Kinematics Analysis And Control Strategy Of The Unmanned Driving Urban Rail Vehicle

At present, unmanned rail vehicle technology has become mature in developed countries. However, our research in this field started late and the level is still relatively backward. Meanwhile, the core equipment and technology and the operation system of rail vehicles are introduced from abroad and can not be fully adapted to domestic urban rail system. There are still some problems such as stop durations can not be adjusted due to the dynamic passenger flow, running intervals can not be controlled intellligently, non-contact from the ground of urban rail vehicles and so on, which seriously hold back the development of urban rail vehicle technology in our country. These problems above are mainly due to that our country is lack in independent intellectual property right of the core technology in the field of unmanned urban rail vehicle controlling system, particularly, the relative basic-theory-study lagged seriously which has become the bottle-neck restricting the development of unmanned rail vehicle technology.In view of the actual situation in our country, it has important theoretical and realistic significances to develop the basic theory research of urban rail vehicles unmanned technology, eliminate latent danger of accidents affecting rail vehicle running safety, reliability, comfort and efficiency caused by man-made uncertain factors and improve automation level of urban rail transit system.The unmanned driving urban rail vehicle is taken as research object and the train-traction kinematics and dynamics are regarded as basic theory. The train-traction model, and the lateral and vertical vibration models are established and analyzed. The robust control theory is led into the train vibration analyzing. Finally, the hybrid control strategies according with unmanned driving urban rail vehicle are established. The corresponding urban rail vehicle synergetic control technology is analyzed in order to achieve the train-control objectives of high efficient and smooth running. The conclusions can be summarized as follows:(1) Through force-analyzing of the unmanned urban rail train in different traction-operation conditions based on the kinematic of train traction, the urban rail train traction kinematic model is established. Meanwhile, the relevant train kinematic equations are given.(2) Through dynamic analysis of the train operation based on train dynamics theory, the vehicle related multi-degree of freedom horizontal, vertical vibration model are established and the simulation is given by Matlab to analyze affecting factors of running stability during the train operation process.(3) In order to suppress the influence of uncertain disturbance on urban rail vehicles in the operation of train, the disturbance and the uncertain factors influence are analyzed based on the establishing lateral vibration model. Then the robust H∞ control theory is adopted to give analysis and synthesis on the model. Comparing with the results that non-controller is contained, rationality and validity with robust controller is verified. Simulation results show that, compared with passive vibration controller, the unmanned urban rail vehicle controller designed with robust H∞ control method plays good robust performance on the inhibition of vehicle transverse vibration raising the train running smoothness and comfort.(4) Based on the urban rail train multi-particle model and the comparison between saving traction control strategy and rapid traction control strategy, the hybrid optimization traction control strategy of urban rail train are established for two modes of urban rail vehicles operation. The model is simulated and analyzed to find out the best decision making capacity during traction operation and achieve the traction energy consumption and shortest running time in the process of train operation.(5) By investigating the operation model of urban railways and the driverless driving technical characteristics, considering the wide fluctuation of the urban-rail traffic flow in our country, the divided-period method of the train-amount configuring is founded in unmanned urban rail vehicle operation. The trains working on one typical urban-railway line is regarded as research object, according to the passenger flow`s variety, the optimization method of sub-period train-allocating is founded using the queue theory. The cooperative controlling model of urban railway trains is established to achieve the uniformly-spaced cooperative controlling for urban railway trains using the real-time information acquisition method. The quadratic optimal control theory is used to work out the train-marching-distance in the next information-collecting period. During the train-cooperative controlling, the optimal distance between two running trains is calculated and analyzed. And the real-time interactive technique frame under the train-cooperative controlling is bridled using the internet of things technology, the hierarchical controlling model is founded which lays foundations on multiple-train dynamic cooperative controlling accomplishment based on train-traction controlling strategy.