考虑冲击限制和响应下列车参考速度仿真模型

Simulation model of train reference speed considering jerk limitation and response process

摘要:

为提升地铁列车参考速度仿真模型的可靠性,对列车运行速度计算的影响因素进行分析,在常规列车参考速度仿真模型基础上建立一种改进模型. 常规参考速度仿真模型通常将列车响应加速度直接等效为给列车的指令加速度,在改进模型中综合考虑了该过程中地铁列车牵引/制动系统对指令加速度的冲击率约束处理和响应加速度的动态实现过程. 应用该模型对哈尔滨地铁列车的参考速度进行了仿真分析,并将常规模型、改进模型的计算结果与实测数据进行对比. 结果表明:与常规模型相比,通过改进模型获得的参考速度计算结果与实测数据具有更高的吻合度. 列车参考速度是自动驾驶系统跟踪控制的基本参数,在常规模型基础上考虑指令加速度冲击限制和响应过程可提高计算精度.

Abstract:

To enhance the reliability of the simulation model of reference speed for metro train, an improved simulation model of reference speed is proposed by analyzing factors affecting train speed. The general simulation model of train reference speed usually takes the command acceleration of train as the response acceleration of train traction/braking system, while the improved simulation model takes into consideration the jerk limitation of metro train traction/braking system for the command acceleration and the dynamic process of response acceleration. The improved model was adopted to simulate the reference speed of Harbin Metro Line train, and the calculation results of the general model and the improved model were compared with the actual speed data. Results show that the reference speed data obtained by the improved model were more consistent with the actual speed data than those by the general model. Train reference speed is the basic parameter of speed tracking control of automatic train operation system. Its calculation accuracy can be improved by considering jerk limitation of command acceleration and the dynamic response process.