基于改进MPC的重载铁路移动闭塞系统下列车编队控制方法研究  

Research on Virtually Coupled Train Formation Control of Heavy-haul Train Based on Improved MPC under Moving Block System

作　　者：林正南 俞花珍 邰国璇 郭玮 石竹 余立伟 黄友能[1,4] LIN Zhengnan;YU Huazhen;TAI Guoxuan;GUO Wei;SHI Zhu;YU Liwei;HUANG Youneng(School of Electronic and Information Engineering,Beijing Jiaotong University,Beijing 100044,China;Shuohuang Railway Development Co.,Ltd.,Suning 062350,China;Traffic Control Technology,Co.,Ltd.,Beijing 100070,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]国能朔黄铁路发展有限责任公司,河北肃宁062350 [3]交控科技股份有限公司,北京100070 [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》2024年第2期74-81,共8页Journal of the China Railway Society

基　　金：中央高校基本科研业务费(2023JBZY017);北京市自然科学基金(L231018);国能朔黄铁路科技研发项目(2021-234)。

摘　　要：列车编队控制是城市轨道交通移动闭塞系统下一种提升输送能力的重要手段。针对重载列车载重大、编组长、操控难度大的特点,提出一种重载移动闭塞系统下基于改进MPC的重载列车编队运行控制方法。首先建立基于多质点模型分布式控制结构的重载列车编队模型,然后通过增加自适应反馈环节改进MPC方法,并引入0-1指标变量处理非线性函数,进一步求解混合整数的二次型优化问题,最后采用朔黄重载移动闭塞系统下的实际线路数据和列车数据进行仿真,可得到最大速度误差为0.465 km/h,最大间隔误差为1.899 m,且误差分布聚集在零点附近。仿真结果表明:提出的基于改进MPC控制方法能够满足重载移动闭塞系统下编队控制精度要求,该控制方法是有效的。Virtually coupled train formation control is an important means to improve the transport capacity of urban rail transit with moving block system.Aiming at the characteristics of heavy load,long formation and difficult control of heavy-haul train,this paper proposed a control method for virtually coupled heavy-haul train formation based on improved MPC(model predictive control)under moving block system.In this paper,with the establishment of the heavy-haul train formation model based on multi-particle model with distributed control structure,the MPC method was improved by adding adaptive feedback link,while the nonlinear function was processed by introducing 0-1 index variable to further solve the mixed integer quadratic optimization problem.The results of the simulation using the actual data of railway line and trains under Shuohuang heavy-haul moving block system show that the maximum speed error is 0.465 km/h,with the maximum interval error of 1.899 m,and with the error distribution being concentrated near the zero point,proving that the improved MPC control method proposed in this paper,which can meet the requirements of virtually coupled heavy-haul train formation under moving block system,is effective.

关 键 词：重载列车 编队运行 模型预测控制 协同控制 

分 类 号：U284[交通运输工程—交通信息工程及控制]