Method and device for cooperative control of multiple trains

1. A method for cooperative control of multiple trains, comprising:

S1, establishing a train dynamic model of urban rail transit;

S2, modeling a train control system of urban rail transit based on train-to-train communication;

S3, constructing, according to the dynamic model and a control system model, an optimized control target which comprehensively considers distance convergence and speed convergence of train formation; and

S4, cooperatively controlling, on the basis of an artificial potential field method and Kalman filtering and according to the optimized control target, the multiple trains;

wherein S2 comprises:

adding the train-to-train communication to a communication-based train control (CBTC) system to realize coexistence of the train-to-train communication and train-to-wayside communication, exchanging by trains running in formation, information with a control center through the train-to-wayside communication and information with adjacent trains through the train-to-train communication; adding train cooperative operation to trains except a first train in a formation running mode to make state decisions; and

sending, in a train formation control algorithm, a formation instruction by automatic train supervision (ATS) of a ground center, the sent instruction comprising designation of a leader and followers, specially, designation of the first train in the formation as the leader, and the rest of the trains in the formation as the followers, the first train running as the leader according to a timetable tracking an automatic train operation (ATO) curve, and the rest trains as the followers in the formation tracking a position and a speed of the first train.

2. The method according to claim 1 , wherein step 4 specifically comprises:

S41: collecting real-time running states of the trains in a communication topology and obtaining a position and a speed of each train;

S42: inputting the position and the speed of each train into a potential function and the Kalman filter;

S43: calculating u[k] for each train according to the state potential function and the Kalman filter;

S44: applying the u[k] to each train; and

S45: repeating steps S41-S44 until the trains run to a destination.

3. The method according to claim 2 , wherein step 43 specifically comprises:

step 431, establishing, by a following train, communication with a preceding train;

step 432, receiving, by the following train, u[k] output by the potential function of the preceding train;

step 433, receiving y[k], by the following train, of the preceding train, y[k] comprising a speed and a position;

step 434, calculating {circumflex over (x)}[k] by the following train according to a dynamic mathematical model of the preceding train;

step 435, calculating ŷ[k] by the following train according to a mathematical model of an on-board sensor of the preceding train;

step 436, determining, by the following train, whether ŷ[k] is converged to y[k], indicating that {circumflex over (x)}[k] is converged to x[k] if a determination result is yes, and proceeding to step 433 if the determination result is no; and

step 437, using, by the following train, convergent x[k] to calculate u[k] output by the potential function of the following train.

4. The method according to claim 3 , wherein step 432 specifically comprises:

a potential function for controlling distance between the trains being expressed as follows:

U is ( X ij )=Σ j=1 n k s *A ij *tan h ( X ij −d ij )  (3)

wherein X ij is an actual running distance between train i and train j, d ij an expected minimum safe distance between the train i and the train j, and k s >0 determines a coefficient of input control; A ij is an adjacency matrix corresponding to a communication topology structure of a multi-train formation system; an internal variable of A ij is a ij , which indicates an information sharing state between trains in the formation, a ij equaling 1 and 0 indicates that an information link is normal and abnormal respectively; when X ij =d ij , a distance control function between two adjacent trains equals 0, that is, when two trains have an expected distance, an absolute value of the distance control function is a global minimum; and when X ij >d ij , the potential function is positive, attraction between the two trains shortens the distance between the two trains to make the two trains approach each other, and when X ij <d ij , the potential function is negative, and repulsion occurs between the two trains to repel the two trains;

a potential function of speed control being expressed as follows:

U iv ( V i )=−Σ j=1 n k v *A ij *tan h ( V i −V j )  (4)

wherein k v >0 is a gain coefficient of the potential function, V i is an actual speed of the train i, and V j is a speed of another train in the communication topology; and

a summed potential field of a distance potential field and a speed potential field being an output of a total potential field, the total potential field being denoted as U i APF

U i ARF =U is ( X ij )+ U iv ( V i )+ U rep ( q i )  (5).

5. The method according to claim 1 , wherein step 1 specifically comprises:

the train dynamic model being:

x[k+ 1]= Ax[k]+Bu[k]   (1)

wherein x[k] is a train state in a k th communication cycle, u[k] is a potential field value output by a potential function, and A and B are parameter matrices separately;

the train state x[k] being expressed as follows:

x[k]=[s i [k],v i [k]] T   (2)

wherein s i [k] and v i [k] represent a position and a speed of a train respectively.

6. A device for cooperative control of multiple trains, comprising

a processor; and a memory having program instructions stored,

wherein when the processor executes the program instructions stored on the memory, the processor is configured to:

establish a train dynamic model of urban rail transit;

model a train control system of urban rail transit based on train-to-train communication;

wherein the processor is further configured to:

add the train-to-train communication to a communication based train control (CBTC) system to realize coexistence of the train-to-train communication and train-to-wayside communication, exchange, by trains running in formation, information with a control center through the train-to-wayside communication and information with adjacent trains through the train-to-train communication; add train cooperative operation to trains except a first train in a formation running mode to make state decisions; and

send, in a train formation control algorithm, a formation instruction by automatic train supervision (ATS) of a ground center, the sent instruction comprising designation of a leader and followers, specially, designation of the first train in the formation as the leader, and the rest trains in the formation as the followers, the first train running as the leader according to a timetable tracking an automatic train operation (ATO) curve, and the rest trains as the followers in the formation tracking a position and a speed of the first train;

construct, according to the dynamic model and a control system model, an optimized control target which comprehensively considers distance convergence and speed convergence of train formation; and

cooperatively control, on the basis of an artificial potential field method and Kalman filtering and according to the optimized control target, the multiple trains.