基于多质点模型的列车自动驾驶非线性模型预测控制

doi:10.13229/j.cnki.jdxbgxb20190609

Abstract

Abstract:

This paper investigate the design of the controller of Automatic Train Operation (ATO) system under the consideration of multiple optimal objectives and constraints. Based on a nonlinear multi-point model, an ATO Nonlinear Model Predictive Control (NMPC) algorithm is proposed to meet the punctuality of train operation, energy saving and passenger comfort. Moreover, the theoretical analysis of algorithm feasibility and the proof of stability for closed-loop system are presented. The validity of the algorithm is verified by numerical simulation. The simulation results show that the proposed algorithm has better control effect and lower error than the Linear Model Predictive Control (LMPC) algorithm when the train meets the operational constraints.

Key words: traffic information engineering and control, high-speed train, automatic train operation, nonlinear model predictive control, multi-point model

CLC Number:

U284.48

Chao JIA,Hong-ze XU,Long-sheng WANG. Nonlinear model predictive control for automatic train operation based on multi⁃point model[J].Journal of Jilin University(Engineering and Technology Edition), 2020, 50(5): 1913-1922.

Figures/Tables 10

Fig.1

Table 1

Parameters of simulation"

参数	数值
$c 0$ /（N·t^-1）	7.75
$c v$ /[N·h·(km·t)^-1]	0.062 367
$c a$ /[N·h²·(km²·t)^-1]	0.001 13
$k m 1$ /%	31.4
$k m 2$ /%	38.5
$k m 3$ /%	30.1
$k d$ /(N·s·m^-1)	$5 × 106$
$k s$ /(N·m^-1)	$1 × 107$
$m 1$ /t	67.2
$m 2$ /t	74.6
$m 3$ /t	73

Table 1

Fig.2

Fig.3

Fig.4

Table 2

Table 3

Output performance comparison of two methods"

方法	仿真时间/s	$E / 105 k J$	$m a x f i n / k N$
方法1	16.37	1.06	98.13
本文方法	21.15	1.10	99.29

Table 3

Fig.5

Fig.6

Table 4

Comparison of output performance under three cases"

case	仿真时间/s	$E / 105 k J$	$m a x f i n / k N$
1	21.15	1.100	99.29
2	16.92	1.054	97.52
3	20.38	0.971	94.58

Table 4

References 19

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方法	时间段/s
方法	0~100	100~300	300~500
方法1	0.41	0.78	0.58
本文方法	0.09	0.26	0.18

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Nonlinear model predictive control for automatic train operation based on multi⁃point model

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