1. Introduction

2. Modeling of a high-speed train

对于有多节车厢的高速列车，相邻的车厢通过耦合器连接，耦合器安装在相邻车厢连接点的地板下。在运行过程中，耦合器在减少冲击力方面起着重要作用，通过在纵向传递列车内力来避免碰撞。耦合器的行为可以用弹簧模型近似描述，耦合器产生的列车内力是耦合器位移的函数。这里，耦合器的恢复力被假定为两个相邻车厢之间的相对位移和相对速度的线性函数。

f(ei(t))=kei(t)+de˙i(t)(2)f(e_i(t)) = k e_i(t) + d \dot{e}_i(t) \tag{2}f(ei(t))=kei(t)+de˙i(t)(2)

将列车中第1节车厢的质量、位置和速度分别表示为m i、x i和v i。我们假设所有的车都有相同的质量，即m i = m，对于所有的i = 1, 2, - -, n。对于一列由没有牵引电机的小车组成的列车，我们可以把这种小车和它的带电机的头车看作一个单元（例如，见[10], [11]）。为了简单起见，在本文中，我们把每辆车看作一个粒子，并假设列车运动模型是基于分布式驱动类型的，每辆车都有自己的电机，以更好地保证安全和舒适。那么，基于[19]中描述的基本建模结构，高速列车的运动描述如下。

对于一列高速列车，我们假设第1节车厢可以获得其相邻车厢的信息，并且只有第1节车厢从RBC接收实时参考速度和位移信息。因此，高速列车中的一组有序的车厢是以连接的通信拓扑结构运行的。

3. Distributed control for a high-speed train

这里，我们把第一辆车的速度-距离曲线中的参考速度和位移表示为：
x˙r(t)=vr(t)(6)\dot{x}_r(t) = v_r(t) \tag{6}x˙r(t)=vr(t)(6)

对于第 iii 辆汽车，我们将第 iii 辆汽车与参考位移和速度之间的位置差和速度差分别定义为

x~i=xi−xr+2l(i−1),v~i=vi−vr(7)\begin{aligned} \tilde{x}_i &= x_i - x_r + 2l(i-1), \\ \tilde{v}_i &= v_i - v_r \end{aligned} \tag{7}x~iv~i=xi−xr+2l(i−1),=vi−vr(7)

4. Simulation

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【Paper】2019_Distributed Cooperative Control of a High-speed Train

文章目录

1. Introduction

2. Modeling of a high-speed train

3. Distributed control for a high-speed train

4. Simulation

【Paper】2019_Distributed Cooperative Control of a High-speed Train相关推荐

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