铁道科学与工程学报2026，Vol.23Issue(4)：1612-1624,13.DOI:10.19713/j.cnki.43-1423/u.T20251061
面向长大下坡路况的虚拟编组重载列车分层控制研究
Research on layered control of virtual coupling heavy-haul trains for long downhill road conditions
摘要
Abstract
To address the problem of group control of long downhill road conditions faced by the heavy-haul trains in view of the non-linearity in its frictional resistance,a condensed hierarchy of tempo-spatial transfer controls was designed using linear quadratic optimization,an extended Kalman filter,and predictive iterative model control.The first one was a solution that satisfied the group controlling needs of heavy-haul trains with virtual couples,in which basic resistance force,additional resistance force,air braking force were regarded as the total disturbance,and the dynamic train model of the total disturbance with nonlinear terms was developed.Second,the higher layer of the hierarchical control used a linear quadratic evaluation model,and a global trajectory planning through the coordination of the optimization was calculated in the optimal reference trajectory of the virtual coupling heavy-haul trains under safety constraints on the long and steep downhill slopes.Third,the predictive Nonlinear control within optimal limits was achieved with predictive iterative model,the predictive iterative method was used to calculate the nonlinear term in the model,and the running trajectory was optimized to follow the upper reference curve and maintain the distance between groups of heavy-haul trains on long and steep downhill road conditions.This allows avoiding collisions and enhancing capacity of heavy-haul railways.Lastly,a comparative study with adaptive control,robust model predictive control,and traditional model predictive control proves the effectiveness of the proposed method in controlling the group spacing down a long downhill road and improving the speed and position control accuracies by nearly 23.9%,33.4%and 45.1%and 26.6%,29.1%and 33.6%,respectively.The hierarchical control scheme performance was experimentally confirmed,and the stability and precision of the predictive control by the predictive iterative model using extended Kalman filter when applying in the complex scenes has been revealed.This is a potential solution to the safe control of the virtual coupling heavy-haul trains in long and steep downhill roads.关键词
虚拟编组/重载列车/预估迭代/模型预测控制/扩展卡尔曼滤波Key words
virtual coupling/heavy-haul trains/estimation iteration/model predictive control/extended Kalman filter分类
交通工程引用本文复制引用
魏文军,王洁,刘艳浩,周仲成..面向长大下坡路况的虚拟编组重载列车分层控制研究[J].铁道科学与工程学报,2026,23(4):1612-1624,13.基金项目
国家自然科学基金资助项目(61863023) （61863023）
甘肃省自然科学基金资助项目(23JRRA868) （23JRRA868）
