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Predictive control method for train automatic driving considering the environment and human factors of the whole road section

A technology of automatic train driving and predictive control, applied in the fields of automatic system, railway signal and safety, geometric CAD, etc., can solve the problems that the automatic control effect of train operation cannot be guaranteed, and the control algorithm cannot be considered.

Active Publication Date: 2020-08-21
BEIHANG UNIV
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Problems solved by technology

These influencing factors will appear during the running of the train, and the common control algorithm rarely or even cannot consider the influence of these factors, so the automatic control effect on the running of the train cannot be guaranteed

Method used

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  • Predictive control method for train automatic driving considering the environment and human factors of the whole road section
  • Predictive control method for train automatic driving considering the environment and human factors of the whole road section
  • Predictive control method for train automatic driving considering the environment and human factors of the whole road section

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Embodiment Construction

[0073] The present invention will be further described in detail below in conjunction with accompanying drawings and examples.

[0074] The invention relates to a predictive controller design considering the environment and human factors of the whole road section. The basis of the controller is to rely on figure 1 The prediction model built by the train dynamics model structure, the traction force and braking force of the train are taken as the control quantity of this controller. The entire control process is as figure 2 shown.

[0075] A kind of train automatic driving predictive control method of the present invention considers the environment of whole section and human factors, such as figure 2 The flow shown, the specific steps are as follows:

[0076] Step 1, considering the basic resistance and additional resistance in the train running process, and establishing the resistance model of the train;

[0077] (1) Basic resistance:

[0078] a. Bearing resistance (fric...

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Abstract

The invention discloses a train automatic driving predictive control method considering the environment of the whole road section and human factors, and belongs to the technical field of urban rail traffic control. The present invention first establishes the dynamic model of the train, taking into account the traction force, braking force, basic resistance and additional resistance of the train; then uses the dynamic model of the train as the prediction model, establishes the optimal control objective function of the train, and determines the constraints for solving the objective function Conditions; introduce environmental factors and human factors in the train running section to update the dynamic model and control constraints of the train; obtain train running information, combine real-time section information, solve the optimal control objective function, and obtain traction control within the forecast period expectations. The invention relies on the advantages of the model predictive control algorithm to solve the control problem of the constraint system, and considers the environmental influence and human influence in the actual running process of the train, so as to realize the comfortable and efficient automatic driving control of the train.

Description

technical field [0001] The invention relates to the technical field of urban rail traffic control, in particular to a train automatic driving predictive control method considering the environment of the entire road section and human factors. Background technique [0002] my country's urban rail transit has developed rapidly and is widely used. Compared with other urban public transportation, it has the characteristics of safety, comfort, speed, environmental protection, and large capacity. Therefore, it has gradually become the preferred mode of transportation for people to travel. Especially in developed cities, urban rail transit has become the largest transportation carrier, and the huge and changeable passenger traffic every day has very high requirements on the driving control technology of trains. [0003] The existing automatic train driving system (ATC-Automatic Train Control) can automatically control the speed of the train to avoid accidents such as speeding, rushi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B61L23/14B61L27/04G06F30/15
CPCB61L23/14B61L27/04G06F2119/06G06F30/20
Inventor 张辉罗乾悦刘春璐
Owner BEIHANG UNIV
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