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数据回归-预测控制在列车自动驾驶系统中的应用研究.pdf
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数据回归-预测控制在列车自动驾驶系统中的应用研究.pdf
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摘要
II
切换策略并给出速度跟踪 MPC 控制器流程图。仿真说明该控制器对可测
扰动和不可测扰动具有抑制作用,并与现有控制算法的控制效果进行比
较,分析各自特点。
3)全轨迹跟踪 MPC 控制器设计与仿真。设计全轨迹跟踪 MPC 控制
器以满足安全性和停车精度要求。分别讨论了列车在启动、运行和停车
阶段对控制器要求,给出了对应的解决方案。采用真实站间信息进行仿
真,仿真结果说明了控制器的有效性。
4)研究列车内部参数变化对于控制器性能的影响。分别从控制对象
的稳态增益、延迟时间和时间常数与预测模型出现误差时进行仿真并总
结出其中的规律。
关键词:预测控制,列车自动驾驶,MPC 控制器,切换策略,全轨迹跟
踪
万方数据
ABSTRACT
III
Research on Design and Application of Model Predictive
Control for Automatic Train Operation System
ABSTRACT
In automatic train operation (ATO) system, ATO controller drives the
train automatically instead of a driver. By controlling the moving of the train
as close as possible to the target curve, the demands for time accuracy, safety,
travelling comfort and energy saving can be met. Because on one hand
external disturbance (slope, air resistance and line humidity) and the change
of internal parameters (caused by load or temperature changes) will affect the
running of the train, on the other hand there are constraints and time delay in
its driving and braking system, poor parking accuracy and low travelling
comfort level always happen. Model predictive control (MPC) is a kind of
control algorithm optimizing online based on prediction model, rolling
optimization and error correction. Compared with traditional control
algorithm, it has advantages in solving time delay, constraint and parameter
change problems. Under such a background, this dissertation investigates
design and application of model predictive control for automatic train
operation system, builds train motion model based on measured data, designs
whole trajectory tracking MPC controller and illustrates its effectiveness by
simulation using real station information.
The main work of this dissertation can be summarized as follows:
1) Building train motion model. Analyze the working principle of ATO
system and build train motion model. Program a software to validate model
and verify its accuracy with measured data.
万方数据
ABSTRACT
IV
2) Design and simulation of speed tracking MPC controller. We design
speed tracking MPC controller to meet the demands for time accuracy and
travelling comfort. Simplify train motion model,the simplified model is made
up of driving model and braking ones. Design driving and braking MPC
controller respectively, propose switching strategy and show the flow chart of
speed tracking MPC controller. The simulation results illustrate its
effectiveness in measurable and immeasurable disturbance rejection. Analyze
its characteristics comparing with existing control algorithm.
3) Design and simulation of whole trajectory tracking MPC controller.
We design whole trajectory tracking MPC controller to meet the demands for
safety and parking accuracy. Discuss the requirements for controller in train
starting, running and parking process and provide corresponding solutions.
The simulation results based on real station data illustrate the effectiveness of
the proposed control scheme.
4) Study on the change of control performance with the change of train
internal parameters. Simulate the cases when the train’s steady-state gain,
time delay and time constant are different from predictive model and draw a
conclusion.
Keywords: Model Predictive Control, Automatic Train Operation, MPC
Controller, Switching Strategy, Whole Trajectory Tracking
万方数据
目录
V
目录
摘要 ......................................................................................................................................... I
ABSTRACT .......................................................................................................................... III
目录 ........................................................................................................................................ V
第一章 绪论 ............................................................................................................................. 1
1.1 引言 ........................................................................................................................... 1
1.2 列车自动驾驶系统特性及其控制算法研究现状 ............................................................ 1
1.2.1 系统结构........................................................................................................... 1
1.2.2 工作原理........................................................................................................... 3
1.2.3 控制目标及难点 ................................................................................................ 4
1.2.4 ATO 系统控制算法研究现状 ............................................................................... 6
1.3 预测控制原理与列车自动驾驶系统.............................................................................. 7
1.3.1 预测控制基本原理
[39]
......................................................................................... 7
1.3.2 预测控制在 ATO 系统中的应用.......................................................................... 8
1.4 本文的主要内容与章节安排 ........................................................................................ 9
第二章 列车运行模型搭建与检验 ............................................................................................11
2.1 模型组成及其物理意义 .............................................................................................. 11
2.1.1 模型组成.......................................................................................................... 11
2.1.2 牵引部分..........................................................................................................12
2.1.3 制动部分..........................................................................................................13
2.1.4 坡度与阻力 ......................................................................................................15
2.1.5 整体结构..........................................................................................................15
2.2 列车参数辨识 ............................................................................................................17
2.2.1 实测数据处理...................................................................................................17
2.2.2 参数辨识方法...................................................................................................17
2.2.3 模型验证仿真平台............................................................................................20
2.3 模型验证与分析.........................................................................................................23
2.3.1 KM 线试验车 ....................................................................................................24
2.3.2 16 号线 02 车 ....................................................................................................28
2.3.3 误差分析..........................................................................................................32
2.4 本章小结 ...................................................................................................................35
第三章 速度跟踪 MPC 控制器设计与仿真 .............................................................................. 36
3.1 控制目标与结构框图..................................................................................................36
3.2 模型简化 ...................................................................................................................37
3.3 控制器设计................................................................................................................38
3.3.1 状态空间表达式 ...............................................................................................38
3.3.2 连续系统离散化 ...............................................................................................40
3.3.3 基于状态方程的预测控制
[53]
.............................................................................41
3.3.4 算法推导..........................................................................................................43
3.3.5 牵引制动切换策略............................................................................................47
万方数据
目录
VI
3.4 控制效果 ...................................................................................................................49
3.4.1 可测扰动..........................................................................................................49
3.4.2 不可测扰动 ......................................................................................................51
3.4.3 与现有算法比对 ...............................................................................................53
3.5 本章小结 ...................................................................................................................54
第四章 全轨迹跟踪 MPC 控制器设计与仿真........................................................................... 55
4.1 全轨迹跟踪问题描述..................................................................................................55
4.2 控制器要求分析及解决方案 .......................................................................................55
4.2.1 启动阶段..........................................................................................................55
4.2.2 行车阶段..........................................................................................................57
4.2.3 停车阶段..........................................................................................................60
4.3 控制效果 ...................................................................................................................62
4.4 列车内部参数变化对控制性能的影响 .........................................................................67
4.4.1 稳态增益..........................................................................................................67
4.4.2 延迟时间..........................................................................................................69
4.4.3 时间常数..........................................................................................................70
4.5 本章小结 ...................................................................................................................71
第五章 总结与展望 ................................................................................................................ 72
5.1 本文工作总结 ............................................................................................................72
5.2 未来研究展望 ............................................................................................................73
参 考 文 献 ........................................................................................................................... 74
致谢 ....................................................................................................................................... 78
攻读硕士学位期间已发表或录用的论文专利............................................................................ 79
万方数据
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