具有输入饱和的机车牵引传动系统自适应跟踪控制

Adaptive Tracking Control of Locomotive Traction Drive System with Input Saturation

为研究机车牵引传动系统带载运行时的转速控制精度,考虑电机转子轴和负载轴所受扰动,建立了牵引传动系统的数学模型;针对系统中存在的时变扰动,依据非线性观测器设计理论构造非线性扰动观测器对其实际值进行估计,并对估计误差进行自适应模糊逼近;结合控制量存在输入饱和的实际工况,引入饱和辅助控制系统;依据Lyapunov稳定性理论,基于微分跟踪器能够任意精度跟踪的优点,构造了基于微分跟踪器的自适应反推控制器.理论分析及仿真结果表明,系统闭环跟踪误差一致有界,扰动观测误差收敛于0。

In order to study the speed control accuracy of locomotive traction drive system under load,considering the disturbance of motor rotor shaft and load shaft,a mathematical model of traction drive system is established;Aiming at the time-varying disturbance in the system,a nonlinear disturbance observer is constructed according to the nonlinear observer design theory to estimate its actual value,and the estimation error is approximated by adaptive fuzzy approximation;Combined with the actual working condition that the control quantity has input saturation,the saturation auxiliary control system is introduced;Based on Lyapunov stability theory and the advantage that differential tracker can track with arbitrary accuracy,an adaptive backstepping controller based on differential tracker is constructed Theoretical analysis and simulation results show that the closed-loop tracking error of the system is uniformly bounded,and the disturbance observation error converges to 0.