Abstract: Embodiments of the present disclosure provide a method and a device for cooperative control of multiple trains. The method includes: S1, establishing a train dynamic model of urban rail transit; S2, modeling a train control system of urban rail transit based on train-to-train communication; S3, constructing, according to the dynamic model and a control system model, an optimized control target which comprehensively considers distance convergence and speed convergence of train formation; and S4, cooperatively controlling, on the basis of an artificial potential field method and Kalman filtering and according to the optimized control target, the multiple trains. The present disclosure is capable of effectively shortening a train headway.

Abstract: Embodiments of the present disclosure provide a method and a device for cooperative control of multiple trains. The method includes: S1, establishing a train dynamic model of urban rail transit; S2, modeling a train control system of urban rail transit based on train-to-train communication; S3, constructing, according to the dynamic model and a control system model, an optimized control target which comprehensively considers distance convergence and speed convergence of train formation; and S4, cooperatively controlling, on the basis of an artificial potential field method and Kalman filtering and according to the optimized control target, the multiple trains. The present disclosure is capable of effectively shortening a train headway.