Tracking And Coordination Control Of Train Based On Multi-Agent Method

High speed trains (HST) hold the lifeline of our national economic and play an important role in economic development and state security. It is crucial for the train to guarantee its high-speed running performance stable and reliable even under uncertain external conditions, as well to realize tracking and coordinated control.The dissertation focuses on the following aspects. Firstly, nonlinear dynamic model of train was established. This model was based on multi-agent, in which the actual operation of the train was considered and the coupling force between the carriages was portrayed. The model had a simple structure. On the one hand, the reasons why the dynamic model of the train was nonlinear, and the coupling force between the carriages was unpredictable were analyzed in detail. On the other hand, the principle of synchronous based on multi-agent was studied. Secondly, there were some inherent challenges in control design of HST, such as nonlinear dynamic model, unpredictable coupling force between the carriages and uncertain external disturbance. To tackle these problems, robust adaptive control was presented which could ensure the coordination control of velocity and position, besides the distributed controller was improved. Furthermore, by taking advantage of robust adaptive control algorithm, the tracking and coordination control of train that based on multi-agent method was achieved. Dynamic characteristic of the algorithm were compared with adaptive control algorithm under the same parameters. The safe and efficient operation of the train were assured, neither with the help of the train operation system unknown parameters, nor relying on the accurate coupling force between the carriages. Finally, the feasibility of the designing control algorithms was verified by performance parameters of the system which were obtained through MATLAB simulations.With considering a variety of uncertainties and nonlinear, unpredictable coupling force between carriages of high-speed trains in this article, the tracking and coordination control of train that based on multi-agent method was studied by making use of robust adaptive control algorithm. Therefore, this study provided a certain theoretical support for the synchronous development of high-speed trains and also foreshadowed for further research in the area.