跨座式捷运车辆编组分布式固定时间协同巡航控制  

Distributed fixed-time cooperative cruise control for straddle rapid-transit vehicle formation

作　　者：刘浩鸣 刘朝涛[1] 杜子学[1] 邬浩鑫 侯忠伟 LIU Hao-ming;LIU Chao-taoy;DU Zi-xue;WU Hao-xin;HOU Zhong-wei(School of Mechatronics and Vehicle Engineering,Chongqing Jiaotong University,Chongqing 400074,China;School of Traffic and Transportation,Chongqing Jiaotong University,Chongqing 400074,China)

机构地区：[1]重庆交通大学机电与车辆工程学院,重庆400074 [2]重庆交通大学交通运输学院,重庆400074

出　　处：《控制理论与应用》2023年第7期1296-1303,共8页Control Theory & Applications

基　　金：重庆市教育委员会科学技术研究项目(KJQN202100729);重庆市自然科学基金项目(cstc2021jcyj–msxm X0534)资助。

摘　　要：为解决跨座式捷运车辆编组协同巡航控制问题,本文提出了基于固定时间理论的跨座式捷运车辆编组分布式协同巡航控制方法.首先,文章建立了跨座式捷运车辆编组动力学模型,明确了编组队列的控制目标,构建了分布式固定时间协同巡航控制架构,提出了跨座式捷运车辆编组分布式固定时间协同巡航控制方法.然后,本文运用代数图论描述编组间的通讯拓扑关系,应用了分布式固定时间终端滑模估计器估计领航编组的位置和速度,设计了分布式固定时间滑模控制器,并基于Lyapunov稳定性理论证明了控制器的稳定性.最后,文章进行了加速–巡航常规工况仿真实验,验证了所提出控制方法的有效性.In order to solve the coordinated cruise control of straddle rapid-transit vehicle formation,this paper proposes a distributed coordinated cruise control method of straddle rapid-transit vehicle formation based on the fixed-time theory.Firstly,the dynamic model of rapid transit vehicle formation is established to make clear the control aim of formation queue,the frame of distributed fixed-time coordinated cruise control is constructed,and the method in terms of the distributed and fixed-time coordinated cruise control of straddle rapid-transit vehicle formation is proposed.Secondly,the algebraic graph theory is presented to describe the communication topology of formation,and a distributed fixed-time terminal sliding estimator is applied to estimate the position and speed of the pilot formation.And also,based on the strength of Lyapunov stability theory,the author designed the distributed fixed-time sliding controller carefully,and then its stability has been successfully proved.At last,the acceleration and cruise simulation is carried out to verify the effectiveness of the proposed control method.

关 键 词：城市轨道交通 跨座式单轨 编组队列 分布式协同控制 固定时间控制 滑模控制 

分 类 号：U292[交通运输工程—交通运输规划与管理]