一种基于最小二乘法分段拟合的列车加速度在线估计算法

朱保林; 陈明阳; 刘烨轩; 江帆; 李铁兵; 周文伟

doi:10.13890/j.issn.1000-128X.2022.01.004

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一种基于最小二乘法分段拟合的列车加速度在线估计算法

智能化技术专栏 | 更新时间：2024-08-02

- 一种基于最小二乘法分段拟合的列车加速度在线估计算法
- Real-time train acceleration estimation method based on least-square piecewise linear fitting
- 机车电传动 2022年第1期页码：20-24
- 作者机构：
  
  1.株洲中车时代电气股份有限公司技术中心，湖南株洲　412001
  2.伦敦大学学院，英国;伦敦　WC1T6BT
- 作者简介：
  
  刘烨轩（1989—），男，主要从事自动驾驶的研发；E-mail：liuyx@csrzic.com
- 基金信息：
- DOI：10.13890/j.issn.1000-128X.2022.01.004
  中图分类号： U268.4
- 纸质出版日期：2022-01-10，
  
  收稿日期：2020-01-16，
  
  修回日期：2021-11-20，
- 稿件说明：
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朱保林, 陈明阳, 刘烨轩, 等. 一种基于最小二乘法分段拟合的列车加速度在线估计算法[J]. 机车电传动, 2022,(1):20-24.

ZHU Baolin, CHEN Mingyang, LIU Yexuan, et al. Real-time train acceleration estimation method based on least-square piecewise linear fitting[J]. Electric drive for locomotives, 2022,(1):20-24.
朱保林, 陈明阳, 刘烨轩, 等. 一种基于最小二乘法分段拟合的列车加速度在线估计算法[J]. 机车电传动, 2022,(1):20-24. DOI： 10.13890/j.issn.1000-128X.2022.01.004.

ZHU Baolin, CHEN Mingyang, LIU Yexuan, et al. Real-time train acceleration estimation method based on least-square piecewise linear fitting[J]. Electric drive for locomotives, 2022,(1):20-24. DOI： 10.13890/j.issn.1000-128X.2022.01.004.

摘要

在列车自动驾驶控车过程中，加速度是一个重要的反馈量和控制量，它能够反应列车的运动状态和平稳性，在重载列车平稳操纵控制中尤为重要。文章提出一种准确、快速、计算量小的加速度在线估计算法，该方法适合计算能力有限的嵌入式平台，能够有效应用于实际工程项目。该算法首先使用中值平均滤波算法处理速度传感器采集的数据；然后采用改进型最小二乘分段拟合算法，进行加速度估计。相比于加速度定义法直接求取加速度，加速度在线估计算法的精度高，更逼近列车真实加速度。神朔智能驾驶项目实际数据验证表明，该方法能准确、快速地在自动驾驶车载嵌入式平台中计算加速度。

Abstract

The acceleration is an important feedback and control factor in the process of automatic train driving and controlling

which can reflect the movement state and stability of the train. It is especially important in the stationary control of the heavy-haul train. In this paper

an accurate

fast and much less computations acceleration observation algorithm was proposed

which was suitable for embedded platform with limited computing power and could be applied to practical engineering projects effectively. Firstly

the median average filter algorithm was used to process the data collected by the speed sensor

and then the improved least square piecewise fitting algorithm was used to estimate the acceleration. Compared with the direct calculation of acceleration by definition

the on-line acceleration estimation algorithm has high accuracy and is closer to the real acceleration of the train. The actual data verification of Shenshuo intelligent driving project shows that this method can accurately and quickly calculate the acceleration in the automatic driving vehicle embedded platform.

关键词

自动驾驶重载列车最小二乘法分段拟合加速度

Keywords

automatic train drivingheavy haul trainleast square methodpiece-wise fittingacceleration

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