面向虚拟编组的多列车协同制动控制算法

doi:10.13229/j.cnki.jdxbgxb.20221555

Abstract

Abstract:

A unified deceleration is usually adopted among all train units when an emergency occurs during the operation of a virtually-coupled train. Affected by the actual operation conditions， safety risk is likely to be increased under the control of uneven spacing between train units. To solve this problem， this paper designs a multi-vehicle cooperation-based brake control algorithm. Firstly， the emergency braking scenario of a virtually coupled train is analyzed， and total risk coefficient is defined to evaluate the safety risk. Then， with the goal of minimizing the total risk coefficient， a specific algorithm is designed to calculate the train braking rate of each unit according to the actual working conditions of the virtually-coupled train. Finally， simulation results show that the algorithm has lower total risk coefficient and fewer collision counts， which proves the correctness and effectiveness of the proposed multi-vehicle cooperation-based brake control algorithm.

Key words: traffic information engineering & control, urban rail transit, virtual coupling, multi-vehicle cooperation, brake control

CLC Number:

U284

Lei ZHANG,Zi-mu LI,Yong-yao YAN,Fei DOU,Hong-jie LIU. Brake control algorithm for virtually coupled trains based on multi vehicle cooperation[J].Journal of Jilin University(Engineering and Technology Edition), 2024, 54(10): 3027-3036.

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类别	参数	取值
列车参数	车长/L	68 m
	最大制动率/a_{k_}_max	0.85~1.0 m/s2
	制动响应时间/τ_k	0.8~1 s
虚拟编组运行参数	安全边界/de_safe	6 m
	领车速度/v₁	40、60、80 km/h
	跟随列车速度/v_k	（v₁ -1）~（v₁ +1） km/h
	列车初始间隔/d_k	10~20 m（40 km/h时） 20~35 m（60 km/h时） 38~56 m（80 km/h时）

列车初始间隔/m	协同制动碰撞次数	最大制动碰撞次数	最小制动碰撞次数	协同制动平均总风险系数	最大制动平均总风险系数	最小制动平均总风险系数
10	38	137	46	0.523	0.833	0.693
12	13	56	11	0.400	0.593	0.451
14	0	16	9	0.324	0.438	0.359
16	0	1	2	0.265	0.303	0.281
18	0	2	0	0.235	0.263	0.242
20	0	0	0	0.208	0.220	0.214

列车初始间隔/m	协同制动碰撞次数	最大制动碰撞次数	最小制动碰撞次数	协同制动平均总风险系数	最大制动平均总风险系数	最小制动平均总风险系数
20	38	151	70	0.243	1.663	0.379
23	10	67	27	0.202	0.340	0.274
26	4	20	10	0.176	0.434	0.200
30	0	5	10	0.155	0.176	0.171
33	0	1	0	0.134	0.152	0.142
35	0	0	0	0.120	0.130	0.128

列车初始间隔/m	协同制动碰撞次数	最大制动碰撞次数	最小制动碰撞次数	协同制动平均总风险系数	最大制动平均总风险系数	最小制动平均总风险系数
38	12	80	23	0.119	0.199	0.147
41	7	37	20	0.108	0.180	0.155
44	3	25	13	0.101	0.147	0.119
47	0	3	2	0.093	0.173	0.119
52	0	1	0	0.082	0.093	0.087
56	0	0	0	0.075	0.084	0.079

类别	参数	取值
列车参数	车长/L	68 m
	虚拟编组各列车单元最大制动率a_{k_}_max	0.951、0.995、0.860、0.921、0.860 m/s²
	虚拟编组各列车单元制动响应时间τ_k	0.828、0.940、0.812、0.970、0.922 s
虚拟编组运行参数	安全边界de_safe	6 m
	虚拟编组各列车单元速度v_i	60、60.224、59.540、59.591、59.954 km/h
	虚拟编组各列车单元列车初始间隔d_k	25.231、23.436、26.792、25.547 m

Brake control algorithm for virtually coupled trains based on multi vehicle cooperation

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