| As a passenger transportation system with speeds above 250km/h,high-speed trains have become more and more popular in recent years due to their speed and eco-friendliness.At present,our country is in the forefront of high-speed railway construction in the world.However,the research on the establishment and improvement of high-speed train dynamics models and the corresponding train control system needs to be further improved.It is of great significance to establish a more realistic high-speed train dynamic model to accurately describe its dynamic operation characteristics,and to study a more efficient and safe train control system to achieve accurate tracking.This thesis mainly studies the problem of cooperative cruise control of Electric Multiple Units(EMU).For single EMU and EMU group system models,using multi-agent finite-time consistency technology,a distributed finite-time cooperative control algorithm is proposed to realize the cooperative control of mobile block in the cruise phase.The main content and results are as follows:(1)For a single train EMU composed of multiple power units,each power unit has an interaction and coupling relationship,and each power unit is described as an intelligent body.According to the network topology and interaction between the agents,a high-speed EMU multi-agent model is established,and a distributed finite-time algorithm is designed to generate the traction/braking force of each agent in real time,realizing the distributed coordinated speed tracking of the EMU.At the same time,it is ensured that during the entire operation of the EMU,adjacent power units always maintain a safe distance to meet the coupler restraint.Finally,graph theory,Lyapunov stability theory and finite-time stability theory are used to prove that the designed control algorithm can ensure the convergence and stability of the system,and the validity and correctness of the protocol are verified by Matlab numerical simulation.(2)For multiple high-speed EMUs operating simultaneously in long-distance stations,the head-to-tail agent between the EMUs obtains information about adjacent EMUs through train-to-train(T2T)wireless communication technology,and establish a multi-agent system for the EMU group.Then,a distributed finite-time cooperative control algorithm is designed.The control algorithm can realize distributed control in two aspects: The first is to realize the distributed control of the EMU under the constraints of the coupler,and realize the rapid tracking of each agent in the EMU.While expecting the speed,the coupler’s deformation variable is within the safe range;the second is to realize the high-speed cruise control of the EMU group under the constraint of keeping the minimum braking distance,and realize the tracking operation control of the EMU group in the sense of moving block,and shorten the train as much as possible and avoid collisions while tracking time.Finally,theoretical analysis and simulation results are provided to verify the effectiveness of the method. |
