【作者】 秦国栋；

【导师】 蔡伯根；

【作者基本信息】 北京交通大学 ， 交通信息工程及控制， 2024， 硕士

【摘要】 高速铁路作为最方便快捷的运输方式之一,已经成为我国经济大动脉与综合交通运输体系的主要骨干,在社会经济发展中起着至关重要的作用。然而,近年来,随着我国经济的快速发展,现有的铁路行车方法存在运力不足等问题急需得到解决。因此,提高铁路线路的运行效率成为铁路运输的主要问题。面对这一难题,有学者提出了“列车虚拟编组”这一概念,可将线路上多辆列车动态编组,并保持较短的安全运行间隔,提高线路占有率与编组灵活性。本文针对列车虚拟编组运行控制问题,考虑通信时延、输入约束与未知参数补偿、状态约束等动态环境因素,采用单质点列车模型,结合多智能体一致性算法、自适应追踪控制、Lyapunov-Krasovskii泛函控制等方法,设计多列车编队控制器,研究列车虚拟编组系统的稳定性,并通过算例仿真与对比实验证明了多列车编队控制器的良好性能。主要工作如下:(1)针对动态环境中通信时延条件下的虚拟编组的稳定追踪控制问题,结合通信拓扑结构,基于多智能体一致性理论,设计多列车编队控制器,并将通信时延因素引入控制器中。基于此,将列车虚拟编组追踪控制问题转化为时延误差系统的稳定性。此外,针对通信时延这一因素,构造全局Lyapunov-Krasovskii泛函证明多列车系统的稳定性,得到使多列车系统稳定的线性矩阵不等式,实现了通信时延条件下的列车位置与速度的一致性,并基于仿真算例证明所提算法的有效性。(2)针对列车自身输入有限与未知参数补偿问题,结合领航跟随拓扑结构,采用双曲正切函数描述列车输入,基于一致性控制设计相邻列车同步跟踪误差,设计自适应控制律估计列车运行过程中存在的未知参数。设计全局Lyapunov函数证明编队系统是渐进稳定的,其中部分Lyapunov-Krasovskii泛函补偿通信时延对多列车系统的稳定性,保证列车实现动态编组与追踪。最后,对比有无输入约束与未知参数补偿两种情况下的列车编队运行稳定情况,证明所设计控制器的良好性能。(3)为了保证虚拟编组列车系统在状态约束条件下的稳定性,采用障碍Lyapunov函数,保证列车的速度与位置始终保持在约束边界范围以内。构造列车的位置与速度追踪误差,设计了考虑状态约束、参数补偿与通信时延的编队控制器,实现列车自适应追踪控制,并通过设计全局Lyapunov函数证明了虚拟编组系统的稳定性,通过算例仿真说明了在约束状态下,列车仍然可以实现对位置与速度的精确追踪。本文图37幅,表7个,参考文献78篇。更多还原

【Abstract】 As one of the most convenient and efficient modes of transportation,the high-speed railway has become a key component of the comprehensive transportation system and the economic lifeline in China,playing a crucial role in socio-economic development.However,with the rapid development of the economy,there are urgent issues such as insufficient capacity in the existing railway operation methods that need to be addressed in recent years.Therefore,improving the operational efficiency of railway routes has become a primary concern for railway transportation.Faced with the challenge,some scholars have proposed the concept of " virtually coupled train set," which can dynamically form multiple trains on the line while maintaining a short safe operating interval,thereby increasing route occupancy and formation flexibility.The thesis focuses on the control problem of virtually coupled train set,considering dynamic environmental factors such as communication delay,input constraints,unknown parameter compensation,and state constraints.A single particle train model is adopted,combined with multi-agent consensus algorithm,adaptive tracking control,Lyapunov-Krasovskii functional control and other methods,to design a multi train formation controller.The stability of the virtually coupled train set system is researched,and the performance of the multi train formation controller is demonstrated through numerical simulation and comparative experiments.The main work is as follows:(1)Aiming at the stable tracking control problem of virtually coupled train set considering communication delays in dynamic environment,combined with the topology structure of train communication,based on multi-agent consensus theory,the multi-train formation controller is designed,and the communication delay factor is introduced into the controller.Based on this,the tracking control problem of virtually coupled train set is transformed into the stability of a time-delay error system.In addition,to address the factor of communication delay,a global Lyapunov Krasovskii functional is constructed to prove the stability of multi-train systems.A linear matrix inequality is obtained to ensure the stability of multi-train systems,achieving consistency between train position and speed under communication delay conditions.The effectiveness of the proposed algorithm is demonstrated through simulation examples.(2)Aiming at the problem of the limited input and unknown parameter compensation of the train,combined with the navigation tracking topology,the hyperbolic tangent function is adopted to describe the train input,and the synchronization tracking error of adjacent trains is designed based on the consistency control,an adaptive control law is designed to compensate the uncertainties in train operation.The Global Lyapunov function is designed to prove that the formation system is asymptotically stable,and the Lyapunov-Krasovskii function compensates for the communication delay to the stability of the multi-train system,ensuring the dynamic train formation and tracking.Finally,the stability of train formation operation with or without input constraints and with unknown parameter compensation is compared,and the excellent performance of the designed controller is proved.(3)To ensure the stability of the virtually coupled train set system under state constraints,a barrier Lyapunov function is adopted to ensure that the speed and position of the train always remain within the constraint boundary range.The position and speed tracking errors of the train were constructed,and a formation controller considering state constraints,parameter compensation,and communication delay was designed to achieve adaptive tracking control of the train.The stability of the virtually coupled train set system was proved by designing a global Lyapunov function,and numerical simulations were conducted to demonstrate that the train can still achieve accurate tracking of position and speed under constrained conditions.There are 37 figures,7 tables and 78 references in this thesis.更多还原