Heavy-haul train and longitudinal dynamics traction operation optimization control system and method thereof

Patent metadata

Field	Value
Publication number	US-12420849-B2
Application number	US-202318568643-A
Country	US
Kind code	B2
Filing date	Feb 27, 2023
Priority date	Dec 30, 2021
Publication date	Sep 23, 2025
Grant date	Sep 23, 2025

Abstract

Disclosed in the present invention are a heavy-haul train and a longitudinal dynamics traction operation optimization control system and method thereof. A model prediction function is added to a locomotive wireless double heading system so as to suppress large longitudinal impulse that is likely to be generated when the operation speed of the heavy-haul combined train is regulated, especially when the heavy-haul train is switched at a grade change point working condition, and the major potential safety hazard that affects the safe and stable operation of the heavy-haul combined train is avoided. In a distributed dynamic marshalling mode of the heavy-haul combined train, the requirements for the difference between the tractive force and the regenerative braking force of a master locomotive and slave locomotives of a multi-locomotive under the same working condition are predicted by the model, the amplitude of the power for the traction and the regenerative braking of the master locomotive and the slave locomotives is reasonably adjusted, and asynchronous control of the train under different working conditions is gradually achieved, so that the purposes of optimizing the dynamics performance of the heavy-haul combined train and reducing the longitudinal impulse of the heavy-haul train are achieved, and the operation of the train is guaranteed.

First claim

What is claimed is:

1. A longitudinal dynamics traction operation optimization control system for a heavy-haul train, comprising:
a motion dynamics model, with control instructions of the train as input, an optimization goal of reducing longitudinal impulse, and desired traction/electrical braking force as output;
an expert system, with the desired traction/electrical braking force output by the said motion dynamics model, output of an optimization output and feedback module as input, to adjust the desired traction/electrical braking force and feed back adjustment results to the said motion dynamics module;
a prediction model, with the desired traction/electrical braking force output by the said expert system as input, to set an objective function and predict traction/electrical braking force, wherein
an expression of the objective function set by the prediction model is:

min
⁢

J
⁡
(
k
)

=

∑

i
=
1

p

q
i

[

F
p

(

k
+
i

)

-

F
r

(

k
+
i

)

]

2

+

∑

j
=
1

M

r
j

⁢

u
2

(
k
)

;

where F r (k+i) is desired traction/electrical braking force obtained by the said expert system at time k+i, expressed as: F r (k+i)=(1−α i )F r (k)+α i F(k); F(k) is actual traction/electrical braking force at time k; α i is a flexibility coefficient computed by the expert system based on train load; r j is a weighting coefficient, u(k)=(G 1 T QG 1 −R) T G T Q[F r (k+1)−G 2 u(k−1)−He(k)], Q=diag[q 1 , q 2 , . . . , q p ], and q 1 , q 2 , . . . , q p are predicted error weighting coefficients; R=diag[r 1 , r 2 , . . . , r p ], and r 1 , r 2 , . . . , r p are control quantity weighting matrices; H=┌h 1 , h 2 , . . . , h p ┐ r , and h 1 , h 2 , . . . , h p are feedback coefficient matrices; G=[g 1 , g 2 , . . . , g p ], g 1 , g 2 , . . . , g p are impulse response coefficient matrices, G 1 is an impulse coefficient matrix for predicting future conditions, and G 2 is an impulse coefficient matrix for past known conditions; M is a control time domain length; p is a predicted time domain length; e(k) is a prediction error at time k, F p (k)=F m (k)+He(k); e(k)=F(k)−F m (k); F m (k) is predicted output at time k; and
an optimization output and feedback module, configured to adjust traction/electrical braking force of the train according to the traction/electrical braking force predicted by the prediction model, and feed back the adjusted traction/electrical braking force and real-time monitored coupler force to the expert system.

2. The longitudinal dynamics traction operation optimization control system for the heavy-haul train according to claim 1 , further comprising: a data collection module, configured to collect a traction vehicle type, a traction marshaling mode, vehicle model difference data, traction features, traction conditions, electrical braking conditions, line signals, driving permit information, and a train speed in a distributed power marshaling mode of the heavy-haul combined train, wherein the input of the said expert system further comprises the data collected by the said data collection module.

3. The longitudinal dynamics traction operation optimization control system for the heavy-haul train according to claim 1 , wherein an expression of the traction/electrical braking force F m (k+i) predicted by the prediction model at time k+i is:

F
m

(

k
+
i

)

=

∑

i
=
1

M

(

Gu
⁡
(

k
+
i
-
1

)

+

e
⁡
(

k
+
i

)

)

,

where u(k+i−1) is an optimization control rate at time k+i−1.

4. The longitudinal dynamics traction operation optimization control system for the heavy-haul train according to claim 1 , wherein the control time domain length M is set to 1<M<p.

5. The longitudinal dynamics traction operation optimization control system for the heavy-haul train according to claim 1 , wherein a value range of α i is 0.2 to 0.6; and a range value of r j is 0.3 to 0.5.

6. The longitudinal dynam

Assignees

• Univ Central South
• National Railway Administration Equipment Tech Center
• Science And Tech Research Institute Of Daqin Railway Co Ltd
• Changsha Nanrui Rail Transp Electric Equipment Co Ltd

Inventors

• Li Wei
• Wang Songxu
• Yu Yongsheng
• Zhang Wenlu
• Wu Jianhua
• Chen Guozhong
• Wang Kai

Classifications

• B61L15/0018

  Communication with or on the vehicle or train · CPC title

• B60L2200/26

  Rail vehicles · CPC title

• B60L15/38

  with automatic control · CPC title

• B61L15/0027

  Radio-based, e.g. using GSM-R · CPC title

• B61L23/08 Primary

  for controlling traffic in one direction only · CPC title