Roadmap Towards the Wireless Virtual Coupling of Trains

Constraint-force driven control design for rail vehicle virtual coupling

Journal of Vibration and Control ◽

10.1177/10775463211007986 ◽

2021 ◽

pp. 107754632110079

Author(s):

Bin Wang ◽

Dengke Yang ◽

Xinrong Zhang ◽

Xingheng Jia

Keyword(s):

Dynamic Model ◽

Traffic Management ◽

Control Method ◽

Constraint Force ◽

Explicit Equation ◽

Coupling Problem ◽

Railway Traffic ◽

Rail Vehicle ◽

Virtual Coupling ◽

Traffic Management System

This study investigates the constraint-force driven control problem of virtual coupling. To solve the constraint force, the explicit equation of vehicle motion with equality constraints is established using the Udwadia–Kalaba approach. First of all, this study introduces a brief overview of virtual coupling concepts in the European Railway Traffic Management System and some scenes of virtual coupling. The control method is proposed to enable the mechanical system to follow the designed constraint. Moreover, the dynamic model for virtual coupling problem is established. Second, combined with the dynamic model, the equation constraint is designed to make the rail vehicle movenment reach the control objective. By solving the equation based on the Udwadia–Kalaba approach, the control inputs that can render the vehicle to move along the desired trajectory. Third, numerical simulation results demonstrate the effectiveness of the proposed method in virtual coupling problem.

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Cooperative Multi-scenario Departure Control for Virtual Coupling Trains: A Fixed-time Approach

IEEE Transactions on Vehicular Technology ◽

10.1109/tvt.2021.3098343 ◽

2021 ◽

pp. 1-1

Author(s):

Zixuan Zhang ◽

Haifeng Song ◽

Hongwei Wang ◽

Xiaoyong Wang ◽

Hairong Dong

Keyword(s):

Fixed Time ◽

Virtual Coupling

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A Model Predictive Control System for Virtual Coupling

10.1109/ccdc52312.2021.9601638 ◽

2021 ◽

Author(s):

Xiaolin Luo ◽

Tao Tang ◽

Hongjie Liu ◽

Ming Chai ◽

Xiwang Guo

Keyword(s):

Control System ◽

Model Predictive Control ◽

Predictive Control ◽

Virtual Coupling

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Virtual Coupling Control Method for Robotic Gait

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.278-280.629 ◽

2013 ◽

Vol 278-280 ◽

pp. 629-632

Author(s):

Li Peng Yuan ◽

Amur Al Yahmedi ◽

Li Ming Yuan

Keyword(s):

Energy Dissipation ◽

Hybrid Model ◽

Control Strategy ◽

Control Method ◽

Mechanical Energy ◽

Control Laws ◽

Gait Patterns ◽

Walking Gait ◽

Virtual Coupling ◽

Mechanical Energy Dissipation

Here, we consider the walking gait patterns. And we presented a hybrid model for a passive 2D walker with knees and point feet. The dynamics of this model were fully derived analytically. We have also proposed virtual coupling control laws. The control strategy is formed by taking into account the features of mechanical energy dissipation and restoration. And we also prove some walking rules maybe true.

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