System and Method for Stopping Trains Using Simultaneous Parameter Estimation

摘要

A method for stopping a train at a range of predetermined positions, first acquires a measured state of the trains, and then updates, in a parameter estimator, estimates of unknown parameters and a reliability of the unknown parameters, based on a comparison of a predicted state of the train with the measured state of the train. An excitation input sequence reference generator acquires dynamics of the train to determine a sequence of excitation inputs based on a current estimate of system parameters, the measured state of the train, and a set of constraints on an operation of the train. A model predictive controller (MPC) receives a control-oriented cost function, a set of constraints, the sequence of excitation inputs, the estimate of the unknown parameters and the reliability of the estimate of the unknown parameters to determine an input command for a traction-brake actuator of the train.

主权项

1. A control system for controlling a traction-braking system with actuators configured to actuate for exerting a force for stopping a train at a range of predetermined positions, comprising:
a computer readable memory in communication with a computer to store predictive measurement data of the train, current measurement data of the train and executing computer executable instructions; and a processor of the computer is configured to implement:
measuring a state of the train;a parameter estimator algorithm configured to update parameter estimates of unknown parameters and a reliability of the estimate of the unknown parameters, based on a comparison of a predicted state of the train with the measured state of the train, by adjusting matrices related to data acquired from the train, and computing a value of parameters within a predetermined set of parameter values, that results in predicted data having a least difference with recent current measured data of the train;an excitation input sequence reference generator, wherein the excitation reference input sequence generator is configured to acquire dynamics of the train, and where the excitation input sequence reference generator determines a sequence of excitation inputs based on a current estimate of system parameters, the measured state of the train, and a set of constraints on an operation of the train, that results in obtaining a greater difference between current and future matrices related to the data acquired from the train, among a set of allowed sequences of excitation inputs; anda model predictive control (MPC) configured to receive a control-oriented cost function, a set of constraints, the sequence of excitation inputs, the estimate of the unknown parameters and the reliability of the estimate of the unknown parameters to determine an input command for a traction-brake actuator of the actuators of the braking system of the train.