城市轨道交通兼容性车载系统阶梯形目标速度的平滑跟踪控制研究
顾立忠吕新军王维旸
Research on Smooth Tracking and Control of Stair-like Target Speed with Compatible On-Board System in Urban Rail Transit
GU LizhongLYU XinjunWANG Weiyang
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作者信息:卡斯柯信号有限公司， 200072， 上海
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Affiliation:CASCO Signal Ltd., 200072, Shanghai, China
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关键词:
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Key words:
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DOI:10.16037/j.1007-869x.2024.03.020
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中图分类号/CLCN:U284.48+2
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栏目/Col:研究报告
摘要:
［目的］针对城市轨道交通兼容性车载系统中目标速度消息周期大于车载控制周期以及消息间隔不固定的特殊现象，提出了一种双周期速度跟踪算法来实现阶梯形目标速度的平滑跟踪目的。［方法］根据目标速度序列特点，引入了巡航状态和估计状态等2个控车状态，对列车站前减速过程进行识别。分别对消息周期和车载控制周期时刻的目标速度进行相应处理：当收到目标速度的消息周期时，基于卡尔曼滤波算法计算参考速度、参考加速度的估计值；当未收到目标速度的车载控制周期时，基于上述估计结果推算出车载控制使用的参考速度。考虑到目标速度消息滞后以及列车响应延时的特性，设计了拟平行参考速度跟踪控制策略。以上海轨道交通2号线为例，对参考加速度估计效果和不同运营等级场景下的控车效果进行了分析。［结果及结论］案例表明，上述算法可以克服目标速度消息周期长且间隔不固定所带来的控车工况频繁切换问题，避免了兼容性车载系统阶梯形目标速度曲线跟踪过程中控制命令饱和以及速度曲线凹坑现象，实现了列车在站前减速过程中的平稳控制，提高了乘客舒适度，减少了列车制动损耗，节约了牵引能耗。
Abstracts:
［Objective］ In view of the special phenomenon that the target speed message period is longer than the on-board control period and the message interval is not fixed in urban rail transit compatible on-board system, a dual-period speed tracking algorithm is proposed to realize smooth tracking of stair-like target speed. ［Method］ According to the characteristics of target speed sequence, two train control states i.e. cruise state and estimation state are introduced to identify the deceleration process before the train enters station. The target speed messages received in both the message period and the on-board control period are processed respectively. When the target speed message is received in the message period, the estimated value of the reference speed and the reference acceleration is calculated based on the Kalman filter algorithm. In the on-board control period when no target speed message is received, the reference speed used by the on-board controller is deduced based on the above estimated results. In consideration of the characteristics of target speed message delay and train response delay, a quasi-parallel reference speed tracking control strategy is designed. With Shanghai Metro Line 2 as an example, the estimated results of reference acceleration and the effect of train control under different operation level scenarios are analyzed. ［Result & Conclusion］ The above algorithm demonstrates that using the presented algorithm can overcome the problem of frequent switching of train control conditions caused by long cycle of target speed message and unfixed message interval, avoid the saturation of control commands and concave phenomenon of speed curve in the stair-like target speed tracking process with the compatible on-board system. It realizes the smooth control of train deceleration before the train enters the station, improves ride comfort, reduces train brake wear and saves traction energy consumption.
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