列车速度曲线的精确跟踪是货运列车自动驾驶系统保证稳定性、精确性和安全性的关键。货运列车速度跟踪系统大时滞特性会造成控制精度下降和能耗增加的问题。为解决该问题，研究了牵引制动系统响应时间和指令传输延时特性，构建了列车速度跟踪控制滞后模型。利用差分算子处理列车动力模型中的滞后项，构造最优预见速度跟踪控制器。仿真对比试验表明，基于最优预见控制的货运列车速度跟踪控制器具有响应快、速度误差小、安全性高等特点。

Accurate tracking of train speed curve is the key to stability, accuracy and safety of automatic freight train operation system. The large time delay of freight train speed tracking system leads to the decrease of control accuracy and the increase of energy consumption. To solve this problem, the response time and command transmission delay characteristics of traction braking system are studied, the lag model of train speed tracking control is constructed. The difference operator is used to deal with the lag term in the train dynamic model, the optimal predictive speed tracking controller is constructed. The simulation and comparison experiments show that the freight train speed tracking controller based on optimal predictive control has the characteristics of fast response, small speed error and high safety.

国家自然科学基金项目(61572416)；湖南省自科基金项目（2020JJ6009）