Research On The Cooperative Operation Control Of Formation Trains Passing Through The Speed Limit Sections

In recent years,high-speed railway has developed rapidly due to its advantages of convenience,punctuality and safety.With the development of next-generation information technologies of automatic control,computer,communication,the level of automation of high-speed railway has gradually improved,gradually shifting from manned to unmanned,from single train automatic operation to multi-train cooperative operation.The coordinated operation of multiple trains can effectively improve the overall operating efficiency of the railway system,and a multi-train running mode of "virtual coupling" has been proposed by researchers at home and abroad based on this purpose and background.The driving mode of virtual coupling could shorten the headway between trains within the absolute braking distance,and adopt the control algorithm of small headway cooperative operation to ensure the tightness of multiple trains,in this way the multiple trains of small headway operation can be regarded as “a train” to achieve the goal of increasing the capacity and the flexibility of the railway system.This thesis focuses on how to ensure the stability of multi-train operation when multiple trains encounter speed limits.In view of the problems that the existing virtual coupling operation scenario is not clear,the formation control performance under the speed limit scenario and the train model parameters are difficult to obtain,the main research work of this thesis is as follows:(1)This thesis starts with the operation scene and sorts out the basic scene and emergency scene of train formation operation.In view of the diversity and complexity of previous studies on multi-train operation,this thesis simplifies the basic elements of multi-train operation into three elements: train formation node dynamics;train formation communication topology and train formation headway.Under this simplified and unified framework,the performance of the controller can be analyzed more directly.The performance will be affected by disturbance,communication quality,controller parameters,etc.(2)Under the unified framework of multi-train formation system,the feedback control is used to simulate the two structures of the train formation communication topology,predecessor following mode and bidirectional communication mode.It verifies the conclusion that the performance requirement of multi-train formation cannot be guaranteed when encountering speed limits in the predecessor following mode.The feedback control can achieve the dissipation of train headway error in the bidirectional communication mode,then the backstepping method is used to theoretically prove the feedback control conditions for the string stability under the two topological structures.(3)Aiming at the problem of uncertain parameters and complex external disturbance in the operation of trains,this thesis uses active disturbance rejection control method to treat various resistances other than traction/braking force during train operation as a new state and observes them,then performs real-time compensation by using active disturbance rejection control,solves the problems of unknown and time-varying train model parameters,and realize stronger train anti-interference ability.