高速列车精确停车的超扭曲非奇异终端滑模控制方法

Super-twisting Nonsingular Terminal Sliding Mode Control Method for Accurate Stopping of High-speed Trains

为提升高速列车停车精度,考虑不确定性扰动对停车过程的影响,提出一种基于扩张状态观测器的终端滑模控制方法。该方法结合系统模型的输入输出信息,利用观测器估计扰动并反馈至控制器进行补偿,提高系统抗干扰能力的同时,使得控制器的设计不依赖于精准的系统模型。构造非奇异终端滑模面设计控制器中的等效控制部分,实现系统状态跟踪误差在有限时间内收敛至零。为削弱控制转矩抖振,在滑模控制器的切换项部分引入超扭曲算法,实现了系统的平滑控制。通过稳定性分析证明了该控制方法的有限时间收敛性。仿真结果表明,本文方法既增强系统鲁棒性,也极大地提高了列车停车精度。

In order to improve the stopping accuracy of high-speed trains,by considering the influence of uncertain disturbance on the stopping process,this paper proposed a terminal sliding mode control method based on extended state observer.By combining the input and output information of the system model,and using an observer to estimate the disturbance and feed it back to the controller for compensation,this method improved the anti-interference ability of the system while making the design of the controller independent of the accurate system model.When the equivalent control part of the controller was designed by constructing the nonsingular terminal sliding mode surface,the system state tracking error shrank to zero in a finite time.In order to weaken the chattering of control torque,the super-twisting algorithm was introduced into the switching term of sliding mode controller to realize the smooth control of the system.The finite time convergence of the control method was proved by stability analysis.The simulation results show that the proposed method not only enhances the system robustness,but also greatly improves the train stopping。