CN-120030798-B - Virtual rail train track tracking method and device and train

CN120030798BCN 120030798 BCN120030798 BCN 120030798BCN-120030798-B

Abstract

The disclosure provides a virtual rail train track tracking method, which can be applied to the technical fields of intelligent transportation and automatic control. The method comprises the steps of constructing a power model based on an energy conversion strategy, initial state information and initial control information of a train, converting the initial state information of the train into target state information of the train in a vehicle coordinate system by using the power model, determining reference position information corresponding to a virtual track based on actual position information of the train by using a speed component, wherein the reference position information represents position information obtained by projecting the actual position information of the train into the virtual track and comprises reference angle information, angle deviation information and reference point position information, the angle deviation information represents yaw angle deviation among a plurality of carriages in the vehicle coordinate system, determining optimal control quantity of the train based on a target function and the reference position information, and tracking the train by using the optimal control quantity. The disclosure also provides a virtual rail train track tracking device and a train.

Inventors

HOU CHENGBIN
JIAN JIKAI
Shu Zhanyi
LUO MAOZHEN
LI YI

Assignees

中车青岛四方机车车辆股份有限公司

Dates

Publication Date: 20260512
Application Date: 20250303

Claims (12)

1. A virtual rail train trajectory tracking method comprising: constructing a power model based on an energy conversion strategy, initial state information of a train and initial control information, and converting the initial state information of the train into target state information of the train in a vehicle coordinate system by using the power model, wherein the initial state information represents the state information of the train in a global coordinate system, the target state information comprises speed components of actual points on the train in multiple dimensions, the energy conversion strategy represents the initial kinetic energy information of the train and the relation between the initial potential energy information and the initial state information, and the train comprises multiple carriages; Determining reference position information of the train corresponding to a virtual track based on the speed component and actual position information of the train, wherein the reference position information represents position information obtained by projecting the actual position information of the train into the virtual track and comprises reference angle information, angle deviation information and reference point position information, and the angle deviation information represents yaw angle deviations among a plurality of carriages in the vehicle coordinate system; Determining an optimal control quantity of the train based on an objective function and the reference position information, wherein the objective function is obtained based on the angle deviation information and the transverse deviation information, and the transverse deviation information represents the distance between the actual point location and the reference point location; And tracking the track of the train by utilizing the optimal control quantity.
2. The tracking method of claim 1, the initial state information comprising a state matrix and an initial state quantity, the cars comprising a head car, a middle car, and a tail car, the actual points comprising first points of the head car; the method further comprises the steps of: Determining the state matrix based on the coordinate information of the first point location and first yaw angles of a plurality of carriages, wherein the state matrix represents the state information of the train in the global coordinate system; the initial state quantity is determined based on the state matrix, instantaneous rate of change information of the state matrix, and a longitudinal drive torque of the train.
3. The tracking method of claim 2, the head car, the middle car, and the tail car each comprising a plurality of transverse axes; the method further comprises the steps of: the initial control information is determined based on the lateral axis yaw angles of the plurality of lateral axes.
4. The tracking method of claim 2, constructing a power model based on the energy conversion strategy, initial state information of the train, and initial control information, comprising: determining quality related information and stress related information of the train by utilizing the state matrix and the energy conversion strategy; adding the quality related information and the stress related information to obtain energy information; And constructing the power model based on the quality related information, the stress related information and the energy information.
5. The tracking method of claim 2, the method further comprising: acquiring a second yaw angle of the head compartment in the vehicle coordinate system; And taking the difference value between the first yaw angle and the second yaw angle as the yaw angle of the middle carriage or the tail carriage in a vehicle coordinate system.
6. The tracking method of claim 5, the method further comprising: the velocity component is determined based on the second yaw angle and the coordinate information of the first point location.
7. The tracking method of claim 1, the method further comprising: and converting the initial track information of the virtual track into track parameter information based on a preset conversion strategy, wherein the initial track information is characterized as a longitude and latitude sequence of the virtual track.
8. The tracking method according to any one of claims 2 to 6, the actual points including the first point, a second point between the head car and the middle car, a third point between the middle car and the tail car, and a fourth point of the tail car; the method further comprises the steps of: and taking the yaw angle between the first point location and the second point location, the yaw angle between the second point location and the third point location and the yaw angle between the third point location and the fourth point location as the reference angle information.
9. The tracking method of claim 2, the method further comprising: determining the reference position information of the first point location as first reference point location information; the lateral deviation information is determined based on a difference between the actual position information of the first point location and the first reference point location information.
10. The tracking method according to claim 9, determining reference position information of the train corresponding to a virtual track based on the speed component and actual position information of the train, comprising: Determining a movement speed of the train based on a reference curvature of the train, the lateral deviation information, the angular deviation information, and the speed component; the reference position information is determined based on the moving speed and a time corresponding to the moving speed.
11. A virtual rail train track following apparatus comprising: the system comprises a model construction module, a power model, a control module and a control module, wherein the model construction module is used for constructing a power model based on an energy conversion strategy, initial state information and initial control information of a train, the power model is used for converting the initial state information to obtain target state information of the train in a vehicle coordinate system, the initial state information represents the state information of the train in a global coordinate system, the target state information comprises speed components of actual points on the train in multiple dimensions, the energy conversion strategy is used for converting initial kinetic energy information and initial potential energy information of the train into the initial state information, and the train comprises multiple carriages; The information conversion module is used for determining reference position information of the train corresponding to a virtual track based on the speed component and the actual position information of the train, wherein the reference position information represents position information obtained by projecting the actual position information of the train into the virtual track and comprises reference angle information, angle deviation information and reference point position information, and the angle deviation information represents yaw angle deviations among a plurality of carriages in the vehicle coordinate system; A control amount determining module, configured to determine an optimal control amount of the train based on an objective function and the reference position information, where the objective function is obtained based on the angle deviation information and the lateral deviation information, and the lateral deviation information characterizes a distance between the actual point location and the reference point location; and the track tracking module is used for tracking the track of the train by utilizing the optimal control quantity.
12. A train, comprising: A carriage; The steering executing mechanism is used for tracking the track of the train according to the optimal control quantity; the virtual rail train track following apparatus as recited in claim 11.

Description

Virtual rail train track tracking method and device and train Technical Field The disclosure relates to the technical field of intelligent transportation and automatic control, in particular to a method and a device for tracking a virtual rail train track and a train. Background The longer body of the virtual rail train increases the passenger capacity, but the double-hinge structure also puts higher demands on steering control. In order to overcome the backward amplification effect caused by the hinge structure, a vehicle generally adopts a full-axle active steering strategy to eliminate the rear swing phenomenon caused by the response of the first axle steering, which is gradually delayed through the hinge plate. However, after the full-axle steering system is introduced, the number of the actuators is more than the degree of freedom of plane movement of the train, and overdrive problems are easy to occur, so that movement interference can exist among carriages, and torsion pendulum of the train body and excessive slippage of wheels are caused. In the related art, steering angles of all shafts are determined based on a geometric method and related principles mainly through participation of a driver in control or a decoupled model is used for predicting control quantity. However, the related technology is not suitable for the situation of full automatic driving, the geometrical-based method lacks consideration of vehicle dynamics, the decoupled model lacks acting force between carriages, complex working conditions are difficult to deal with, and control accuracy and calculation efficiency are low. Disclosure of Invention In view of the foregoing, the present disclosure provides a virtual rail train trajectory tracking method, apparatus, train, device, storage medium, and program product. According to a first aspect of the present disclosure, a virtual rail train track tracking method is provided, which includes constructing a power model based on an energy conversion strategy, initial state information of a train and initial control information, converting the initial state information of the train into target state information of the train in a vehicle coordinate system by using the power model, wherein the initial state information characterizes state information of the train in a global coordinate system, the target state information includes velocity components of actual points of the train in multiple dimensions, the energy conversion strategy characterizes a relationship between the initial kinetic energy information and the initial potential energy information of the train and the initial state information, the train includes a plurality of carriages, determining reference position information corresponding to the virtual rail of the train based on the velocity components and the actual position information of the train, wherein the reference position information characterizes position information obtained by projecting the actual position information of the train into the virtual rail, including reference angle information, angle deviation information and reference point information, the angle deviation information characterizes yaw angle deviation between the plurality of points in the vehicle coordinate system, determining an optimal control quantity of the train based on a target function and the reference position information, wherein the target function characterizes an optimal control quantity of the train based on the angle deviation information and the transverse deviation information, and the optimal track tracking distance between the actual track and the carriages is controlled by using the reference position information. According to the embodiment of the disclosure, the initial state information comprises a state matrix and an initial state quantity, the carriages comprise a head carriage, a middle carriage and a tail carriage, the actual point positions comprise first point positions of the head carriage, the method further comprises the steps of determining the state matrix based on coordinate information of the first point positions and first yaw angles of a plurality of carriages, the state matrix represents the state information of the train in a global coordinate system, and the initial state quantity is determined based on the state matrix, the instantaneous change rate information of the state matrix and the longitudinal driving moment of the train. According to an embodiment of the present disclosure, the head compartment, the middle compartment, and the tail compartment each include a plurality of lateral axes, and the method further includes determining initial control information based on lateral axis yaw angles of the plurality of lateral axes. According to the embodiment of the disclosure, the power model is constructed based on an energy conversion strategy, initial state information and initial control information of a train, and the power model is constructed based on