Research On Intelligent Marshalling Distributed Cooperative Cruise Control Of Intelligent Network Connected Monorail Rapid Transit Vehicles

Urban rail transit is an effective way to solve transportation problems in small and medium-sized cities,and the intelligent networked monorail rapid transit system is an important research direction for the sustainable and healthy development of urban rail transit.The manifestation of intelligent networked monorail rapid transit system is intelligent formation operation.To achieve high-quality intelligent formation operation of intelligent networked monorail rapid transit system,it is necessary to solve the key technical problem of distributed collaborative cruise control during the operation of monorail rapid transit vehicles.Conducting research on distributed collaborative cruise control for intelligent networked monorail rapid transit vehicles and seeking effective distributed collaborative cruise control algorithms has important theoretical value and practical significance.This paper conducts in-depth research on distributed collaborative cruise control of intelligent formation for intelligent networked monorail rapid transit vehicles.The main research work and content are as follows:1.Research on the distributed fixed time collaborative cruise control architecture for intelligent formation of intelligent networked monorail rapid transit vehicles.Analyzing the characteristics of intelligent networked monorail rapid transit vehicles,based on the structure of monorail rapid transit vehicles and the traction dynamics of straddle type monorail,a single formation dynamic model of monorail rapid transit vehicles was derived and established,and then a multi formation dynamic model was derived;The control objectives of the intelligent formation queue of monorail rapid transit vehicles during the cruise process were clarified,and the formation queue driving mode of the navigation follow mode was applied.Based on the operational characteristics of the formation queue,the applicable communication topology structure between formations was selected,and algebraic graph theory was used to describe the communication topology relationship between formations;A distributed collaborative cruise control architecture based on fixed time theory has been constructed.2.Research on intelligent marshalling distributed coordinated cruise fixed time Sliding mode control of intelligent networked monorail rapid transit vehicles.The distributed fixed time sliding mode controller for pilot formation is designed.The distributed fixed time terminal sliding mode estimator is used to estimate the position and speed of pilot formation,and the distributed fixed time sliding mode controller for non pilot formation is designed;Based on Lyapunov stability theory,the stability of the designed distributed fixed time sliding mode controller for pilot formation,distributed fixed time sliding mode controller for non pilot formation and terminal sliding mode estimator are proved.3.Research on distributed fixed time sliding mode controller based on RBF neural network.In order to improve the response speed of the monorail rapid transit vehicle formation queue system and improve the accuracy of the control model,an RBF neural network is used to approximate the uncertain additional resistance term in the intelligent formation dynamics model;A distributed fixed time sliding mode controller based on RBF neural network is designed,and the stability of the designed controller based on RBF neural network is proved based on Lyapunov stability theory.4.Research on distributed fixed time integral sliding mode controller.Taking advantage of the advantages of the integral sliding mode algorithm with small chattering and good smoothness,the distributed fixed time integral sliding mode controller for pilot formation and the distributed fixed time integral sliding mode controller for non pilot formation are designed;Based on Lyapunov stability theory,the stability of the designed distributed fixed time integral sliding mode controller for pilot formation and the distributed fixed time integral sliding mode controller for non pilot formation is proved.5.Based on Matlab simulation experiment research.Building control architecture simulation block diagram based on Matlab;The simulation subsystem of distributed fixed time sliding mode controller for monorail rapid transit vehicle formation queue is designed,the control function is written,the simulation verification is conducted,and the simulation results are analyzed;The simulation subsystem of distributed fixed time sliding mode controller based on RBF neural network for monorail rapid transit vehicle formation queue is designed,the control function is compiled,the simulation verification is conducted,and the simulation results are analyzed;The simulation subsystem of distributed fixed time integral sliding mode controller for monorail rapid transit vehicle formation queue is designed,the control function is compiled,the simulation verification is conducted,and the simulation results are analyzed;After comparing and analyzing the three control methods designed in this article,the optimal control method was obtained.This paper conducts in-depth research on the intelligent grouping distributed collaborative cruise control of intelligent networked monorail rapid transit vehicle s,and obtains effective distributed collaborative cruise control methods.The resea rch work and achievements of this paper have important reference value and refe rence value for achieving intelligent networked monorail rapid transit vehicle inte lligent grouping distributed collaborative cruise control.