具有输入时滞特性的列车自适应制动控制

Adaptive braking control for high-speed trains with input time delays

为了提高高速列车的制动控制精度,保障列车的安全平稳运行,针对具有不确定性参数和已知输入时滞的高速列车制动系统,设计高速列车制动系统模型参考自适应制动控制策略。在保证闭环系统所有信号有界的前提下,实现对给定速度曲线的渐近跟踪,从而确保高速列车能够安全可靠运行。通过分析高速列车制动时的动态过程,基于动力学原理建立具有延时环节的高速列车制动系统状态空间模型,采用状态预测的方法对模型中的输入延时进行相应变换。利用模型参考自适应控制的方法善于处理系统不确定性的能力,设计基于状态反馈状态跟踪的直接模型参考自适应控制器,实现列车对给定速度曲线的渐近跟踪。以CRH380AL型高速列车制动系统为被控对象,采集列车从济南—青岛段实际制动过程中的速度数据进行仿真实验。仿真结果表明,所设计的高速列车自适应制动控制器实现了对给定速度曲线的渐近跟踪控制,且跟踪精度较高,验证了该方案的有效性。采用的模型参考自适应控制算法不仅解决了系统参数不确定性和输入时滞问题,而且优化了高速列车的制动性能,改善了列车的瞬态性能,使列车运行时更加平稳,达到了系统的控制目标。

In order to improve the braking control accuracy of high-speed train and ensure the safe and stable operation of high-speed train,the braking system of high-speed train with uncertain parameters and known input time delay was aimed,and a model reference adaptive braking control strategy for high-speed train braking system was designed in this paper.On the premise of ensuring that all signals in the closed-loop system were bounded,the asymptotic tracking of the given speed curve was realized so as to guarantee the safe and reliable operation of the high-speed train.By analyzing the dynamic process of high-speed train braking and based on the principle of dynamics,the state space model of high-speed train braking system with delay link was established.The state prediction method was used to transform the input delay in the model.Then,by using the ability of model reference adaptive control to deal with system uncertainty,a direct model reference adaptive controller based on state feedback state tracking was designed to realize the asymptotic tracking of the train to a given speed curve.With the CRH380AL high-speed train braking system selected as the controlled object,the speed data of the train were collected from the Jinan to Qingdao section in the actual braking process for simulation experiments.The simulation results show that the adaptive braking controller of the high-speed train designed in this paper can asymptotically track the given speed curve,and the tracking accuracy is high,which verifies the effectiveness of the scheme.The model reference adaptive control algorithm adopted in this paper not only solves the problems of system parameter uncertainty and input time delay,but also optimizes the braking performance of the high-speed train and improves the transient performance of the train.The train run more smoothly and the control goal of the system is achieved.