Cooperative Reference Velocity Regulation Control for Virtual Coupling Systems of Heavy-Haul Trains

Abstract

Virtual coupling systems are important for improving the safety and efficiency of heavy-haul trains by coordinating the velocities of heavy-haul trains. However, the set point change of reference velocity leads to unsafe train operation. To address this issue, in this paper, a cooperative reference velocity regulation control method is proposed for virtual coupling systems of heavy-haul trains, which can smoothly adjust the train velocity during the operation process. Firstly, the heavy-haul trains are characterized by a cyber-physical model, where the physical layer models the longitudinal dynamics of the trains, while the cyber layer represents the communication topology of the trains using graph theory. Secondly, a cooperative control law is designed to achieve velocity consensus and maintain a safe distance between adjacent trains. The set point modulation method is utilized to smoothly adjust the reference velocity of heavy-haul trains, suppressing velocity fluctuations of heavy-haul trains. The proposed approach is validated through extensive simulations under acceleration and deceleration conditions. Simulation results verify that the proposed method can significantly reduce the velocity fluctuations during the operation of virtual coupling systems when compared with the classical cooperative control method.