This paper presents an adaptive terminal sliding mode control(ATSMC) method for automatic train operation. The criterion for the design is keeping high-precision tracking with relatively less adjustment of the control...This paper presents an adaptive terminal sliding mode control(ATSMC) method for automatic train operation. The criterion for the design is keeping high-precision tracking with relatively less adjustment of the control input. The ATSMC structure is designed by considering the nonlinear characteristics of the dynamic model and the parametric uncertainties of the train operation in real time. A nonsingular terminal sliding mode control is employed to make the system quickly reach a stable state within a finite time, which makes the control input less adjust to guarantee the riding comfort. An adaptive mechanism is used to estimate controller parameters to get rid of the need of the prior knowledge about the bounds of system uncertainty. Simulations are presented to demonstrate the effectiveness of the proposed controller, which has robust performance to deal with the external disturbance and system parametric uncertainties. Thereby, the system guarantees the train operation to be accurate and comfortable.展开更多
基金supported by National Natural Science Foundation of China and High Speed Railway Union Foundation of China(No.U11344205)
文摘This paper presents an adaptive terminal sliding mode control(ATSMC) method for automatic train operation. The criterion for the design is keeping high-precision tracking with relatively less adjustment of the control input. The ATSMC structure is designed by considering the nonlinear characteristics of the dynamic model and the parametric uncertainties of the train operation in real time. A nonsingular terminal sliding mode control is employed to make the system quickly reach a stable state within a finite time, which makes the control input less adjust to guarantee the riding comfort. An adaptive mechanism is used to estimate controller parameters to get rid of the need of the prior knowledge about the bounds of system uncertainty. Simulations are presented to demonstrate the effectiveness of the proposed controller, which has robust performance to deal with the external disturbance and system parametric uncertainties. Thereby, the system guarantees the train operation to be accurate and comfortable.
文摘针对高速列车速度跟踪控制过程中系统易受内外部扰动的影响,导致控制精度低的问题,设计一种基于分数阶积分滑模的高速列车速度跟踪自抗扰控制(Active Disturbance Rejection Control,ADRC)方案.该方案对ADRC中的线性扩张状态观测器(Linear Extended State Observer,LESO)和非线性误差反馈控制律分别进行改进.首先,在LESO设计中,引入总扰动微分状态变量,提高观测器扰动观测能力;其次,采用分数阶积分滑模控制(Fractional Order Integral Sliding Mode Control,FOISMC)改进非线性误差反馈控制律,削弱滑模控制抖振的同时提高系统跟踪精度;最后,设计复合分数阶积分滑模自抗扰控制方案,以CRH3型列车参数进行期望速度曲线仿真跟踪,验证控制方案的跟踪性能,并将该控制方案与其他传统控制方案进行比较分析.研究结果表明:在相同条件和相同外加扰动作用下,所提控制方案较其他控制方案跟踪精度更高,抗干扰能力更强,速度追踪最大误差为0.00005 m/s.
