With the continuous development of railway transport,improving the train operation efficiency has become a key goal of railway transport system optimization.This study is intended to propose a cooperative train control method based on Linear Quadratic Regulator(LQR),explore the effects of this method on cooperative train operation under the condition of control input delay,so as to improve the train operation efficiency,and conduct systematic assessment about the application effects of this method on cooperative train control through simulation study.Firstly,a mathematical model of tracking dynamics is established for the process of multi-train running,and an error model of the preceding and following trains is designed as the constraint of cooperative control.Secondly,an LQR controller is designed for cooperative train control.Finally,simulation tests are designed for the following train tracking the preceding train.The results show that the cooperative train control method based on LQR control can significantly improve the efficiency of multi-train cooperative operation.
维普
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