基于分布式模型预测控制的城轨列车协同控制方法研究  

Research on Train Collaborative Control Method for Urban Rail Transit Based on Distributed Model Predictive Control

作　　者：丁颖 吕家慧 刘彩霞 高金金 吕继东[4] DING Ying;LYU Jiahui;LIU Caixia;GAO Jinjin;LYU Jidong

机构地区：[1]国能铁路装备有限责任公司,北京100011 [2]北京交通大学自动化与智能学院,北京100044 [3]北京和利时系统工程有限公司,北京100044 [4]北京交通大学,北京100044

出　　处：《铁道通信信号》2024年第9期11-19,共9页Railway Signalling & Communication

基　　金：国家自然科学基金“面上”(52272329);北京市自然基金“轨道交通联合”(L211019);国能铁路装备有限责任公司先进轨道交通综合试验研究基地方案研究项目专项资金(TZKY-21-16);中国铁道科学研究院国家铁路智能运输系统工程技术研究中心国家创新平台开放基金(2022YJ031)。

摘　　要：围绕城市轨道交通列车高密度追踪控制问题,研究基于分布式模型预测控制(DMPC)的列车协同控制方法。首先,对列车进行受力分析并建立列车运行的状态空间模型,在此基础上提出系统控制目标并设计控制策略;其次,在保证行车安全的前提下,基于DMPC设计考虑位置、速度和加速度等前车动态行为的列车一致性协同控制方法,并应用李雅普诺夫稳定性定理对该系统的稳定性进行分析和验证;最后,结合北京地铁11号线西段线路,对提出的列车协同控制方法进行仿真验证。试验结果表明:提出的列车协同控制方法能够在保障列车安全运行的前提下,使列车间的状态达到一致,且具有良好的同步性。将本方法与跟随控制方法进行对比分析,结果表明:采用协同控制方法能够使列车间隔和速度差更小,满足城轨列车高密度追踪控制要求。Focused on the challenge of trains high-density tracking control for urban rail transit,a trains collaborative control method based on distributed model predictive control(DMPC)is studied.Firstly,the force of train is analyzed and the state space model of train operation is established.Upon this foundational framework,the control objectives of the system and corresponding control strategies are proposed.Secondly,in pursuit of ensuring the safety of train operations,the DMPC is leveraged to devise an algorithm for collaborative train consistency control that comprehensively addresses dynamic parameters,including the position,velocity,and acceleration of preceding trains.The stability of the system is analyzed and verified by Lyapunov stability theorem.Finally,combined with the western section of Beijing Metro Line No.11,the proposed train collaborative control method is simulated and verified.The experimental results show that the proposed method can ensure the safe operation of trains,and achieve consistency and good synchronization between trains.Compared with the follow-up control method,the collaborative control method can reduce the train interval and speed difference,and meet the requirements of trains high-density tracking control for urban rail transit.

关 键 词：城市轨道交通 分布式模型预测控制 协同控制 跟随控制 高密度追踪 状态一致性 

分 类 号：U282[交通运输工程—交通信息工程及控制]