交通运输系统工程与信息 ›› 2025, Vol. 25 ›› Issue (4): 265-274.DOI: 10.16097/j.cnki.1009-6744.2025.04.024

• 系统工程理论与方法 • 上一篇    下一篇

不对称可变时滞下的列车虚拟编组稳定控制方法

李嘉炜,田大新* ,吴思凡   

  1. 北京航空航天大学,车路协同与安全控制北京市重点实验室,北京100191
  • 收稿日期:2025-05-10 修回日期:2025-05-21 接受日期:2025-06-20 出版日期:2025-08-25 发布日期:2025-08-25
  • 作者简介:李嘉炜(1996—),女,山西介休人,博士生。
  • 基金资助:
    国家重点研发计划 (2022YFC3803700);国家自然基金重点项目(62432002)。

A Stable Control Method for Virtual Coupling Trains with Asymmetric Variable Delay

LI Jiawei, TIAN Daxin*, WU Sifan   

  1. Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beihang University, Beijing 100191, China
  • Received:2025-05-10 Revised:2025-05-21 Accepted:2025-06-20 Online:2025-08-25 Published:2025-08-25
  • Supported by:
    National Key Research and Development Program of China (2022YFC3803700);Key Program of the National Natural Science Foundation of China (62432002)。

摘要: 虚拟编组被认为在提高铁路运输容量方面具有潜力,然而不可靠通信环境会对虚拟编组带来安全风险,严重影响其运行效率。针对不可靠通信环境下虚拟编组系统存在的时延敏感性问题,本文提出一种分布式在线最优控制方法,以提高列车队列在不稳定通信和可变时延条件下的稳定性与安全性。具体而言,构建基于双向通信拓扑结构的编组列车动力学模型,明确不对称时延网络下列车间的动态特性,设计模型预测控制框架。在考虑安全限制和列车自身特性约束的基础上实现有效编队和燃油经济性的平衡。此外,数学推导了不对称时延下控制参数需满足的字符串稳定性条件,并将其作为实时约束以确保列车相互之间的稳定性。实验结果表明:本文提出的控制方法可以有效地应对系统可变时延带来的影响,缩短了虚拟编组队列形成所需时间,降低了最大波动幅度。在不同运行场景下比传统方法效率提高35%~40%,在提高列车队列编组效率和稳定性方面具有显著优势。

关键词: 铁路运输, 虚拟编组, 稳定性分析, 可变时滞, 模型预测控制

Abstract: Virtual coupling (VC) has demonstrated significant potential for enhancing railway transport capacity. However, its operational efficiency and safety are severely compromised by safety risks arising from unreliable communication environments. To address the latency sensitivity challenges in VC systems under unreliable communication environments, this paper proposes a distributed online optimal control framework to enhance both stability and safety guarantees for train platoons under time-varying delays. Specifically, a bidirectional communication topology-based platoon dynamics model is established to characterize the inter train interaction dynamics under asymmetric time-varying delays. A model predictive control (MPC) framework is designed to achieve an effective balance between formation coordination and fuel economy, while accounting for safety constraints and the inherent characteristics of individual trains. Furthermore, string stability criteria are rigorously derived and integrated as real-time constraints to ensure inter-train stability. The experimental results demonstrate that the proposed control method can address the impacts effectively caused by system-varying delays, shorten the time required for VC formation, reduce the maximum fluctuation amplitude, and outperforms traditional methods in efficiency across scenarios by 35%~40% , which demonstrates significant advantages in enhancing platoon formation efficiency and stability.

Key words: railway transportation, virtual coupling, stability analysis, variable time delay, model predictive control

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