Virtual coupling systems are important for improving the safety and efficiency of heavy-haul trains by coordinating the velocities of heavy-haul trains. However, the set point change of reference velocity leads to unsafe train operation. To address this issue, in this paper, a cooperative reference velocity regulation control method is proposed for virtual coupling systems of heavy-haul trains, which can smoothly adjust the train velocity during the operation process. Firstly, the heavy-haul trains are characterized by a cyber-physical model, where the physical layer models the longitudinal dy...
