Coordinated Control Of Multiple Electric Units In High-speed Train

As a safe,efficient,convenient,and environmentally friendly transportation mode,high-speed railway has been booming worldwide in recent years.As the "main artery" of passenger transport in China,high-speed railway plays a vital role in promoting the healthy development of the national economy and improving people’s living standards.The control of the high-speed train operation in the existing system is a layered architecture of on-board automatic driving control and vehicle control.The trajectory planning and control of the whole train is completed by the on-board automatic driving control,and the control of multiple electric units is completed by the vehicles according to the control commands.The coordinated control of multiple electric units for the integration of automatic driving control and vehicle control can achieve the fast and stable tracking control of train position and speed,and improve the ride comfort.It is an important direction for the development of train control technology in the future.This thesis mainly focuses on the coordinated control of the high-speed train with multiple electric units in complex operating environments,in view of the characteristics of typical nonlinearity and time-varying parameters in the process of high-speed train operation.Closely focusing on the actual requirement of the electric multiple units(EMU)to quickly recover to a stable state after the event of interference during the train operation,a multi-particle dynamic model of the high-speed train taking account of nonlinear internal forces and uncertain running resistance is constructed.Moreover,this thesis focuses on the development of the coordinated control methods of the high-speed train with multiple electric units based on the control theories of event-triggered control,finite-time control,and fixed-time control,respectively.Besides,the simulation verification and comparative analysis of the proposed control methods are carried out.The main work of this thesis is as follows:(1)The characteristics of high-speed train operation are analyzed in this thesis.The problem of the smooth operation of a high-speed train after the event of external interference such as gradient variation is transformed into the coordinated control problem of multiple electric units.Taking into consideration both the elastic coupling relationship and uncertain running resistance of the high-speed train,a multi-particle dynamic model of the high-speed train is established based on the multi-agent system modeling method.(2)The nonlinear parameters in the existing train model are linearized,and a finite-time distributed event-triggered coordinated control method for the high-speed train is designed based on the principle of event-triggered control and finite-time Lyapunov stability theorems in this thesis.It is verified that the method can achieve the coordinated and smooth operation of the EMU in a finite time through the theoretical proof and simulation experiments.(3)The nonlinear and uncertain parameters in the train model are estimated by applying neural networks,and a finite-time adaptive coordinated control method for the high-speed train is designed based on the backstepping design method and the finite-time Lyapunov stability theorem.The theoretical and simulation results show that the proposed method improves the robustness of the control system while achieving the smooth operation of the EMU in a finite time.It provides a corresponding theoretical basis for achieving the virtual coupling of multiple high-speed trains in the future.(4)The influence of actuator saturation constraints on the dynamic characteristics of the train is analyzed and described in this thesis.Based on the backstepping design method and the fixed-time Lyapunov stability theorem,a fixed-time adaptive coordinated control method for the high-speed train is designed to achieve the smooth operation of the EMU in a fixed time.The simulation results show that the method has shorter settling time and higher control accuracy.The settling time is not affected by the initial state of the system and is only related to the control parameters of the system.Therefore,the method is more practical in solving the coordinated control problem of the high-speed train.Figures 48,Tables 17,References 102.