考虑列车追踪的自动驾驶控制算法

王鹏玲; 王青元; 崔恒斌; 马磊; 冯晓云

doi:10.3969/j.issn.0258-2724.2013.06.012

考虑列车追踪的自动驾驶控制算法

doi: 10.3969/j.issn.0258-2724.2013.06.012

基金项目:

十一五国家科技支撑计划资助项目（2009BAG12A05）

详细信息

作者简介:
王鹏玲（1989-），女，博士研究生，研究方向为列车运行控制及其群控理论，E-mail：xnwangpengling@163.com

通讯作者:
马磊（1972-），男，教授，博士，研究方向为控制理论及其在机电系统、机器人和新能源系统等领域的应用，E-mail：malei@swjtu.edu.cn

计量
- 文章访问数: 1033
- HTML全文浏览量: 75
- PDF下载量: 588
- 被引次数: 0
出版历程
- 收稿日期: 2012-09-06
- 刊出日期: 2013-12-25

Automatic Train Control Algorithm for Train Tracking

摘要

摘要: 为了研究追踪列车安全、平稳的操纵策略，在分析列车间相互纵向动力学关系的基础上，提出了列车追踪模型. 列车在不同情况下控制目标有所不同：单独运行模式下以最优速度模式曲线运行，追踪运行模式下保证安全追踪间隔运行.为了实现不同的控制目标，采用模型预测控制的分层结构，结合二次型优化算法实现最优列车速度控制.以CRH2型列车、武广线为例验证该模型的有效性. 仿真结果表明，本文方法可使追踪列车安全性得到有效提高，且当使加速度控制在-0.75~0.5 m/s2之间，加加速度控制在-0.5~0.5 m/s3之间时，乘车舒适性得到了有效的保障.
- 列车自动控制 /
- 模型预测控制 /
- 列车追踪
Abstract: To build a safe and stable operation strategy for train tracking, a train tracking model was established by the train longitudinal dynamics. In the model, control objectives of the train operation differ between single-and multi-train operation: In the single train operation, the train runs on a curve at the optimal speed; in the train-tracking operation, a safe headway between trains should be guaranteed. A hierarchical model-predictive controller together with quadratic optimization was applied to determine the optimal speed regulation process. A simulation was conducted based on the CRH2 EMU and the Wuhan-Guangzhou railway line to verify the model's validity. The results show that the train tracking security is significantly improved by the proposed method, and the riding comfort is guaranteed while the acceleration is at -0.75-0.5 m/s2 and the jerk is at -0.5-0.5 m/s3.
- automatic train control /
- model predictive control /
- train tracking

HTML全文

参考文献(56)

彭辉. 轨道交通系统

唐涛, 黄良冀. 列车自动驾驶系统控制算法综述

[M]. 北京:人民交通出版社, 2008: 123.

王义惠, 罗仁士, 于振宇, 等. 考虑ATP限速的ATO控制算法研究

王自力. 列车节能运行优化操纵的研究

[J]. 铁道学报, 2003, 25(2): 98-102. TANG Tao, HUANG Liangji. A Survey of control algorithm for automatic train operation

[J]. Journal of The China Railway Society, 2003, 25(2): 98-102.

冯晓云. 模糊预测控制及其在控制制动驾驶中的应用研究

YASUNOBU S, MIYAMOTO S, IHARA H. Fuzzy control for automatic train operation system

[J]. 铁道学报, 2012, 34(5): 59-64. WANG Yihui, LUO Renshi, YU Zhenyu, et al. Study on ATO control algorithm with consideration of ATP speed limits

余进, 何正友, 钱清泉. 基于微粒群算法的多目标列车运行过程优化

卢启衡, 冯晓云, 王青元. 基于遗传算法的追踪列车节能优化

[J]. Journal of The China Railway Society, 2012, 34(5): 59-64.

朱金陵, 李会超, 王青元, 等. 列车节能控制的优化分析

[J]. 西南交通大学学报, 1994, 29(3): 275-280. WANG Zili. An optimal operating method of train running for saving energy

TAKEUCHI H, GOODMAN U, SONE S. Moving block signaling dynamic: performance measures and re-starting queued electric trains

YUAN J, HANSEN I A. Optimizing capacity utilization of stations by estimating knock-on train delays

[J]. Journal of Southwest Jiaotong University, 1994, 29(3): 275-280.

MEESTER L E, MUNS S. Stochastic delay propagation in railway networks and phase-type distribution

LI Keping, GAO Ziyou, NING Bin. Cellular automaton model for railway traffic

[D]. 成都:西南交通大学, 2001.

周华亮, 高白友, 李克平. 准移动闭塞系统的元胞自动机模型及列车延误传播规律的研究

VIBHOR L B, WILLIAM L G, Rajesh Rajamani. Model predictive control of transitional maneuvers for adaptive cruise control vehicles

[C]//the 4th International Conference on Transportation Systems. Banden: Fedcral Republic of Germany, 1983: 33-39.

GERRIT N, ROEL van den B, JEROEN P. Explicit MPC design and performance evaluation of an ACC Stop--Go

[J]. 西南交通大学学报, 2010, 45(1): 71-75. YU Jin, HE Zhengyou, QIAN Qingquan. Multi-objective train operation optimization based on particle swarm algorithm

罗莉华. 汽车自适应巡航控制及其相应宏观交通流模型研究

[J]. Journal of Southwest Jiaotong University, 2010, 45(1): 71-75.

席裕庚. 预测控制

陈荣武, 诸昌钤, 刘莉. CBTC系统列车追踪间隔计算及优化

GILL D C, GOODMAN C J. Computer-based optimization techniques for mass transit railway signaling design

[J]. 西南交通大学学报, 2012, 47(2): 265-270. LU Qiheng, FENG Xiaoyun, WANG Qingyuan. Energy-saving optimal control of following trains based on genetic algorithm

[J]. Journal of Southwest Jiaotong University, 2012, 47(2): 265-270.

BERGMANN D R. Generalized expressions for the minimum time interval between consecutive arrivals at an idealized railwaystation

冯晓云, 何鸿云, 朱金陵. 列车优化操纵原则及其优化操纵策略的数学描述

[J]. 中国铁道科学, 2008, 29(2): 104-107. ZHU Jinling, LI Huichao, WANG Qingyuan, et al. Optimization analysis on the energy saving control for trains

BOYD S, VANDENBERGHE L. Convex optimization

[J]. China Railway Science, 2008, 29(2): 104-107.

[J]. Electric Power Application, IEEE Proceedings, 2003, 150(4): 483-492.

[J]. Transportation Research Part B, 2007, 41(2): 202-217.

[J]. Transportation Research Part B, 2004, 41(2): 218-230.

[J]. Journal of Computational Physics, 2005, 209(l):179-192.

[J]. 物理学报, 2006, 55(4): 1706-1710. ZHOU Hualiang, GAO Ziyou, LI Keping. Cellular automaton model for moving-like block system and study of train's delay propagation

[J]. Acta Physica Sinica, 2006, 55(4): 1706-1710.

[J]. IEEE Transaction on Vehicular Technology, 2004, 53(5): 1573-1585.

[C]//American Control Conference. Seattle:

[s.n.], 2008: 224-229.

[D]. 杭州:浙江大学, 2011.

[M]. 北京:国防工业出版社, 1993: 128-130.

[J]. 西南交通大学学报, 2011, 46(4): 579-585. CHENG Rongwu, ZHU Changqian, LIU Li. Calculation and optimization of train headway in CBTC system

[J]. Journal of Southwest Jiaotong University, 2011, 46(4): 579-585.

[J]. IEE Proceedings-B, 1992, 139(3): 261-275.

[J]. Transportation Research, 1972: 327-341.

[J]. 机车电传动, 2001(4): 13-16. FENG Xiaoyun, HE Hongyun, ZHU Jinling. Train optimized handling principles and mathematical description on optimized handling strategies

[J]. Electric Drive for Locomotives, 2001(4): 13-16.

[M]. New York: Cambridge University, 2004: 146-160.

施引文献

附加材料(0)

访问统计