Research On Train Tracking And Cooperative Control For Passenger Comfort

With the development of science and technology,driverless train system emerges at the historic moment.Safety,efficiency and passenger comfort are the core elements and important design indicators of its development.The change from manual driving to unmanned driving requires more advanced control system.At the same time,the development of modern communication hardware facilities and technical means,as well as the wide application of mobile block technology,ensure the information exchange between trains and provide the necessary conditions for the realization of multi-train cooperative control.On the basis of ensuring the safe and efficient operation of the train,the comfort of the passengers is a major difficulty in the design of the controller,and it is also the basic requirement for passengers to travel in today’s society.Advanced control algorithms not only need to meet many design requirements of the system,but also must have a strong ability to adapt to the complex operating environment.This thesis focuses on the multi-train cooperative control and passenger comfort control of driverless train system.The main research contents are summarized as follows:1.In this thesis the general multi-train cooperative control algorithm is studied.A multi-train distributed control system is designed based on the unidirectional link topology,which fully considers the application scope and function limitation of various distributed control topologies for the general second-order train dynamics model.The train running curve is obtained through MATLAB simulation.2.Considering the physical significance of passenger comfort in the train dynamics model,the traditional second-order train model is analyzed and the high-order physical model of the train is established.A high order non-singular terminal sliding mode distributed control system is designed for the high order train model and unidirectional link topology.The feasibility and stability of the algorithm are analyzed by designing the Lyapunov function.Finally,the MATLAB simulation results show that the train can achieve autonomous tracking in a limited time,and the multi-train can achieve tracking while ensuring the safety interval and meet the design indicators of passenger comfort.3.Considering the influence of disturbance on the system,a variety of solutions to suppress disturbance are proposed,including Kalman filter,adaptive parameter identification and adaptive high-order non-singular terminal sliding mode.The comparative analysis of the simulation results shows that the adaptive high-order non-singular terminal sliding mode controller designed in this thesis has advantages in disturbance suppression effect and passenger comfort improvement.The stability of the controller is analyzed by Lyapunov stability method.The system can suppress the external disturbance well,and track well under the disturbance and meet the requirements of passenger comfort design.