Robust Consistency Tracking Control Of Heavy Haul Train Based On Multi-Agent Model

With the progress of science and technology,the development of China’s train transportation industry is particularly prominent,it absorbed a large number of world cuttingedge technologies.In the current period of rapid development of national economy,the pressure of heavy haul train transportation is also increasing.As an economic hub,heavy haul railway has changeable line operation environment,many tunnels,curves and long slopes,and the external disturbance is not necessarily fixed.Under such circumstances,the asynchronous action caused by the delay of train control signal transmission and the inconsistent disturbance caused by super long body lead to the huge longitudinal impulse,In this environment,maintaining stability and robustness is particularly important.At the same time,ensuring train safety is a great challenge for the driver’s spirit,endurance and technology.The development of electronic computer has also brought new technology to the field of railway transportation.The electronically controlled air braking ECP(electronically controlled pneumatic,ECP)system is more and more widely used in heavy-duty trains.The characteristics of the system that each carriage can be controlled independently also make it the development direction of the new generation of heavy-duty Technology.Based on the heavy haul train equipped with ECP system,this paper makes the following research to solve the above problems:1.According to the characteristics and operation route of heavy haul train,this paper combined with the interaction between carriages and the multi-particle dynamic model that can reflect the actual situation of train operation.On the premise of electric control air braking ECP system and carriage communication,this research builds an intelligent freight car based on the carriage that can be controlled independently,A multi-agent model of heavy haul train is established based on Intelligent freight train.2.Based on the multi-agent model of heavy haul train,a composite consistency controller is designed.Aiming at the shortcomings of slow convergence speed and weak robustness of the traditional consistency controller,a composite consistency controller integrating sliding mode control term is designed.The controller has faster convergence speed and higher tracking accuracy than the traditional consistency controller,and a comparative simulation experiment is carried out with the literature on the application of traditional consistency control on heavy haul trains under the same parameters,The superiority of this controller is further illustrated.3.Aiming at the problem that the disturbance of each part is inconsistent due to the excessive length of heavy haul train.Based on the design of Chapter 3,the disturbance is regarded as an unknown disturbance,and the sliding mode observer is introduced to feed back the observed value into the controller to compensate the influence of the disturbance;In view of the excessive longitudinal impulse between adjacent carriages,an artificial potential function is introduced to limit the car spacing to ensure that the distance between adjacent carriages is always in a safe range during train operation.Finally,the simulation results show the effectiveness of the controller,and the comparison with the controller without observer under the same parameter conditions further shows that the controller has better robustness.This paper studies the operation characteristics of heavy haul train,and designs a composite robust consistency controller by establishing the multi-agent model of heavy haul train,which make the accurate tracking of the train to the given target curve,and it has good anti-interference when face the unknown disturbances.The effectiveness of the controller is verified by some simulation experiments.