摘要
实现城市轨道交通(简称:城轨)列车自动驾驶的关键是实现城轨列车运行速度曲线的跟踪控制。文章通过对城轨列车的运行进行受力分析,建立城轨列车单质点动力学模型,并设计了滑模自适应速度跟踪控制器,实现对城轨列车运行速度曲线的跟踪控制。以广州22号线城轨列车数据为研究对象,进行仿真试验,验证了滑模自适应速度跟踪控制器的有效性.
The key to implementing automatic driving of urban rail transit trains is to track and control the speed curve of urban rail train operation.This paper analyzed the forces acting on the operation of urban rail train,established a single-particle dynamic model of urban rail train,and designed a sliding mode adaptive speed tracking controller to implement tracking control of the speed curve of urban rail train operation.The paper also took the data of urban rail train on Guangzhou Line 22 as the research object and conducted simulation experiments to verify the effectiveness of the sliding mode adaptive speed tracking controller.
作者
伍文豪
李润梅
熊刚
WU Wenhao;LI Runmei;XIONG Gang(School of Electronic and Information Engineering,Beijing Jiaotong University,Beijing 100044,China;StateKey Laboratory of Multimodal Artificial Intelligence Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China)
出处
《铁路计算机应用》
2023年第8期94-99,共6页
Railway Computer Application
基金
中国国家铁路集团有限公司科技研究开发计划(L2022X002)。
关键词
城市轨道交通
单质点动力学模型
滑模自适应控制
速度跟踪控制
受力分析
urban rail train
single-particle dynamics model
sliding mode adaptive control
speed tracking control
force analysis
