自动控制文献翻译——摘要

随着科技在铁路工业中的大力发展，无人驾驶技术已经被纳入铁路运输作业中。因此新的铁路安全运输理念需得到考验，在本文中我们提出了一个动车组运行的仿真系统发展战略，以支持今后铁路系统的研发工作。为达到这个目的，我们设计一个基于计算机的火车、车站、线路和铁路运营系统仿真模型，分别根据铁路已有的各自的作用。模拟结果将实时地显示在三个42寸的等离子显示器面板和头戴式显示运动跟踪装置系统的大屏幕上。当仿真开始，根据列车性能分析的结果使车一列接一列的行驶。这种交互式虚拟运行环境为特殊功能纳入本研究中，显示出杰出的优势，因为通过真实的模拟环境更容易理解一些物理现象。

关键词：铁路运营；动车组；调度集中；自动防护系统

1 引言

铁路营运是受火车、铁路、车站和电力供应设施等基础设施的影响。由于新技术的开发，在铁路行业中，铁路系统的性能一直在不断增加，但维修和运行费用也有所增加。因此，必须找到解决均衡使用基础设施的办法来提高铁路系统运作的灵活性。基于调度集中系统(CTC)的铁路运营能够在未来几十年内提高生产力，并在其领域上不断扩大。最近，无人自动驾驶运作的概念已经在轻轨系统营运。许多研究人员提出的先进的列车控制概念在实际应用之前他们已在实验室得到证实，但仍可能有缺陷的算法。因此，有必要制定一个虚拟环境来模拟现实的铁路营运系统。像其他行业的可视化技术发展一样，由于现在的虚拟现实技术在铁路行业已经显示出许多优点。所以，我们期待先进的技术落实在发展的列车运行环境及运营成本的降低上。

2 动车组运行模拟模型

该模型显示了典型的铁路限速线上的列车运行模式，铁路限速值通过计算梯度或半径曲线得到，您可以轻松地找到某列列车运行的相关参数。

总的来说，调度集中是只有得到调度中心授权的命令时某列车才能行驶、时间表才可得到变化，列车的管理涉及移动列车由调度员办理授权调度命令。自动列车控制系统由列车自动防护系统(ATP)和列车自动驾驶系统(ATO)组成，列车自动防护系统(ATP)为所有运行在某线路上的乘客和作业人员，及线路上的基础设备的意外提供保护。因此动车组列车运时为防护范围内的所有作业提供安全运行保护。

2.1 铁路运行许可

虚拟列车是由每列得到CTC许可的运行列车和通过CTC控制的ATP协议组成，在本文中，运行许可被定义为一个独立自主的活动对象，我们称之为一个被动的对象。

模拟列车：供电、滑行或制动等列车的基本性能操作都能被仿真，列车的限速信息通过线路传输信息和ATP的传输信息交互所得，模拟列车必须符合相同数量的调度列车。

模拟CTC：模拟列车的调度根据运行和驻留车站的时间及列车运行效率而控制。

模拟ATP：模拟ATP不断将列车实际速度和最高允许速度对比，同时要考虑车速限值传到模拟计算机为防止与另外列车相撞。它将计算限制速度传输到相应的模拟计算机。

模拟车站：模拟车站依据停留时间从模拟CTC获取控制进站及出站的列车信息。

2.2 动车组运行模拟模型

四种不同的列车模拟方式以列车运行和停止时间的仿真为主，模拟ATP伴随列车的运行，在模拟ATP的显示器上有时间、位置和速度，并能设置限速，以防止碰撞。模拟运行列车之间车站的限速取决于地形，包括曲线和梯度.......

Abstract

Owing to the technology development in railway industry, driverless automated operation systems have been incorporated in railway operation. Therefore new control concepts are needed to prove the safety of railway operation. In this paper, we suggested a development strategy of a multi-train operation simulator to support R&D works for future railway system. For this purpose, we designed computer-based simulation models of train, station, rail and railway operation system as an agent, respectively, based on their functions. the simulation results were displayed on wide screen constructed with three 42 plasma display panels and a head mounted- display device with motion tracking system, in real time. When a simulation began, trains were dispatched and driven on given railway one by one following the train performance analysis results. The interactive operation in virtual environment, which is the special feature incorporated in this study, shows distinguished advantages because it makes easier understand of physical phenomenon by giving realistic simulation environment.

Key words: Railway operation, Multi-train, CTC, ATP

1 Introduction

Railway operation is restricted by the infrastructure of railway system such as train, railway, station and power supply facilities et al. Owing to the new technology development in railway industry, the performance of train system has been continuously increased, but the maintenance and operation costs are also increased. Therefore it is necessary to find methods for well-balanced usage of infrastructures to increase operation flexibility of railway system. Railway operation based on the centralized traffic control (CTC) system has been adopted to increase productivity in decades and its territory is continuously expanded. Recently, driverless automated operation concepts have been adopted in the light railway system. Many researchers have proposed advanced train control concepts and they were verified in laboratory before applied to practical applications, but there are still chances of defects in algorithms. Therefore it is necessary to develop an emulated environment to simulate the physical railway operation system realistically. Virtual reality technology in railway industry has been shown many advantages like other industries owing to the realistic visualization capability constructed. Therefore we expect to implement the technology on the development of a train operation environment at relatively low cost.

2 Multi-train operation simulation model

It shows the typical train running following by the speed limits on railway. The speed limits on railway are calculated from the gradient or radius of curve on railway. You can easily find the details about single train running in references.

Generally, the CTC schedules individual train movements and a train is only moved when its move is authorized by a movement order from the CTC. Train management involves moving trains by designated authorization issued by dispatchers. An automatic train control system may be comprised of an automatic train protection (ATP) and an automatic train operation (ATO) system. The ATP provides protection for passengers, personnel and equipment from accidents based on the physical location of all trains running in same track. Therefore multi-train operation follows the ATO controls as basic operations within the safe operation limits imposed by the ATP.

2.1 Agents for railway operation

Train objects are constructed from the CTC agent every headway and the CTC agent passes the control of the train object to the ATP agent. In this paper, an ‘agent’ is defined as an autonomous active object and we call a passive object as the ‘object’. 

Train agent: In train agent, powering, coasting or braking......