计及作动器时滞的高速铁路受电弓最优控制

Optimal Control of Pantograph for High-Speed Railway Considering Actuator Time Delay

随着列车运行速度的提高,受电弓与接触网系统之间的耦合振动加剧,导致接触力波动加大,恶化高速列车的受流质量,影响了高速列车的安全稳定运行。受电弓的主动控制能够降低接触力的波动,保证高速列车的稳定受流,但在受电弓主动控制中,存在作动器时滞的问题。针对该问题,提出一种考虑作动器时滞的控制策略来降低接触力的波动。采用鲁棒自适应无迹卡尔曼滤波的估计方法,获取噪声时变环境下的受电弓状态信息;将弓网接触力、受电弓弓头加速度和弓头位移作为测量状态,构建控制性能输出函数;引入估计器,分析作动器时滞问题,设计最优控制器;采用非线性受电弓-接触网模型,验证了控制器的有效性和受电弓参数摄动下的鲁棒性。研究结果表明,即使受电弓存在作动器时滞问题,设计的控制器也能显著降低接触力的波动;并且在受电弓参数摄动的影响下,控制器能够保证良好的鲁棒性。

With the increasing speed of the high-speed train,the coupling vibration between the pantograph and catenary aggravates the fluctuation of the contact force,and deteriorates the current flow quality,which brings challenges to the safety and stability of the high-speed train.The active control of the pantograph can reduce the fluctuation of contact force and ensure the stable current flow of the high-speed train.However,there is the problem of actuator time-delay in the active control.To solve this problem,a control strategy considering actuator time delay was proposed.Based on the robust adaptive unscented Kalman filter,the estimation method was adopted to obtain the state information of pantograph in the time-varying noise environment.The contact force,collector acceleration and collector uplift were used as the measurement states to construct the design control performance output function.Considering the actuator time-delay,the optimal controller combined with the estimator was designed.With the parameter perturbation of the pantograph,the effectiveness and the robustness of the controller were verified by the nonlinear pantograph-catenary system model.The simulation results show that the controller can significantly reduce the fluctuation of the contact force even if the actuator time delay exists.In addition,the controller can guarantee the robustness under the influence of the pantograph parameters perturbation.