一种缩短虚拟编组列车追踪间距的鲁棒模型预测控制方法  

A Robust Model Predictive Control Approach for Reducing Following Distance between Virtually Coupled Unit Trains

作　　者：罗啸林 唐涛[2] 林炳跃 刘宏杰[1,4] LUO Xiaolin;TANG Tao;LIN Bingyue;LIU Hongjie(School of Electronic and Information Engineering,Beijing Jiaotong University,Beijing 100044,China;State Key Laboratory of Rail Traffic Control and Safety,Beijing Jiaotong University,Beijing 100044,China;Signal&Communication Research Institute,China Academy of Railway Sciences Corporation Limited,Beijing 100081,China;National Engineering Research Center of Rail Transportation Operation and Control System,Beijing Jiaotong University,Beijing 100044,China)

机构地区：[1]北京交通大学电子信息工程学院,北京100044 [2]北京交通大学轨道交通控制与安全国家重点实验室,北京100044 [3]中国铁道科学研究院集团有限公司通信信号研究所,北京100081 [4]北京交通大学轨道交通运行控制系统国家工程研究中心,北京100044

出　　处：《铁道学报》2023年第8期68-76,共9页Journal of the China Railway Society

基　　金：中央高校基本科研业务费(2022YJS112);北京市自然基金(L201004);国家铁路局铁路行业科技创新基地专项课题(KF2021-004);城市轨道交通北京实验室。

摘　　要：作为当前轨道交通的研究热点,虚拟编组列车由多个单元列车借助于车车通信和主动控制构成。虚拟编组列车按照与物理编组列车一致的方式提供运输服务,所有单元列车应整体被视为一列车进行管理和控制。因此,要求单元列车像物理连挂一样保持很小的追踪间距。但由于缺少了车钩进行物理连挂,运行过程中受到的不确定干扰使得实现虚拟编组单元列车小间距安全追踪非常困难。针对该问题,首先提出一种基于分布式鲁棒模型预测控制(RMPC)的虚拟编组列车追踪控制方法,保证虚拟编组列车安全运行以及单元列车追踪间距有界。在此基础上,设计一种基于线性矩阵不等式的优化算法,通过减小RMPC控制误差,达到进一步缩短单元列车的追踪间距的目的。为证明该方法的有效性,仿真了由3辆单元列车构成的虚拟编组列车在一个站间的完整运行过程,并与既有文献中的方法进行了对比。仿真结果显示,单元列车追踪间距可由普通MPC方法下的10 m减小至本方法下的5.05 m,其缩短幅度达到49.5%。实验结果表明,所提出的RMPC方法及其优化算法能够在保证安全运行的前提下缩短虚拟编组单元列车追踪间距。As a recent hot research topic in railways,the virtually coupled train set(VCTS)consists of multiple unit trains(UTs),resorting to the train-to-train communication and active train control.A VCTS provides the same transportation services as a mechanically coupled train and all UTs are treated as a single train in terms of management and control.Thus,UTs are required to keep a small following distance as mechanically coupled trains.But with the lack of mechanical coupling,the safe VCTS operation with the small following distance can hardly be achieved under uncertain disturbances during the operation process.To address the problem,this paper first proposed a robust model predictive control(RMPC)approach that guarantees the safety of VCTS operation and the bounded following distance.Then,an optimization algorithm was proposed to reduce the tracking error of RMPC by solving linear matrix inequalities,in order to further reduce the following distance.Finally,to verify the effectiveness of the proposed approach and make comparisons to the approaches in existing literature,experiments were conducted where a VCTS consisting of three UTs operated between two stations.The simulation results show that the following distance can be reduced from 10 m to 5.05 m,with a reduction of 49.05%through employing the proposed approach instead of the nominal MPC.The experimental results also show that the proposed RMPC approach and optimization algorithm can safely reduce the following distance of VCTS.

关 键 词：虚拟编组 单元列车 列车运行控制 追踪间距 鲁棒模型预测控制 

分 类 号：U292[交通运输工程—交通运输规划与管理]