基于精准停车及节能优化的列车速度跟随控制
彭云龙1康元磊1于逸尘2李杰2
Train Speed Following Control Based on Precise Parking and Energy Saving Optimization
PENG Yunlong1KANG Yuanlei1YU Yichen2LI Jie2
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作者信息:1.中车青岛四方机车车辆股份有限公司，266111，青岛
2.同济大学电子与信息工程学院，201804，上海
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Affiliation:1.CRRC Qingdao Sifang Locomotive & Rolling Stock Co., Ltd., 266111, Qingdao, China
2.School of Electronic and Information Engineering, Tongji University, 201804, 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.2024.06.039
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中图分类号/CLCN:U284.48
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栏目/Col:研究报告
摘要:
［目的］列车自动运行系统可以通过控制列车各执行机构实现列车的自主行驶，对节约轨道交通系统的运行成本、提高列车运行安全保障极为重要。针对单一控制方法在列车自动运行速度跟随控制过程中停车准确性较低，未能兼顾能耗优化等问题，提出了一种列车自动运行速度跟随控制策略。［方法］所提方法在传统PID(比例-积分-微分)控制的基础上，通过模糊控制器对PID参数进行在线整定调节，并针对列车精准停车及运行节能分别进行算法设计。当列车运行至停车点附近时，停止使用基于预设目标速度的速度反馈控制方式，转而计算精准停车所需加速度，并进行加速度反馈控制以提高停车精准性。同时在列车巡航过程中设计了一种牵引-惰行循环的节能巡航工况，在检测列车符合相应巡航条件后，采用该工况实现整体运行能耗的优化。［结果及结论］在MATLAB/Simulink仿真软件中建立了列车及控制器的仿真模型，通过与PID控制及模糊自适应PID控制在精准停车、节能等性能指标的对比，验证了所提方法和模型的有效性。
Abstracts:
［Objective］ Automatic train operation (ATO) can achieve train autonomic running by controlling each actuator of the train, and is of great significance to reduce the operating cost of rail transit and further ensure train operation safety. In response to the problems such as low parking precision and failure to optimize energy consumption with the single control method in the process of ATO speed following control, a strategy for ATO speed following control is proposed.［Method］ Based on the traditional PID (proportional integral-differential) control, the proposed approach performs online turning and adjustment of PID parameters by using fuzzy controller, and designs algorithms for train precise parking and energy saving operation separately. When the train is running closer to the stopping point, the speed feedback control method based on the preset target speed will fall out of use, the acceleration required for precise parking is calculated instead, and the acceleration feedback control is performed to improve the parking precision. At the same time, an energy saving cruise condition with traction-coasting cycle during the train cruise is designed. When the train is detected to meet a certain cruise condition, the corresponding condition shall be used to optimize the overall operation energy consumption. ［Result & Conclusion］ A simulation model for the train and controller is established in MATLAB/Simulink simulation software. The proposed method and model are verified to be effective by comparing the performance indicators such as precise parking and energy saving under PID control and fuzzy adaptive PID control.
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