跨座式捷运车辆编组分布式固定时间协同巡航控制

Distributed fixed-time cooperative cruise control for straddle rapid-transit vehicle formation

中文关键词  城市轨道交通  跨座式单轨  编组队列  分布式协同控制  固定时间控制  滑模控制  

英文关键词  urban rail transit  straddle rapid-transit vehicle  formation queue  distributed cooperative control  fixed-time control  sliding mode control  

中文摘要

      为解决跨座式捷运车辆编组协同巡航控制问题，本文提出了基于固定时间理论的跨座式捷运车辆编组分布式协同巡航控制方法。首先建立了跨座式捷运车辆编组动力学模型，明确了编组队列的控制目标，构建了分布式固定时间协同巡航控制架构，提出了跨座式捷运车辆编组分布式固定时间协同巡航控制方法。然后运用代数图论描述编组间的通讯拓扑关系，应用了分布式固定时间终端滑模估计器估计领航编组的位置和速度，设计了分布式固定时间滑模控制器，并基于Lyapunov稳定性理论证明了控制器的稳定性。最后进行了加速-巡航常规工况仿真实验，验证了所提出控制方法的有效性。

英文摘要

      In order to solve the coordinated cruise control of straddle rapid-transit vehicle formation, this paper entails a distributed coordinated cruise control method of straddle rapid-transit vehicle formation based on the fixed-time theory. the author employs the dynamic model of straddle rapid-transit vehicle formation to make clear the control aim of formation queue, establishes the frame of distributed fixed-time coordinated cruise control and puts forward the method in terms of the distributed and fixed-time coordinated cruise control of straddle rapid-transit vehicle formation. Secondly, algebraic graph theory is presented to describe the communication topology of formation, and a distributed fixed-time terminal sliding estimator is applied to estimate the position and speed of the pilot formation. Also, based on the strength of on Lyapunov stability theory, the author designed the distributed fixed-time sliding controller carefully, and then its stability has been successfully proved. At last, the author carries out the simulation experiment about the regular condition of acceleration and cruise, successfully verifying the effectiveness of the proposed control method.