高速列车的有限时间容错跟踪控制

Finite-time Fault-tolerant Tracking Control for High-speed Trains

针对执行器效率部分损失情况下高速列车对期望速度曲线的跟踪控制问题,并考虑模型参数时变不确定、附加阻力干扰、执行器输出饱和受限等因素的影响,提出基于自适应非奇异终端滑模控制技术的高速列车有限时间容错跟踪控制策略。采用自适应控制技术实现模型参数标称值与系统集总不确定性上界的在线估计;引入非奇异终端滑模控制技术实现高速列车速度跟踪误差和位移跟踪误差的有限时间收敛。所设计的控制器不依赖于故障检测与诊断设备,不需要模型参数和系统集总不确定性的先验知识,可以有效补偿由附加阻力、执行器故障、输出饱和受限、模型参数时变不确定性引起的系统集总不确定性。基于Lyapunov稳定性理论证明了闭环系统的稳定性,以及速度跟踪误差与位移跟踪误差的有限时间收敛。仿真结果证明了本文所提出控制策略的可行性和有效性。

In view of the velocity tracking control problem for high-speed trains(HSTs)in the presence of partial loss of actuator effectiveness faults,and further considering the influence of time-varying uncertainty of model parameters,external disturbance interference and actuator output saturation,a finite-time fault-tolerant tracking control strategy for HSTs was proposed based on adaptive nonsingular terminal sliding mode(NTSM).The nominal value of model parameters and the upper bounds of the lumped uncertainty were estimated online with the adoption of adaptive technology.The finite-time convergence of velocity tracking error and position tracking error was achieved by the introduction of NTSM technique.The proposed controller did not require fault detection and diagnosis(FDD)module and depended on no prior knowledge of the model parameters and the lumped uncertainty.Besides,it can effectively compensate the lumped uncertainty caused by the external disturbance,actuator faults,actuator output saturation and the time-varying uncertainty of model parameters.The stability of the closed-loop system and the finite-time convergence of the velocity and position tracking errors were proved by Lyapunov stability theory.The simulation results prove the feasibility and effectiveness of the strategy proposed in this paper.