面向关键场景的货运机车自动驾驶控制策略研究

Research on Automatic Driving Control Strategy for Freight Locomotives in Key Scenarios

目前,机车自动驾驶装置已应用于多条线路,并取得了一定的阶段性成果。由于运用场景复杂、控制对象非线性和离散性强等因素,其在运行考核期间出现了一些问题和挑战,包括列车区间运行出现冲动与涌动现象、站内对标停车精度不符合要求、大上坡起车失败、空气制动性能评估困难等,严重影响机车运行的平稳性和行车安全性。对此,文章针对面向关键场景的自动驾驶操纵控制技术,通过深入分析运行操作规程与历史运行数据,优化列车动力学模型参数,建立精确的基本阻力模型和空气制动模型;设计了基于专家知识库的平稳操纵策略、智能停车控制策略、空气制动终端预测控制方法、模型与数据驱动的安全评估方法等,最终解决了现场运行中出现的难题。在朔黄铁路线神池南站至肃宁北站区间进行了实车试验,结果显示,采用这些策略后,组合两万吨列车实现了正线运行100%的自动控车,这为机车自动驾驶常态化运用提供了技术基础。

At present,the locomotive automatic driving device has been applied to multiple lines and has achieved certain phased results.Due to factors such as complex application scenarios,strong non-linearity and discreteness of control objects,some problems and challenges have arisen during the operation assessment,including impulsive and surging phenomena during train interval operation,non-compliance with station benchmark parking accuracy requirements,failure to start on steep slopes,and difficulty in evaluating air braking performance.These problems seriously affect the smoothness of operation and driving safety.The article studies the automatic driving control technology for key scenarios.Through in-depth analysis of operating procedures and historical operating data,optimization of train dynamics model parameters,establishment of accurate basic resistance models and air braking models,design of expert knowledge base for smooth operation strategy,intelligent parking control strategy,air braking terminal predictive control method,model and data-driven safety evaluation method,the problems encountered in on-site operation are ultimately solved.By the proposed strategies,it achieves the goal of 100%fully automatic control for the main line operation of 20000 ton combined trains,providing a technical foundation for the normalized application of locomotive automatic driving.