Research On Train-train Tracking Operation Control Based On Luenberger Observer

The response delay of the train control system will lead to poor speed tracking performance,dangerous operation and energy waste during train operation.In the wake of the rapid expansion of high-speed rail,higher performance indicators,such as faster running speed and greater departure density,put forward more stringent constraints on train operation control.In this thesis,the state-of-art status of controller designs with respect to energy-saving optimization,tracking control and time-delay are reviewed in this thesis.Taking the HST as the object of study,three optimal indicators are proposed,and the controller of the train in the cruise phase is designed to make the train operation performance meet the proposed control requirements.Second,the safety of two neighboring trains running in the same direction is discussed,and a control scheme is proposed,which enables the following train to keep a safe distance with the proceeding train all the time.The force analysis,modeling,control performance index function establishment,controller design and simulation verification are performed in this thesis,which consists of the following aspects:(1)The longitudinal dynamics of the HST is analyzed firstly.And the impacts of the state time-delay of the train during train operation is analyzed in depth,which is considered in the multi-particle dynamic model of the train.Considering that the train is in the constant speed operation for most of the time during the whole operation process,the multiobjective optimization criterion of the train in cruise stage is established based on the highspeed train with state delay and parameter uncertainties.This criterion includes the following three aspects: 1)the minimum relative displacement between each train,2)the minimum error of tracking target speed curve and 3)the minimum traction energy consumption.Further,the criterion is transformed into a single objective optimization function with the weight of each index considered.(2)The dynamic model of high-speed train is expressed in the form of standard state space equation,and the controller is designed.The necessary conditions for the stability of the control algorithm are given in the form of linear matrix inequality,which can be solved by computer.The Lyapunov function with time delay is constructed to prove the stability of the controller.Finally,the effectiveness of the proposed control method is verified in MATLAB.(3)Mathematical models of two neighboring trains running in the same direction are established with considering the uncertainty of parameters of the following train.Then a controller is designed for the front train.On this basis,an observer is designed to enable the following train to estimate the state information of the front train,that is,the displacement,the velocity and acceleration information of the front train.(4)Based on the state information of the front train estimated by the observer,an adaptive controller is designed for the following train to make the following train to track the estimated reference trajectory accurately.The reference displacement needs to be subtracted by the preset fixed safety distance,and the reference speed is the estimated front train speed.Finally,a series of comparative experiments are conducted to verify the effectiveness of the proposed control scheme.