CN-118722782-B - High-speed railway multi-train subsection cooperative control method and system based on mobile occlusion

CN118722782BCN 118722782 BCN118722782 BCN 118722782BCN-118722782-B

Abstract

The invention discloses a multi-train subsection cooperative control method and a system for a high-speed railway based on mobile block, which determine the current real-time working condition of a target train according to the relative position between the target train and the adjacent trains, compared with the prior art, the train switches different control strategies according to the working conditions, and the applicability of the multi-train cooperative control algorithm to actual running scenes is effectively improved.

Inventors

LIN PENG
Gu Yangfan
ZENG MENGXIANG
XU JIAHAO
WANG YAOZHONG
YANG HAOPENG
LIN YUANQI
ZHOU CHAO

Assignees

中南大学

Dates

Publication Date: 20260508
Application Date: 20240628

Claims (5)

1. The multi-train subsection cooperative control method for the high-speed railway based on the mobile occlusion is characterized by comprising the following steps of: determining a current real-time working condition of a target train according to the relative position between the target train and the adjacent train, and selecting a corresponding control strategy to control the target train according to the real-time working condition; the real-time working condition comprises a cooperative area and a non-cooperative area; When the target train is in a cooperative zone, the corresponding control strategy is that the target train cooperates with the adjacent train, the cooperation comprises speed and/or position cooperation, and when the target train is in a non-cooperative zone, the corresponding control strategy is that the target train does not need to cooperate with the adjacent train; the non-cooperative area comprises an acceleration area and a self-adjusting area; when the target train is in an acceleration zone, the corresponding control strategy is that the target train tracks a preceding train with maximum acceleration; When the target train is in the self-adjusting zone, the corresponding control strategy is to track the expected speed of the target train without cooperation with the adjacent train; The real-time working condition of the target train is determined according to the relative position between the target train and the adjacent train, and the real-time working condition is realized by the following formula: when the target train and the adjacent trains thereof meet the following conditions: judging the current acceleration zone of the target train, wherein, For adjacent trains At the position of The position of the moment; For the target train At the position of The position of the moment; Representing the cooperative area length; when the target train and the adjacent trains meet the following formula, judging that the target train is currently in a self-adjusting zone: Wherein, the For adjacent trains At the position of The position of the moment; representing a target train With adjacent trains Is used to determine the desired relative distance of the two, Indicating the length of the self-adjusting region, Representing a target train Is used to determine the neighbor set of a neighbor, For the target train At the position of A time-varying neighbor set of moments; For the target train At the position of Time-varying neighbor set of moments when adjacent trains With the target train When the relative position between the two is outside the self-adjusting area, the train , Representing a target train The self-adjusting area is positioned in the self-adjusting area; when the target train and the adjacent trains meet the following formula, judging that the target train is currently in a cooperative zone: 。
2. The high-speed railway multi-train subsection cooperative control method based on mobile occlusion according to claim 1, wherein the target train is controlled by selecting a corresponding control strategy according to the real-time working condition, and the method is realized by the following control algorithm: Wherein, the For the moment of sampling, In order to sample the period of time, Representing a target train At the position of The position of the moment in time, Representing a target train At the position of The speed of the moment of time is, Representing a target train At the position of The control input of the moment, i.e. the traction acceleration of the train, For the target train At the position of A damping compensation part of the moment of time, For the target train At the position of A drive control section for time; , And Three different damping parameters are obtained according to the actual running of the train; Is a train Maximum traction acceleration of a train Representing a target train Is arranged in the front direction of the train, Representing a target train Is positioned in the acceleration region of the vehicle, Representing the collaboration zone length; representing a target train With adjacent trains The desired relative distance between the two, Representing a target train And train Is used to determine the communication topology weight of the (c), , , Representing three different parameters of the control algorithm, other conditions representing the train Is positioned in the cooperative area of the two parts, Representing a target train Is used to determine the desired speed of the vehicle.
3. The high-speed railway multi-train subsection cooperative control method based on mobile occlusion according to claim 2, wherein the control index of the control algorithm is: 。
4. the mobile occlusion-based high-speed railway multi-train segment cooperative control method of claim 3, wherein the control algorithm is set based on the following dynamics model: Wherein, the For the moment of sampling, In order to sample the period of time, For the target train At the position of The position of the moment; representing a target train At the position of The position of the moment in time, Representing a target train At the position of Speed of time; representing a target train At the position of The speed of the moment of time is, Representing a target train At the position of Control input of time, i.e. target train Traction acceleration of (a); representing a target train Is set in accordance with the speed saturation constraint of (c), Representing a target train Is a set of speed constraints of (c), Indicating the minimum speed of the target train, Representing the maximum speed of the target train; representing a target train Is used for controlling the input saturation constraint of the (c), Representing a target train Is set of acceleration constraints of (a), Representing a target train Is used for the braking of the vehicle, Representing a target train Maximum traction acceleration of (a); , And Is a damping parameter obtained according to the actual running of the train.
5. A computer system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any of the preceding claims 1 to 4 when the computer program is executed.

Description

High-speed railway multi-train subsection cooperative control method and system based on mobile occlusion Technical Field The invention relates to the field of multi-train operation control of high-speed railways, in particular to a multi-train subsection cooperative control method and system of a high-speed railway based on mobile occlusion. Background Railway signal systems include fixed and mobile occlusion systems, which are critical systems for train operation safety, traffic control and transport efficiency. The traditional fixed block system has the defects of low line utilization rate and poor flexibility, and the mutual influence among trains is not considered, so that the requirements of the modern high-speed railway system are more and more difficult to meet. Compared with a fixed blocking system, the moving blocking system allows the trains to automatically control the running speed according to the real-time relative position information of the adjacent trains, so that the running interval between the trains can be reduced, and the transportation capacity is remarkably improved. The research on the control problem of the high-speed train under the moving block is a future development trend. The existing cooperative control method of the high-speed rail multi-train system has only a single cooperative process, and in the train formation stabilizing process, all trains are always in a cooperative state, and a train controller is required to continuously acquire adjacent train state information to perform cooperative calculation, so that the train calculation cost and the communication cost are high, and the reliability of the system is reduced. Disclosure of Invention The invention provides a multi-train subsection cooperative control method and a multi-train subsection cooperative control system for a high-speed railway based on mobile block, which are used for solving the problems that the train controller is required to continuously acquire adjacent train state information for cooperative calculation, so that the train calculation cost and the communication cost are high, and the reliability of the system is reduced. In order to solve the technical problems, the technical scheme provided by the invention is as follows: A high-speed railway multi-train subsection cooperative control method based on mobile occlusion comprises the following steps: And determining the current real-time working condition of the target train according to the relative position between the target train and the adjacent train, and selecting a corresponding control strategy to control the target train according to the real-time working condition. Preferably, the real-time working condition comprises a cooperative area and a non-cooperative area; when the target train is in a cooperative zone, the corresponding control strategy is that the target train cooperates with the adjacent train, the cooperation comprises speed and/or position cooperation, and when the target train is in a non-cooperative zone, the corresponding control strategy is that the target train is not required to cooperate with the adjacent train. Preferably, the non-cooperative area includes an acceleration area and a self-adjusting area; when the target train is in an acceleration zone, the corresponding control strategy is that the target train tracks a preceding train with maximum acceleration; When the target train is in the self-adjusting zone, the corresponding control strategy is to track its desired speed without cooperating with the adjacent train. Preferably, the real-time working condition of the target train is determined according to the relative position between the target train and the adjacent train, and the real-time working condition is realized by the following formula: Judging the current acceleration zone of the target train when the target train and the adjacent trains thereof meet p i-1(kT)-pi(kT)>εa, wherein p i-1 (kT) is the position of the adjacent train i-1 at the kT moment, p i (kT) is the position of the target train i at the kT moment, and epsilon a represents the length of the cooperative zone; When the target train and the adjacent trains meet the following formula, judging that the target vehicle is currently in a self-adjusting area: Mi(kT)＝{j∈Fi||pj(kT)-pi(kT)-εji|>ε/2} Wherein p i (kT) is the position of the adjacent train j at the kT moment, epsilon ij is the expected relative distance between the target train i and the adjacent train j, epsilon is the length of the self-adjusting area, phi i is the neighbor set of the target train i, and m i (kT) is the time-varying neighbor set of the target train i at the kT moment. And when the target train and the adjacent trains meet the following formula, judging that the target vehicle is currently in a cooperative zone: Mi(kT)＝{j∈Fi||pj(kT)-pi(kT)-εji|>ε/2}。 Preferably, the target train is controlled by selecting a corresponding control strategy according to the real-time wo