电力牵引货运列车节能运行研究(二):速度跟踪组合控制方法
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摘要
本文在目标速度优化曲线给定的基础上,针对货运列车运行过程的非线性、大滞后、多目标、多约束的特点,围绕速度跟踪控制问题展开研究。在对现役列车普遍采用的PI控制进行简要分析的基础上,针对被控对象的特点,提出多模态模糊PID控制算法(MMFPID)。为应对货运列车的大滞后特性,采用牵引力前馈的方法,较好地提升了控制器的动态性能。针对车速超调在低限速区段引起的撞线制动问题,采用局部输出限幅的策略,在无需增加限速安全裕量的同时,收到了满意的效果。借助于自行开发的软件仿真平台,将本文提出的组合控制方法与经典的PID和模糊控制进行了对比仿真。结果表明,MMFPID不仅具有满意的控制效果,且其多模态结构使得MMFPID具有对各种应用场景的良好适应性。
Based on the given optimized target speed profile and in view of the nonlinear,large lag,multi-constraint and multi-objective characteristics of freight train operation,this paper focused on the study of speed tracking control.Firstly,according to the characteristics of the controlled object,a multi-modal fuzzy PID(MMFPID)control algorithm was presented on the basis of a brief analysis of the PI control,which is generally used in trains in active service.Secondly,in order to deal with the large lag of freight trains,the paper adopted the traction feed forward approach,which improved the dynamic performance of the controller.Thirdly,for the bump line brake problems in low speed limit sections caused by speed overshoot,the strategy of local output limit was adopted and received satisfactory results without increasing the safety allowance for speed limit.Finally,with the help of a self-developed software simulation platform,the combined control method presented in this paper was compared with the traditional PID and fuzzy control.The results showed the satisfactory control effect of MMFPID,and excellent adaptability to different application scenarios with its multimodal structure.
Based on the given optimized target speed profile and in view of the nonlinear,large lag,multi-constraint and multi-objective characteristics of freight train operation,this paper focused on the study of speed tracking control.Firstly,according to the characteristics of the controlled object,a multi-modal fuzzy PID(MMFPID)control algorithm was presented on the basis of a brief analysis of the PI control,which is generally used in trains in active service.Secondly,in order to deal with the large lag of freight trains,the paper adopted the traction feed forward approach,which improved the dynamic performance of the controller.Thirdly,for the bump line brake problems in low speed limit sections caused by speed overshoot,the strategy of local output limit was adopted and received satisfactory results without increasing the safety allowance for speed limit.Finally,with the help of a self-developed software simulation platform,the combined control method presented in this paper was compared with the traditional PID and fuzzy control.The results showed the satisfactory control effect of MMFPID,and excellent adaptability to different application scenarios with its multimodal structure.
引文
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[16]余进,何正友,钱清泉,等.列车运行过程的自适应模糊控制[J].铁道学报,2010,32(4):44-49.YU Jin,HE Zhengyou,QIAN Qingquan,et al.Adaptive Fuzzy Control of Train Operation[J].Journal of the China Railway Society,2010,32(4):44-49.
[17]唐海川,王青元,冯晓云.地铁列车追踪运行的节能控制与分析[J].铁道学报,2015,37(1):37-43.TANG Haichuan,WANG Qingyuan,FENG Xiaoyun.Energy Saving Control of Metro Train Tracing Operation[J].Journal of the China Railway Society,2015,37(1):37-43.
[18]BAI Y,HO T K,MAO B,et al.Energy-efficient Locomotive Operation for Chinese Mainline Railways by Fuzzy Predictive Control[J].Intelligent Transportation Systems,IEEE Transactions on,2014,15(3):938-948.
[19]朱金陵,李会超,王青元,等.列车节能控制的优化分析[J].中国铁道科学,2008,29(2):104-108.ZHU Jinling,LI Huichao,WANG Qingyuan,et al.Optimization Analysis on the Energy Saving Control for Trains[J].China Railway Science,2008,29(2):104-108.
[20]YIN J,CHEN D,LI Y.Smart Train Operation Algorithms Based on Expert Knowledge and Ensemble CART for the Electric Locomotive[J].Knowledge-based Systems,2016,92:78-91.
[21]杨杰,贾利民,卢少锋,等.电力牵引的货运列车节能运行研究(一):目标速度曲线优化[J].铁道学报,2016,38(4):22-31.YANG Jie,JIA Limin,LU Shaofeng,et al.Energy-efficient Operation of Electric Freight Trains-PartⅠ:Speed Profile Optimization[J].Journal of the China Railway Society,2016,38(4):22-31.
[2]MILROY I P.Aspect of Automatic Train Control[D].Loughborough:Loughborough University,1980.
[3]HOWLETT P G,PUDNEY P J.Energy-efficient Train Control[M].London:Springer-Verlag London Limited,1995.
[4]KHMELNITSKY E.On an Optimal Control Problem of Train Operation[J].Automatic Control,IEEE Transactions on,2000,45(7):1 257-1 266.
[5]YASUNOBU S,MIYAMOTO S,IHARA H.A Fuzzy Control for Train Automatic Stop Control[J].Transactions of the Society of Instrument and Control Engineers,1983,19(11):870-880.
[6]CHENG J X,HOWLETT P G.A Note on the Calculation of Optimal Strategies for the Minimization of Fuel Consumption in the Control of Trains[J].Automatic Control,IEEE Transactions on,1993,38(11):1 730-1 734.
[7]LIU R,GOLOVICHER I M.Energy-efficient Operation of Rail Vehicles[J].Fransportation Research Part A:Policy and Practice,2003,37(10):917-931.
[8]CHANG C S,SIM S S.Optimising Train Movements Through Coast Control Using Genetic Algorithms[J].Electric Power Applications,1997,144(1):65-73.
[9]WONG K K,HO T K.Dynamic Coast Control of Train Movement with Genetic Algorithm[J].International Journal of Systems Science,2004,35(13/14):835-846.
[10]YASUNOBU S,MIYAMOTO S.Automatic Train Operation System by Predictive Fuzzy Control[J].Industrial Applications of Fuzzy Control,1985,1(18):1-18.
[11]SICRE C,CUCALA A P,Fernández-Cardador A.Real Time Regulation of Efficient Driving of High Speed Trains Based on a Genetic Algorithm and a Fuzzy Model of Manual Driving[J].Engineering Applications of Artificial Intelligence,2014,29:79-92.
[12]LU S F,HILLMANSEN S,HO T K,et al.Single-train Trajectory Optimization[J].IEEE Transactions on Intelligent Transportation,2013,14(2):43-50.
[13]IANNUZZI D,TRICOLI P.Speed-based State-of-charge Tracking Control for Metro Trains with Onboard Supercapacitors[J].Power Electronics,IEEE Transactions on,2012,27(4):2 129-2 140.
[14]MIYOSHI M,TAKEBA T,MIYATAKE M.Development of an Energy Efficient Train Traffic Control System for Saving Electricity[C]//Thirteenth International Conference on Design and Operation in Railway Engineering,2012.
[15]JIA L M,ZHANG X D.Distributed Intelligent Railway Traffic Control:a Fuzzy-decisionmaking-based Approach[J].Engineering Applications of Artificial Intelligence,1994,7(3):311-319.
[16]余进,何正友,钱清泉,等.列车运行过程的自适应模糊控制[J].铁道学报,2010,32(4):44-49.YU Jin,HE Zhengyou,QIAN Qingquan,et al.Adaptive Fuzzy Control of Train Operation[J].Journal of the China Railway Society,2010,32(4):44-49.
[17]唐海川,王青元,冯晓云.地铁列车追踪运行的节能控制与分析[J].铁道学报,2015,37(1):37-43.TANG Haichuan,WANG Qingyuan,FENG Xiaoyun.Energy Saving Control of Metro Train Tracing Operation[J].Journal of the China Railway Society,2015,37(1):37-43.
[18]BAI Y,HO T K,MAO B,et al.Energy-efficient Locomotive Operation for Chinese Mainline Railways by Fuzzy Predictive Control[J].Intelligent Transportation Systems,IEEE Transactions on,2014,15(3):938-948.
[19]朱金陵,李会超,王青元,等.列车节能控制的优化分析[J].中国铁道科学,2008,29(2):104-108.ZHU Jinling,LI Huichao,WANG Qingyuan,et al.Optimization Analysis on the Energy Saving Control for Trains[J].China Railway Science,2008,29(2):104-108.
[20]YIN J,CHEN D,LI Y.Smart Train Operation Algorithms Based on Expert Knowledge and Ensemble CART for the Electric Locomotive[J].Knowledge-based Systems,2016,92:78-91.
[21]杨杰,贾利民,卢少锋,等.电力牵引的货运列车节能运行研究(一):目标速度曲线优化[J].铁道学报,2016,38(4):22-31.YANG Jie,JIA Limin,LU Shaofeng,et al.Energy-efficient Operation of Electric Freight Trains-PartⅠ:Speed Profile Optimization[J].Journal of the China Railway Society,2016,38(4):22-31.