Multi-train Tracking Control Method Based On Event-driven Mechanism

With the increasing density of urban population and the increasing demand for transportation,urban rail transit with the characteristics of large transport volume,high operation efficiency and high punctuality rate has developed rapidly,alleviating the urban traffic pressure.Train control method considering unknown train operation parameters and non-linear interference will improve the accuracy of train speed tracking,but it also needs frequent state detection and controller updating.In the process of train tracking operation,frequent information interaction not only improves the safety and efficiency of train operation,but also increases the burden of communication network transmission,which puts forward higher requirements for train operation control methods.This paper focuses on the event-driven study of train speed curve tracking control and train tracking control methods.The main research contents are as follows:Firstly,the tracking control method of train speed curve based on event-driven PID control is researched.Aiming at the situation that the basic resistance of the train contains non-linear term,a single particle non-linear dynamic model of the train is established,and the event-driven threshold function is designed.Considering the comfort of the train running process,a second event-driven PID control based on expert experience is proposed,and the parameters of the PID are tuned by the genetic algorithm coded by Gray code.The simulation results show that the method can track the speed and position curves accurately and reduce the resource consumption of on-board computing.Secondly,an event-driven adaptive train backstepping control method with unknown resistance is researched.In view of the unknown parameters of additional resistance in train operation,a self-learning backstepping control law is designed to compensate for the influence of unknown additional resistance parameters on train operation.Aiming at reducing the computational complexity of control method,an event-driven control method based on fixed threshold function is proposed.Considering the different changes of train state under different operating conditions,an event-driven control method based on time-varying threshold function is proposed,which reduces the computational burden of the controller while maintaining good tracking characteristics.Finally,the event-driven multi-train tracking control method is researched.In the light of the situation that the train sends and receives information frequently and has a large amount of information in the vehicle communication mode,an event-driven multi-train tracking control method is proposed.According to the nonlinear coupling dynamic relationship between adjacent trains,a distributed train tracking control method is designed,which involves the centralized event-driven threshold function and the distributed event-driven threshold function respectively.The stability of single train and multi train tracking control is proved.The simulation results show that the control method improves the efficiency of train operation and reduces the frequency of information transmission on the basis of ensuring the safety in dynamic tracking of trains.