foundation for potential future applications of virtually coupled ARTs at scale.