CN110155126A - The integrated optimization method of high-speed rail train scheduling and control under temporary speed limitation - Google Patents
The integrated optimization method of high-speed rail train scheduling and control under temporary speed limitation Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
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Abstract
The present invention provides the high-speed rail train scheduling under a kind of temporary speed limitation and control integrated optimization method.This method comprises: rail track topological structure, signal system needed for configuration optimization adjusted train diagram figure and rate curve and train dynamics characteristic underlying parameter；Configure temporary speed limitation scene basic data；The adjusted train diagram and Driving control Integrated optimization model under the conditions of temporary speed limitation are established according to rail track topological structure, signal system characteristic, train dynamics characteristic underlying parameter and temporary speed limitation scene basic data, adjusted train diagram and Driving control Integrated optimization model are solved using mixed integer linear programming, obtain the adjusted train diagram figure with the locking time and each train speed curve.The present invention can work out automatically in the case where high-speed railway runs and disturbed by temporary speed limitation and provide adjusted train diagram figure and rate curve with the locking time, it is ensured that the optimization and exploitativeness of train plan for adjustment and advisory speed operation curve.
Description
Technical field
The present invention relates to the high-speed rail trains under adjusted train diagram and control technology field more particularly to a kind of temporary speed limitation
Scheduling and the integrated optimization method of control.
Background technique
As a kind of large conveying quantity, low energy consumption, efficient Green Travel mode, high speed rail system is in public transit systems
In occupy an important position.By the end of the end of the year 2017, China express railway operation total kilometrage has broken through 2.2 ten thousand kilometers.With more
High-speed rail route open and the raising of train running speed, the natural calamities such as wind, rain, snow, earthquake to train operating safety and
The negative effect of operational efficiency is also more and more significant.When disaster monitoring system issues early warning, warning message, temporary speed limitation is assigned
Order is the effective measures for controlling train running speed, ensureing train operating safety.
The reduction of the speed of service will lead to runing time of the train on temporary speed limitation section and increase so as to cause train hair
Raw delay.At this point, the key task of vehicle scheduling person is the impacted time-table of adjustment and further decreases potential negative
Face is rung, and train operator monitors train operation state, pilot steering train and feedback acknowledgment signal according to traffic order.Severe day
" two-layer " control method of dispatch control control and Train Detection and Identification can reduce operation recovery capability and cannot in the case of gas
Guarantee the global optimization solution of the two.
Existing Train Regulation Model is not taken into consideration by train driving control details.In view of this, to improve
High-speed railway emergency disposal ability under temporary speed limitation, there is an urgent need under a kind of temporary speed limitation high speed rail train operation adjustment with
Driving control Integrated Optimization realizes the optimization and exploitativeness of train plan for adjustment Yu advisory speed operation curve.
Summary of the invention
The embodiment provides the high-speed rail train scheduling under a kind of temporary speed limitation and integrated optimization method is controlled, with
Overcome problem of the prior art.
To achieve the goals above, this invention takes following technical solutions.
A kind of high-speed rail train scheduling under temporary speed limitation and control integrated optimization method, comprising:
Rail track topological structure, signal system and train needed for configuration optimization adjusted train diagram figure and rate curve
Kinetic characteristics underlying parameter；
Configure temporary speed limitation scene basic data；
According to the rail track topological structure, signal system characteristic, train dynamics characteristic underlying parameter and interim limit
Fast scene basic data establishes adjusted train diagram and Driving control Integrated optimization model under the conditions of temporary speed limitation, this one
When body Optimized model includes: train temporary speed-limiting restricted model, the Modeling Method for Train Dynamics based on discrete distance, train arrival and leaving
Die sinking type, the Train Interval computation model based on the track section locking time, track section capacity consistency model and target
Function model；
The adjusted train diagram and Driving control Integrated optimization model are solved using mixed integer linear programming, are obtained
Take the adjusted train diagram figure with the locking time and each train speed curve.
Preferably, train dynamics characteristic basis needed for the configuration optimization adjusted train diagram figure and rate curve is joined
Number includes: high-speed railway route information, station information, the fixed speed-limiting messages of route, track section information, initial time table, column
Vehicle commander's degree, path, stand in dwell time, train departure time window, minimum acceleration and peak acceleration.
Preferably, the temporary speed limitation scene basic data includes: temporary speed limitation track section, temporary speed limitation time started
And end time, temporary speed limitation value.
Preferably, the train temporary speed-limiting restricted model is as follows:
ξf,i,jIndicate whether train f is influenced by temporary speed limitation in block section (i, j)
To judge whether train f is influenced by temporary speed limitation in block section (i, j), when train f is at block section (i, j)
Temporary speed limitation has been moved off the block section or train and just enters the block section after temporary speed limitation before starting,
Then the train will not be affected ξf,i,j=0, on the contrary train will influence ξ by temporary speed limitationf,i,j=1.
Preferably, the Modeling Method for Train Dynamics based on discrete distance is as follows:
Each block section is divided into nd discrete segment, on each block section, there are nd+1 speed points, if column
Acceleration of the vehicle on a discrete segment is consistent, and acceleration is shown below with speed, the relationship of siding-to-siding block length:
Wherein accf,i,j,kIndicate train f in the acceleration value of k-th of discrete segment of block section (i, j)；vf,i,j,kTable
Show train f in the velocity amplitude of k-th of speed point of block section (i, j),It is discrete each of in expression block section (i, j)
The length in section, the pass of the length of each discrete segment and section entrance, speed of going out and the runing time in the discrete segment
System is shown below:
Wherein Δ tf,i,j,kIndicate train f in the runing time of k-th of discrete segment of block section (i, j)；
Train running speed constraint:
(1) train running speed is no more than the fixed speed limit of the route of each block section
WhereinThe fixation speed limit of route where block section (i, j)；
(2) if train is influenced in block section (i, j) by temporary speed limitation, i.e. ξf,i,j=1, then the train
When passing through the temporary speed limitation section, no more than temporary speed limitation value；
WhereinFor the temporary speed limitation value of occlusion point (i, j)；
(3) two neighboring block section intersection train speed continuity should meet following constraint
(4) relationship of train speed and train dwelling
Wherein wf,i,jIndicate train f in the dwell time of occlusion point (i, j).
Preferably, the train arrival and leaving moment model is as follows:
(1) constraint of train departure time window is as follows:
In formulaIndicate that train f reaches starting point ofAt the time of, ESTfIndicate that train originates the time in inception point earliest；
(2) two neighboring block section train arrival, departure time constraint are as follows:
Wherein dF, i, jAt the time of indicating that train f reaches block section (i, j), aF, j, qIndicate that train f leaves block section
At the time of (i, j)；
(3) calculating of train departure time is as follows:
Preferably, the Train Interval computation model based on the track section locking time is as follows:
1: the track section locking time calculates
The track section locking time includes route settling time, the reaction time, time to approach, runing time, goes out the clear time
With the route release time, wherein route settling time, reaction time, route release time are preset parameter, time to approach, fortune
Row time, the calculating for going out the clear time are as follows:
The calculating of time to approach
Time to approach arrives hair line AT STATION and is assumed to be 60s, and the calculating of main track and section main track is as follows AT STATION:
WhereinIndicate train f block section (i, j) time to approach,Indicate train f
The block section (p, q) of process is section where block section (i, j) close to advance notice point；
The calculating of runing time
WhereinIndicate that train f passes through the runing time of block section (i, j)；
The calculating of clear time out
WhereinIndicate that train f goes out the clear time in block section (i, j)；
2: the calculating at train operating safety interval
The calculation formula that block section occupies the block section time in advance is as follows:
Wherein gF, i, jIndicate train f to the pre- holding time of block section (i, j)；
The calculating of block section unlocked time
Wherein hF, i, jIndicate train f to the unlocked time of block section (i, j)；
Block section starts to occupy the calculating at block section moment
Wherein αF, i, jAt the time of indicating that train f starts to occupy block section (i, j)；
Block section terminates to occupy the calculating at block section moment
Wherein βF, i, jAt the time of indicating that train f terminates to occupy block section (i, j).
Preferably, the track section capacity consistency model is as follows:
Wherein αf',i,jFor train operation sequence constant, θf,f',i,j=1 expression train f passes through block section before train f '
(i, j), θf,f',i,j=0 indicates that train f ' passes through block section (i, j) before train f, and the constraint representation is when train f is in train f '
When preceding (i, j) by block section, α at the time of train f ' starts to occupy block section (i, j)f',i,jIt is greater than and is equal to train f knot
β at the time of Shu Zhanyong block section (i, j)f,i,j。
Preferably, the target function model is as follows:
Target function model will minimize following objective function:
Fobj=λ1×FObj, time+λ2×FObj, comf
Wherein, λ1And λ2For weight；
F in objective functionObj, timeBe at the time of reaching terminal with route map of train train adjusted with former train
Operation figure train is reached terminal the part that the deviation at moment is minimized, and is indicated are as follows:
F in objective functionObj, comfIt is the part minimized to train speed curve rate of acceleration change, indicates
Preferably, the use mixed integer linear programming is integrated to solve the adjusted train diagram and Driving control
Change Optimized model, obtain the adjusted train diagram figure with the locking time and each train speed curve, comprising:
Nonlinear Constraints part in the adjusted train diagram and Driving control Integrated optimization model is subjected to line
Property, include the following:
1: quadratic term is linearized
To the secondary item parts v in the acceleration calculation of the Modeling Method for Train Dynamics based on discrete distance2 f,i,j,kCarry out line
Property, introduce variable yf,i,j,k=v2 f,i,j,k, concrete methods of realizing is as follows:
Wherein δx,f,i,j,kMeet the following conditions:
0≤δx,f,i,j,k≤ 1, x=1...m
δx,f,i,j,k-2×ηx,f,i,j,k≤0
δx,f,i,j,k-ε×ηx,f,i,j,k≥0
2: real variable is linearized multiplied by real variable item
To the Δ t in the discrete segment distance calculating in the Modeling Method for Train Dynamics based on discrete distanceF, i, j, k×vF, i, j, k
Part is linearized, and concrete methods of realizing is as follows:
The first step, by the constraint representation are as follows:
Second step introduces variable
Third step linearizes contained quadratic term with quadratic term linearization technique；
3: if-then constraint is linearized
On the if-the for the 0-1 the variable part whether train in train temporary speed-limiting restricted model is influenced by temporary speed limitation
Condition is linearized, and concrete methods of realizing is as follows:
Wherein λ1, f.i.j、λ2, f.i.jThe following conditions should be met:
ξE, i, j=λ1, f.i.j×λ2, f.i.j
-λ1,f.i.j+ξf,i,j≤0
-λ2,f.i.j+ξf,i,j≤0
λ1,f.i.j+λ2,f.i.j-ξf,i,j≤1
4: input configuration parameter solves the adjusted train diagram and Driving control one using mixed integer linear programming
Change Optimized model, obtain optimal solution, is optimized according to optimal solution acquisition High Speed Railway Trains when temporary speed limitation disturbs
Plan of adjusting train operation, and for driver/ATO provide recommend train speed curve.
As can be seen from the technical scheme provided by the above-mentioned embodiment of the present invention, the embodiment of the present invention is run in high-speed railway
In the case where being disturbed by temporary speed limitation, adjusted train diagram figure and rate curve with the locking time are worked out and provided automatically, and
Plan for adjustment and operation curve are subjected to integrated optimization, can not only guarantee train plan for adjustment and advisory speed operation curve
Optimization property and exploitativeness, and interference of the temporary speed limitation to train operation can be significantly reduced.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others
Attached drawing.
Fig. 1 is high-speed rail train scheduling and the integrated optimization method of control under a kind of temporary speed limitation provided in an embodiment of the present invention
Process flow diagram；
Fig. 2 is that a kind of train provided in an embodiment of the present invention passes through temporary speed limitation schematic diagram；
Fig. 3 is a kind of train rail section locking time diagram provided in an embodiment of the present invention；
Fig. 4 is a kind of train operating safety interval schematic diagram provided in an embodiment of the present invention；
Fig. 5 is route map of train after a kind of adjustment of belt track section locking time provided in an embodiment of the present invention；
Fig. 6 (a) (b) (c) (d) is train after a kind of adjustment of belt track section locking time provided in an embodiment of the present invention
Corresponding train operation curve is schemed in operation.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or coupling.Wording used herein
"and/or" includes one or more associated any cells for listing item and all combinations.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, it will not be explained in an idealized or overly formal meaning.
In order to facilitate understanding of embodiments of the present invention, it is done by taking several specific embodiments as an example below in conjunction with attached drawing further
Explanation, and each embodiment does not constitute the restriction to the embodiment of the present invention.
Embodiment one
The embodiment of the invention provides the high speed rail train operation adjustment and Driving control one under a kind of temporary speed limitation
Change method.This method is specifically included that according to China Railway High-speed wire topologies and signal system characteristic, temporary speed limitation information
And train dynamics characteristic establishes adjusted train diagram and Driving control Integrated optimization model under the conditions of temporary speed limitation, it should
Integrated optimization model includes: train temporary speed-limiting restricted model, the Modeling Method for Train Dynamics based on discrete distance, train arrival and leaving
Moment model, the Train Interval computation model based on the track section locking time, track section capacity consistency model and mesh
Offer of tender exponential model；The Integrated optimization model is solved using mixed integer programming algorithm, is obtained High Speed Railway Trains and is being faced
When speed limit disturbance in the case of the plan of adjusting train operation that optimizes, and be driver/ATO (Automatic Train
Operation, train automated driving system) advisory speed curve is provided.
High-speed rail train in order to realize above-mentioned operation figure preparation method, under a kind of temporary speed limitation provided in an embodiment of the present invention
Scheduling is with the process flow for controlling integrated optimization method as shown in Figure 1, including following processing step:
Step S10, rail track topological structure, signal system needed for configuration optimization adjusted train diagram figure and rate curve
System and train dynamics characteristic underlying parameter.
Step S20, temporary speed limitation scene basic data is configured.
Step S30, according to the rail track topological structure, signal system characteristic, train dynamics characteristic underlying parameter
And temporary speed limitation scene basic data establishes adjusted train diagram and Driving control Integrated optimization under the conditions of temporary speed limitation
Model, the Integrated optimization model include: train temporary speed-limiting restricted model, the Modeling Method for Train Dynamics based on discrete distance,
Train arrival and leaving moment model, the Train Interval computation model based on the track section locking time, track section capacity consistency
Model and target function model.
Step S40, above-mentioned Integrated optimization model is solved using mixed integer linear programming, is obtained with the locking time
Adjusted train diagram figure and each train speed curve.
Further, underlying parameter needed for the adjusted train diagram figure and rate curve that configure in step S10 includes:
Optimize mould according to practical high-speed railway route topological structure, signal system, train dynamics characteristic configuration integration
Underlying parameter needed for type, the underlying parameter include high-speed railway route information, station information, route fixed speed-limiting messages, rail
Road section information, initial time table, train length, path, stand in the dwell time, train departure time window, minimum acceleration with
Peak acceleration.
Further, the temporary speed limitation scene basic data configured in step S20 includes:
Temporary speed limitation scene basic data include temporary speed limitation track section, temporary speed limitation time started and end time,
Temporary speed limitation value.
Further, the adjusted train diagram under the conditions of temporary speed limitation described in step S30 and Driving control Integrated optimization
Model includes:
1: train temporary speed-limiting restricted model:
ξf,i,jIndicate whether train f is influenced by temporary speed limitation in block section (i, j)
Fig. 2 is a kind of train provided in an embodiment of the present invention by temporary speed limitation schematic diagram, as shown in Fig. 2, for judgement column
Whether vehicle f is influenced by temporary speed limitation in block section (i, j), when train f before block section (i, j) temporary speed limitation starts
It is left the block section or train and just enters the block section after temporary speed limitation, then the train will not be by shadow
Ring ξf,i,j=0, on the contrary train will influence ξ by temporary speed limitationf,i,j=1.Following constraint representation can be used in the logical relation:
Wherein df,i,jIndicate that train f leaves the time of block section (i, j), af,i,jIndicate that train f reaches block section
The time of (i, j), tstaAt the time of indicating that temporary speed limitation starts, tendAt the time of indicating that temporary speed limitation terminates.
2: the Modeling Method for Train Dynamics based on discrete distance:
Each block section is divided into nd discrete segment, on each block section, there are nd+1 speed point, this hairs
Bright embodiment assumes that acceleration of the train on a discrete segment is consistent, acceleration and speed, the relationship of siding-to-siding block length
It is as follows:
Wherein accf,i,j,kIndicate acceleration value of the train f in k-th of discrete segment of block section (i, j), vf,i,j,kTable
Show train f in the velocity amplitude of k-th of speed point of block section (i, j),It is discrete each of in expression block section (i, j)
The length in section.The pass of the length of each discrete segment and section entrance, speed of going out and the runing time in the discrete segment
System can indicate are as follows:
Wherein Δ tf,i,j,kIndicate train f in the runing time of k-th of discrete segment of block section (i, j).
Train running speed constraint:
(1) train running speed is no more than the fixed speed limit of the route of each block section
WhereinThe fixation speed limit of route where block section (i, j).
(2) if train is influenced (i.e. ξ by temporary speed limitation in block section (i, j)f,i,j=1), then the column
Vehicle is when passing through the temporary speed limitation section, no more than temporary speed limitation value.
WhereinFor the temporary speed limitation value of occlusion point (i, j).
(3) two neighboring block section intersection train speed continuity should meet following constraint
(4) relationship of train speed and train dwelling
Wherein wf,i,jIndicate train f in the dwell time of occlusion point (i, j)
3: train arrival and leaving moment model
(1) train departure time window constrains
In formulaIndicate that train f reaches starting point ofAt the time of, ESTfIndicate that train originates the time in inception point earliest.
(2) two neighboring block section train reaches, the departure time constrains
Wherein dF, i, jAt the time of indicating that train f reaches block section (i, j), aF, j, qIndicate that train f leaves block section
At the time of (i, j).
(3) calculating of train departure time is as follows
4: the Train Interval computation model based on the track section locking time
(1) the track section locking time calculates
Fig. 3 is a kind of train rail section locking time provided in an embodiment of the present invention, as shown in figure 3, the locking time wraps
Settling time containing route, time to approach, runing time, goes out 6 clear time, route release time element of time at the reaction time,
Middle route settling time, reaction time, route release time are preset parameter.Time to approach, goes out the clear time at runing time
It calculates as follows:
The calculating of time to approach
Time to approach arrives hair line AT STATION and is assumed to be 60s, and the calculating of main track and section main track is as follows AT STATION:
WhereinIndicate train f block section (i, j) time to approach,Indicate train f warp
The block section (p, q) crossed is block section (i, j) close to section where advance notice point.Close to the setting reference train of advance notice point
Braking ability and the speed of service.
The calculating of runing time
WhereinIndicate that train f passes through the runing time of block section (i, j).By process may be not parking
Process, it is also possible to parking restart by process.This depends on the position of block section on the line, is in section, also
It is AT STATION.
The calculating of clear time out
WhereinIndicate that train f goes out the clear time in block section (i, j).
(2) calculating at train operating safety interval
Fig. 4 is a kind of train operating safety interval schematic diagram provided in an embodiment of the present invention, and block section occupies occlusion in advance
The calculation formula of interval time is as follows:
Wherein gF, i, jIndicate train f to the pre- holding time of block section (i, j).
The calculating of block section unlocked time
Wherein hF, i, jIndicate train f to the unlocked time of block section (i, j).
Block section starts to occupy the calculating at block section moment
Wherein αF, i, jAt the time of indicating that train f starts to occupy block section (i, j).
Block section terminates to occupy the calculating at block section moment
Wherein βF, i, jAt the time of indicating that train f terminates to occupy block section (i, j).
5: track section capacity consistency model:
Wherein αf',i,jFor train operation sequence constant, θf,f',i,j=1 expression train f passes through block section before train f '
(i, j), θf,f',i,j=0 indicates that train f ' passes through block section (i, j) before train f.The constraint representation is when train f is in train f '
When preceding (i, j) by block section, α at the time of train f ' starts to occupy block section (i, j)f',i,jIt is greater than and is equal to train f knot
β at the time of Shu Zhanyong block section (i, j)f,i,j。
6: target function model；
Further, the target function model in step S30 includes:
Target function model will minimize following objective function:
Fobj=λ1×fObj, time+λ2×fObj, comf
Wherein, λ1And λ2For weight.
F in objective functionObj, timeBe at the time of reaching terminal with route map of train train adjusted with former train
Operation figure train is reached terminal the part that the deviation at moment is minimized, and is indicated are as follows:
F in objective functionObj, comfIt is the part minimized to train speed curve rate of acceleration change, indicates
Further, Nonlinear Constraints part in Optimized model is linearized described in step S40 mixed to use
It closes integral linear programming and solves the Optimized model, obtain the train fortune that High Speed Railway Trains optimize when temporary speed limitation disturbs
Row plan for adjustment simultaneously provides advisory speed curve for driver/ATO, comprising:
(1) quadratic term is linearized
To the quadratic term in the acceleration calculation of the Modeling Method for Train Dynamics described in step S30 based on discrete distancePart is linearized, and variable is introducedConcrete methods of realizing
It is as follows:
Wherein δX, f, i, j, kThe following conditions should be met:
0≤δx,f,i,j,k≤ 1, x=1...m,
(2) real variable is linearized multiplied by real variable item:
To in the discrete segment distance calculating in the Modeling Method for Train Dynamics based on discrete distance in step S30
ΔtF, i, j, k×vF, i, j, kPart is linearized, and concrete methods of realizing is as follows:
The first step, by the constraint representation are as follows:
Second step introduces variable
Third step linearizes contained quadratic term with quadratic term linearization technique.
(3) if-then constraint is linearized
The 0-1 variable the portion whether train in train temporary speed-limiting restricted model in step S30 is influenced by temporary speed limitation
The if-the condition divided is linearized, and concrete methods of realizing is as follows:
Wherein λ1, f.i.j、λ2, f.i.jThe following conditions should be met:
ξE, i, j=λ1, f.i.j×λ2, f.i.j
-λ1,f.i.j+ξf,i,j≤0
-λ2,f.i.j+ξf,i,j≤0
λ1,f.i.j+λ2,f.i.j-ξf,i,j≤1。
(4) input configuration parameter, to the mixed integer linear programming optimization problem solving, if optimization problem can obtain it is optimal
Solution, then export optimal solution, and draw advisory speed curve and drawing route map of train.
Embodiment two
Train is transported after a kind of adjustment for the belt track section locking time worked out automatically according to the method for the embodiment of the present invention
Row figure is as shown in figure 5, it is corresponded to shown in train operation curve such as Fig. 6 (a) (b) (c) (d).Abscissa is High Speed Railway in Fig. 6
The road service time, from 6 pm to 6: 50, ordinate is space, that is, block section, and grey block is indicated in block section in Fig. 6
The locking time.Abscissa is space, that is, block section in Fig. 6, and ordinate is the speed of train (unit is meter per second).
In conclusion the embodiment of the present invention realizes the train that High Speed Railway Trains optimize in temporary speed limitation disturbance
Combustion adjustment plan is worked out automatically and advisory speed curve acquisition, and has the advantages that
1, the combustion adjustment plan worked out automatically can meet arriving and leaving moment, personal distance, train sequence, track section ability
Etc. constraint conditions, guarantee the feasibility of plan for adjustment, reduce the train delays time；Advisory speed curve can meet train in track
Fixation speed limit and the temporary speed limitation requirement of section, guarantee even running of train under the conditions of temporary speed limitation, guarantee occupant comfort
Property.
2, the Train Interval computation model based on the locking time can meet the fine of high speed rail system dispatch control
Change and require, the guarantee for high-speed railway route ability under emergency event lays the foundation.
Those of ordinary skill in the art will appreciate that: attached drawing is the schematic diagram of one embodiment, module in attached drawing or
Process is not necessarily implemented necessary to the present invention.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
It realizes by means of software and necessary general hardware platform.Based on this understanding, technical solution of the present invention essence
On in other words the part that contributes to existing technology can be embodied in the form of software products, the computer software product
It can store in storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) executes the certain of each embodiment or embodiment of the invention
Method described in part.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device or
For system embodiment, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to method
The part of embodiment illustrates.Apparatus and system embodiment described above is only schematical, wherein the conduct
The unit of separate part description may or may not be physically separated, component shown as a unit can be or
Person may not be physical unit, it can and it is in one place, or may be distributed over multiple network units.It can root
According to actual need that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Ordinary skill
Personnel can understand and implement without creative efforts.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (10)
1. the integrated optimization method of high-speed rail train scheduling and control under a kind of temporary speed limitation characterized by comprising
Rail track topological structure, signal system and train dynamics needed for configuration optimization adjusted train diagram figure and rate curve
Learn characteristic underlying parameter；
Configure temporary speed limitation scene basic data；
According to the rail track topological structure, signal system characteristic, train dynamics characteristic underlying parameter and temporary speed limitation field
Scape basic data establishes adjusted train diagram and Driving control Integrated optimization model under the conditions of temporary speed limitation, the integration
Optimized model includes: train temporary speed-limiting restricted model, the Modeling Method for Train Dynamics based on discrete distance, train arrival and leaving moment mould
Type, the Train Interval computation model based on the track section locking time, track section capacity consistency model and objective function
Model；
The adjusted train diagram and Driving control Integrated optimization model are solved using mixed integer linear programming, obtain band
The adjusted train diagram figure of locking time and each train speed curve.
2. the method according to claim 1, wherein the configuration optimization adjusted train diagram figure and rate curve
Required train dynamics characteristic underlying parameter include: high-speed railway route information, station information, the fixed speed-limiting messages of route,
Track section information, initial time table, train length, path, stand in dwell time, train departure time window, minimum acceleration
With peak acceleration.
3. the method according to claim 1, wherein the temporary speed limitation scene basic data includes: interim limit
Fast track section, temporary speed limitation time started and end time, temporary speed limitation value.
4. method according to any one of claims 1 to 3, which is characterized in that the train temporary speed-limiting restricted model is such as
Under:
ξf,i,jIndicate whether train f is influenced by temporary speed limitation in block section (i, j)
To judge whether train f is influenced by temporary speed limitation in block section (i, j), when train f is interim in block section (i, j)
Speed limit has been moved off the block section or train and just enters the block section after temporary speed limitation before starting, then should
Train will not be affected ξf,i,j=0, on the contrary train will influence ξ by temporary speed limitationf,i,j=1.
5. according to the method described in claim 4, it is characterized in that, the Modeling Method for Train Dynamics based on discrete distance such as
Under:
Each block section is divided into nd discrete segment, on each block section, there are nd+1 speed points, if train exists
Acceleration on one discrete segment is consistent, and acceleration is shown below with speed, the relationship of siding-to-siding block length:
Wherein accf,i,j,kIndicate train f in the acceleration value of k-th of discrete segment of block section (i, j)；vf,i,j,kIndicate column
Vehicle f k-th of speed point of block section (i, j) velocity amplitude,Indicate each discrete segment on block section (i, j)
Length, the length of each discrete segment and section enter, speed of going out and the discrete segment runing time relationship such as
Shown in following formula:
Wherein Δ tf,i,j,kIndicate train f in the runing time of k-th of discrete segment of block section (i, j)；
Train running speed constraint:
(1) train running speed is no more than the fixed speed limit of the route of each block section
WhereinThe fixation speed limit of route where block section (i, j)；
(2) if train is influenced in block section (i, j) by temporary speed limitation, i.e. ξf,i,j=1, then the train faces by this
When speed limit section when, no more than temporary speed limitation value；
WhereinFor the temporary speed limitation value of occlusion point (i, j)；
(3) two neighboring block section intersection train speed continuity should meet following constraint
(4) relationship of train speed and train dwelling
Wherein wf,i,jIndicate train f in the dwell time of occlusion point (i, j).
6. according to the method described in claim 5, it is characterized in that, the train arrival and leaving moment model is as follows:
(1) constraint of train departure time window is as follows:
In formulaIndicate that train f reaches starting point ofAt the time of, ESTfIndicate that train originates the time in inception point earliest；
(2) two neighboring block section train arrival, departure time constraint are as follows:
Wherein dF, i, jAt the time of indicating that train f reaches block section (i, j), aF, j, qIndicate that train f leaves block section (i, j)
Moment；
(3) calculating of train departure time is as follows:
7. according to the method described in claim 6, it is characterized in that, between the train operation based on the track section locking time
It is as follows every computation model:
1: the track section locking time calculates
The track section locking time include route settling time, the reaction time, time to approach, runing time, go out the clear time and into
Road unlocked time, wherein route settling time, reaction time, route release time are preset parameter, when time to approach, operation
Between, go out the clear time calculating it is as follows:
The calculating of time to approach
Time to approach arrives hair line AT STATION and is assumed to be 60s, and the calculating of main track and section main track is as follows AT STATION:
WhereinIndicate train f block section (i, j) time to approach,Indicate what train f passed through
Block section (p, q) is block section (i, j) close to section where advance notice point；
The calculating of runing time
WhereinIndicate that train f passes through the runing time of block section (i, j)；
The calculating of clear time out
WhereinIndicate that train f goes out the clear time in block section (i, j)；
2: the calculating at train operating safety interval
The calculation formula that block section occupies the block section time in advance is as follows:
Wherein gF, i, jIndicate train f to the pre- holding time of block section (i, j)；
The calculating of block section unlocked time
Wherein hF, i, jIndicate train f to the unlocked time of block section (i, j)；
Block section starts to occupy the calculating at block section moment
Wherein αF, i, jAt the time of indicating that train f starts to occupy block section (i, j)；
Block section terminates to occupy the calculating at block section moment
Wherein βF, i, jAt the time of indicating that train f terminates to occupy block section (i, j).
8. the method according to the description of claim 7 is characterized in that the track section capacity consistency model is as follows:
Wherein αf',i,jFor train operation sequence constant, θf,f',i,j=1 indicate train f before the train f ' by block section (i,
J), θf,f',i,j=0 indicates that train f ' passes through block section (i, j) before train f, and the constraint representation is when train f is before train f '
When by block section (i, j), α at the time of train f ' starts to occupy block section (i, j)f',i,jBeing greater than terminates equal to train f
β at the time of occupying block section (i, j)f,i,j。
9. according to the method described in claim 8, it is characterized in that, the target function model is as follows:
Target function model will minimize following objective function:
Fobj=λ1×FObj, time+λ2×FObj, comf
Wherein, λ1And λ2For weight；
F in objective functionObj, timeBe at the time of reaching terminal with route map of train train adjusted with former train operation
Figure train is reached terminal the part that the deviation at moment is minimized, and is indicated are as follows:
F in objective functionObj, comfIt is the part minimized to train speed curve rate of acceleration change, indicates are as follows:
10. according to the method described in claim 9, it is characterized in that, the use mixed integer linear programming is to solve
Adjusted train diagram and Driving control Integrated optimization model are stated, adjusted train diagram figure and each train with the locking time are obtained
Rate curve, comprising:
The adjusted train diagram and Nonlinear Constraints part in Driving control Integrated optimization model are linearized,
Include the following:
1: quadratic term is linearized
To the secondary item parts v in the acceleration calculation of the Modeling Method for Train Dynamics based on discrete distance2 f,i,j,kIt is linearized,
Introduce variable yf,i,j,k=v2 f,i,j,k, concrete methods of realizing is as follows:
Wherein δx,f,i,j,kMeet the following conditions:
0≤δx,f,i,j,k≤ 1, x=1...m
δx,f,i,j,k-2×ηx,f,i,j,k≤0
δx,f,i,j,k-ε×ηx,f,i,j,k≥0
2: real variable is linearized multiplied by real variable item
To the Δ t in the discrete segment distance calculating in the Modeling Method for Train Dynamics based on discrete distanceF, i, j, k×vF, i, j, kPart
It is linearized, concrete methods of realizing is as follows:
The first step, by the constraint representation are as follows:
Second step introduces variable
Third step linearizes contained quadratic term with quadratic term linearization technique；
3: if-then constraint is linearized
On the if-the condition for the 0-1 the variable part whether train in train temporary speed-limiting restricted model is influenced by temporary speed limitation
It is linearized, concrete methods of realizing is as follows:
Wherein λ1, f.i.j、λ2, f.i.jThe following conditions should be met:
ξE, i, j=λ1, f.i.j×λ2, f.i.j
-λ1,f.i.j+ξf,i,j≤0
-λ2,f.i.j+ξf,i,j≤0
λ1,f.i.j+λ2,f.i.j-ξf,i,j≤1
4: it is integrated with Driving control excellent to solve the adjusted train diagram using mixed integer linear programming for input configuration parameter
Change model, obtain optimal solution, the column that High Speed Railway Trains optimize when temporary speed limitation disturbs are obtained according to the optimal solution
Vehicle combustion adjustment plan, and provided for driver/ATO and recommend train speed curve.
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