基于自适应动态面的高速列车蠕滑速度跟踪控制

Slip Velocity Tracking Control for High-Speed Trains based on Adaptive Dynamic Surface

为实现高速列车黏着控制中对期望蠕滑速度的精确跟踪,提出了一种新的蠕滑速度跟踪控制方法.首先考虑牵引/制动动态建立了列车黏着控制系统动力学模型,并将其描述为一个串级非线性系统;然后采用动态面控制方法,并引入自适应技术估计列车模型参数和系统集总不确定性上界,设计了基于自适应动态面的高速列车蠕滑速度跟踪控制策略.所设计的控制策略仅需要较少的模型参数,不依赖难以精确测量的列车质量、车轮黏滞摩擦系数、列车基本阻力以及轮轨间黏着力.基于Lyapunov稳定性理论证明了闭环系统的稳定性和蠕滑速度跟踪误差的半全局一致最终有界性.数值仿真结果表明该控制方法可行且有效,能够实现对期望蠕滑速度的精确跟踪.

The problem of slip velocity tracking control for high-speed trains is addressed, and a new slip velocity tracking control method is proposed. First, the dynamic model of train adhesion control system is established and is described as a cascade nonlinear system considering the traction/braking dynamics. Then, a slip velocity tracking controller is developed. In the controller, dynamic surface control method is adopted in light of the fact that the train dynamic model is a cascade nonlinear system, and adaptive technology is incorporated into dynamic surface to estimate on-line the unknown model parameters and the upper bounds of the lumped uncertainties. The proposed controller needs less train model information and depends on no knowledge of train mass, wheel viscous friction coefficient, basic resistance and adhesion force. The stability of the closed system and the semi-global uniformly ultimate boundedness of the slip velocity tracking error are analyzed and proved based on Lyapunov’s stability theory. The simulation results illustrate that the control method is feasible and effective and can realize accurate tracking to the desired slip velocity.