摘要
针对具有模型非线性和速度信号不可测的高速列车多质点运动模型,设计了基于高增益观测器的终端滑模多质点列车多入多出的输出反馈跟踪控制器。首先,针对由传感器故障引起的速度不可测问题,采用高增益观测器设计多质点列车模型状态观测器,观测高速列车的运行状态。其次,针对多质点列车的非线性模型,给出包含状态观测器的跟踪误差非奇异快速终端滑模面,设计基于状态观测的终端滑模多质点列车输出反馈跟踪控制器。最后,构造包含观测误差和跟踪误差的Lyapunov备选函数,当干扰上界已知时根据Lyapunov理论证明了系统的闭环稳定性,并由计算机仿真验证所设计状态观测器和跟踪控制器的有效性。
Aiming at the multi-particle motion model of high-speed trains featuring model nonlinearity and unmeasurable speed signals,an output feedback tracking controller with multiple inputs and outputs for multi-particle trains is designed based on terminal sliding mode combined with a high-gain observer.To address the issue of unmeasurable speed caused by sensor failures,a high-gain observer is employed to design a status observer for the multi-particle train model,enabling observation of the operational state of the high-speed train.For the nonlinear model of multi-particle trains,a non-singular fast terminal sliding mode surface for tracking error incorporating the state observer is proposed,and an output feedback tracking controller of the terminal sliding mode for multi-particle trains based on state estimation is developed.By constructing a Lyapunov candidate function including both observation error and tracking error,the closed-loop stability of the system is theoretically proven using Lyapunov theory under the condition of known disturbance upper bounds.Finally,computer simulations verify the effectiveness of the designed state observer and tracking controller.
作者
刘杨
于剑
陈昊东
LIU Yang;YU Jian;CHEN Haodong(School of Automation and Electrical Engineering,Dalian Jiaotong University,Dalian 116028,China)
出处
《大连交通大学学报》
2025年第4期139-146,共8页
Journal of Dalian Jiaotong University
基金
国家自然科学基金项目(62103074)
辽宁省教育厅项目(JYTM20230008)。
关键词
列车跟踪控制
非奇异终端滑模
高增益观测器
非线性控制
train tracking control
non-singular terminal sliding mode
high gain observer
nonlinear control
