Virtual coupling (VC) is an emerging technology to increase the flexibility and efficiency of railway services. To achieve the synchronization arrival of virtually coupled train set (VCTS) in dynamic coupling as in coupled running, we need reference trajectories. Due to the dynamic coupling command being issued in real-time and flexibly by ATS, the real-time nature of its nonlinear planning is difficult to guarantee, so it still needs a real-time control approach to respond to the coupling command issued at any time. Existing spacing control approach for dynamic coupling are not able to achieve synchronization in the arrival phase based on a known spacing strategy only. Thus, we propose a cooperative consensus model predictive control (MPC) approach, in which we introduce a concept of time error to achieve synchronization arrival in dynamic coupling by synchronizing the time error, with the help of the existing reference trajectory of coupled running. Finally, based on the data from a demonstration project of Beijing metros, experiments are conducted to demonstrate the performance of the proposed approach. Experimental results show that the proposed approach can establish coupling more quickly and better achieve synchronization arrival with the existing spacing control approach.
Synchronization Control of Virtually Coupled Train Set in Dynamic Coupling: A Cooperative Consensus Approach
2024-09-24
739648 byte
Conference paper
Electronic Resource
English
LAYERED COOPERATIVE CONTROL SYSTEM AND METHOD FOR VIRTUALLY COMPOSED TRAIN
European Patent Office | 2024
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