有限时间内的动车组群分布式协同巡航多智能体控制

Distributed cooperative cruise multi-agent control of electric multiple units group in finite time

中文关键词  多智能体系统  有限时间一致性  动车组  动车组群协同巡航  分布式控制

英文关键词  multi-agent system  finite-time convergence  high-speed EMU  cooperative cruise of EMU group  distributed control

中文摘要

      本文研究了动车组群系统的移动闭塞协同巡航控制问题, 通过设计有限时间分布式协同控制算法实现了 多车高速协同巡航. 算法取消了动车组中心控制单元, 将单列动车组的每个动力单元视为一个智能体, 不同动车组 之间的智能体形成多智能体群系统. 设计了动车组智能体有限时间分布式协同控制算法, 该算法首先实现了单列动 车组各个动力单元快速追踪到期望的速度, 且保证车钩位移在安全范围内, 其次该算法还能实现动车组群高速巡航 等间距运行, 提高了线路利用率的同时避免了碰撞. 最后进行了理论分析, 证明了算法的稳定性和有限时间收敛性, 并提供了仿真结果验证了该算法的有效性.

英文摘要

      In this paper, the problem of moving block cooperative cruise control of electric multiple units (EMU) group system is studied, and the high-speed cooperative cruise of multiple vehicles is realized by designing a finite-time distributed cooperative control algorithm. The algorithm cancels the central control unit of the EMU, and regards each power unit of a single EMU as an agent. The agents between different EMUs form a multi-agent group system. The finite-time distributed cooperative control algorithm of EMU agents is designed, which not only realizes each power unit of EMU fast tracking to the desired speed while ensuring the coupler displacement within the safe range, but also realizes the EMU group run high-speed cruise by moving block with equal-spacing operation to improve the utilization rate of the line and avoids collisions. Finally, the stability and finite-time convergence of the proposed algorithm are proved by theoretical analysis, and the simulation results are provided to verify the effectiveness of the proposed algorithm.