| 引用本文: | 魏文军,葛俊德,武晓春.有限时间内的动车组群分布式协同巡航多智能体控制[J].控制理论与应用,2022,39(5):915~922.[点击复制] |
| WEI Wen-jun,GE Jun-de,WU Xiao-chun.Distributed cooperative cruise multi-agent control of electric multiple units group in finite time[J].Control Theory and Technology,2022,39(5):915~922.[点击复制] |
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| 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 |
| 摘要点击 1032 全文点击 383 投稿时间：2021-01-20 修订日期：2022-01-14 |
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| DOI编号 10.7641/CTA.2021.10076 |
| 2022,39(5):915-922 |
| 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 |
| 基金项目 国家自然科学基金项目(61661027), 光电技术与智能控制教育部重点实验室(兰州交通大学)开放课题项目(KFKT2020–11)资助. |
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| 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. |
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