基于事件触发机制的虚拟编组列车协同控制

Collaborative Control of Virtual Formation Trains Based on Event Triggering Mechanism

[目的]为了提高铁路线路的运输能力,使列车在区间内形成稳定的虚拟编组列车,减少整个编组过程中的通信压力,有必要对基于事件触发机制的虚拟编组列车协同控制进行研究。[方法]介绍了虚拟编组列车控制系统,提出一种基于事件触发机制的虚拟编组列车协同控制方法。通过分析虚拟编组列车的基本概念,建立区间内存在扰动的虚拟编组列车动力学模型,并基于事件触发思想,根据列车运行过程中的状态误差,设置事件触发条件,并设计了跟随列车的分布式控制器。基于Lyapunov稳定性理论对该控制系统进行稳定性分析,并通过MATLAB仿真软件验证该算法应用于虚拟编组的有效性。[结果及结论]所设计的事件触发函数能够使虚拟编组系统渐进稳定,且该系统已避免了Zeno行为。跟随列车在控制器的作用下,在4 s内就与领航列车的速度保持了一致,在减少通信压力的同时,整个虚拟编组列车队形内部也能保持稳定的追踪间距。

[Objective]In order to improve the transportation capacity of railway lines,make the trains form a stable virtual formation within the interval,and reduce the communication pressure during the entire marshaling process,it is necessary to study the collaborative control of virtual formation trains based on the event triggering mechanism.[Method]The control system of virtual formation trains is introduced,and a method based on the above-mentioned collaborative control is proposed.By analyzing the basic concept of virtual formation trains,a dynamic model of virtual formation trains with disturbance in sections is established,and event triggering conditions are set according to the state error during the train operation using the idea of event triggering,and the distributed controller of the following train is designed.The stability analysis of the control system is carried out based on Lyapunov stability theory,and the effectiveness of the algorithm applied to virtual formation is verified by MATLAB simulation software.[Result&Conclusion]The designed event triggering function can make the virtual formation system asymptotically stable,and the system has avoided Zeno behavior.Under the action of the controller,the following train can keep the same speed as the lead train within 4 s,while reducing the communication pressure,the entire virtual formation train can also maintain a stable tracking distance.