基于滑模控制的虚拟编组列车追踪控制策略

Virtual Formation Train Tracking Control Strategy Based on Sliding Mode Control

[目的]现有的基于移动闭塞的列车控制系统中,相邻列车之间存在较大的安全裕度,在面对潮汐客流现象时,区段的运输效率同区段的实际运力需求无法匹配。虚拟编组列车能够提高线路的运力,同时能更好地适应不平衡的通勤客流。因此,需研究适用于虚拟编组列车的高精度追踪控制策略。[方法]针对虚拟编组列车运行控制问题,提出了一种基于滑模控制的虚拟编组运行控制策略。建立了列车动力学模型和虚拟编组列车运行控制模型;设计了非奇异终端滑模控制器,并对所设计的控制器进行了仿真测试。[结果及结论]在所提出的虚拟编组控制策略下,虚拟编组列车的位置跟踪误差和速度跟踪误差能够沿滑模面在有限时间内渐近收敛到零。在仿真验证的4列列车中,当首列列车运行状态发生改变时,虚拟编组中的其余列车会在很短的时间内跟踪期望的速度轨迹,验证了所提出的控制策略对虚拟编组列车追踪控制的有效性。

[Objective]In existing train control systems based on moving blocking,there is a significant safety margin between adjacent trains.This leads to a mismatch between the transportation efficiency of a segment and its actual capacity needs,especially during peak passenger flow periods.Virtual formation trains can increase line capacity and better adapt to imbalanced commuter flows.Therefore,it is essential to develop a high-precision tracking control strategy suitable for virtual formation trains.[Method]To address the operational control challenges of virtual formation trains,a tracking control strategy based on sliding mode control is proposed.A train dynamics model and a virtual formation train operation control model are developed.A non-singular terminal sliding mode controller is designed,its performance is tested through simulations.[Result&Conclusion]Under the proposed virtual formation train control strategy,both the position and speed tracking errors of the virtual formation trains can asymptotically converge to zero along the sliding mode surface within a finite time.In the simulation verification tests involving four trains,when the operating state of the lead train changes,the other trains in the virtual formation quickly follow the expected speed trajectory,demonstrating the effectiveness of the proposed control strategy for virtual formation train tracking control.