DOI: 10.1115/1.4063015 ISSN: 0022-0434

A Distributed Multiparticle Precise Stopping Control Model Based on the Distributed Model Predictive Control Algorithm for High-Speed Trains

Wentao Zhao, Jianming Ding, Qingsong Zhang, Xia He, Weiwei Liu
  • Computer Science Applications
  • Mechanical Engineering
  • Instrumentation
  • Information Systems
  • Control and Systems Engineering


The fixed-point stopping of high-speed trains in stations is generally accomplished through manual operation in China. This situation often leads to a failure to stop at fixed-point signs and causes a fluctuation in the longitudinal acceleration due to the lack of experience of the drivers. To achieve precise, stable, and automatic stopping, a distributed multiparticle precise stopping control model based on the distributed model predictive control (MPC) algorithm is developed in this paper. A two-level hierarchical control structure for the subcontroller of each vehicle is adopted to bring itself to a controlled stop. In the upper control of subcontroller, the MPC algorithm is designed in turn based on the multiparticle mechanism model of the train. In the lower control of subcontroller, the target input from the upper control is converted and distributed. The controlled object, a comprehensive numerical computing model including the spatial dynamic model of the train and its electropneumatic blending braking model, is established and controlled by the corresponding subcontroller and employed to verify the performance of the controller. The influence of the model control parameters on the stopping performance is discussed, and the optimal combination of control parameters is selected. The proposed control model using the optimization parameters is tested and verified through the comprehensive numerical computing model. The results indicate that the stopping error is 0.0075 m, which is much less than the accuracy requirements for fixed-point stopping. The computing time of each subcontroller in real-time is stable at 0.09 s. The coupler impact force between two adjacent vehicles can also be effectively inhibited and eliminated. Its control performance outperforms a proportional–integral–derivative (PID) algorithm. The proposed precise stopping model and comprehensive numerical computing model provide references for the application and algorithm optimization of automatic train operation technology in high-speed trains.

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