中文核心期刊
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中国科技核心期刊
RCCSE中国核心学术期刊
重庆交通大学学报（自然科学版）

重庆交通大学学报（自然科学版） ›› 2023, Vol. 42 ›› Issue (9): 106-112.DOI: 10.3969/j.issn.1674-0696.2023.09.15

• 交通基础设施工程 • 上一篇    

跨座式单轨智能编组固定时间协同控制研究

刘朝涛1，刘浩鸣1，杜子学1，邬浩鑫2 ，侯忠伟2   

  1. (1. 重庆交通大学 机电与车辆工程学院，重庆 400074； 2. 重庆交通大学 交通运输学院，重庆 400074)
  • 收稿日期:2022-05-11 修回日期:2022-08-05 发布日期:2023-10-16
  • 作者简介:刘朝涛(1968—)，男，四川岳池人，副教授，博士，主要从事智能轨道交通系统方面的研究。E-mail:liuchaotao@163.com 通信作者：刘浩鸣(1992—),男，河北馆陶人，硕士，主要从事智能轨道交通系统方面的研究。E-mail:liuhaoming930116@163.com
  • 基金资助:
    重庆市教育委员会科学技术研究项目(KJQN202100729)

Fixed Time Cooperative Control of Straddle Monorail Intelligent Marshalling

LIU Chaotao1, LIU Haoming1, DU Zixue1, WU Haoxin2, HOU Zhongwei2   

  1. (1. School of Mechatronics and Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074, China; 2. School of Traffic and Transportation, Chongqing Jiaotong University, Chongqing 400074, China)
  • Received:2022-05-11 Revised:2022-08-05 Published:2023-10-16

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摘要： 围绕跨座式单轨智能编组协同控制问题，在分析智能编组运行场景的基础上，建立了动力学模型，明确了控制目标，构建了跨座式单轨智能编组分布式固定时间协同控制架构，提出了分布式固定时间协同控制方法；运用代数图论构建了智能编组通讯拓扑关系，应用了分布式固定时间滑模估计器，设计了分布式固定时间积分滑模控制器，基于Lyapunov稳定性理论证明了估计器和控制器的稳定性。数值仿真结果表明：设计的分布式固定时间协同控制算法能使智能编组车辆的位置和速度分别在11.5、13.0、12.0、14.0 s跟踪到指令曲线并保持理想的车间间距，而用有限时间控制器的智能编组车辆分别在17、26、18、28 s才能跟踪上指令曲线。数值仿真结果表明:设计的分布式固定时间协同控制方法能有效提升跨座式单轨智能编组的运行效率。

关键词: 交通运输工程；城市轨道交通；跨座式单轨智能编组；分布式协同控制；固定时间控制；积分滑模控制

Abstract: Focusing on the cooperative control of straddle type monorail intelligent marshalling, on the basis of analyzing the operation scenario of intelligent marshalling, the dynamic model was established. The control objectives were clarified, the distributed fixed time cooperative control architecture of straddle type monorail intelligent marshalling was constructed, and the distributed fixed time cooperative control method was proposed. The topological relationship of intelligent marshalling communication was constructed by using algebraic graph theory. The distributed fixed time sliding mode estimator was applied, and the distributed fixed time integral sliding mode controller was designed. Based on Lyapunov stability theory, the stability of the estimator and controller was proved. The numerical simulation results show that the designed distributed fixed time cooperative control algorithm can make the position and speed of intelligent marshalling vehicles track the command curve in 11.5, 13, 12 and 14 s respectively and keep the ideal distance between vehicles, while the intelligent marshalling vehicles with finite time controller can track the command curve in 17, 26, 18 and 28 s respectively. Numerical simulation results show that the designed distributed fixed time cooperative control method can effectively improve the operation efficiency of straddle monorail intelligent marshalling.

Key words: traffic and transportation engineering; urban rail transit; straddle monorail intelligent marshalling; distributed cooperative control; fixed time control; integral sliding mode control

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