具有未知时变参数城轨列车的精准停车鲁棒控制

Robust Control for Accurate Stopping of Urban Rail Vehicles with Unknown Time-varying Parameters

列车运行情况复杂多变,使得列车质量、基本运行阻力及线路状况等参数难以精确获得且随着列车运行存在明显的时变特性。列车模型参数的不确定性和时变特性会对列车的精准停车性能产生重要的影响。在动车组多质点动力学模型的基础上,根据Lyapunov再设计方法设计了一种非线性列车鲁棒控制器。该控制器将系统中的不确定性因素视为等价干扰,并设计相应的鲁棒补偿项。根据参数的先验区间,设计的鲁棒补偿项能够抑制模型估计误差,使得列车的位置和速度跟踪误差快速收敛,最终实现精准停车的控制目标;同时,也证明了系统的最终一致有界稳定性。最后,选取城市轨道交通场景进行仿真验证,仿真结果表明:本文提出的控制方法在列车模型参数未知且时变情景下也能实现对期望停车曲线的快速、精确追踪,表现出较强的鲁棒特性。

The complex and changeable train operation conditions cause difficulty in accurately obtaining parameters such as train mass,basic running resistance force and rail conditions.Further,the parameters exhibit obvious time-varying characteristics with train operation.The uncertain and time-varying characteristics of the parameters in the train model will have a significant impact on the accurate stopping performance of trains.Based on the multi-point dynamics model of electric multiple unit(EMU),a nonlinear train robust controller was designed according to the Lyapunov redesign method.The controller treated the uncertainties in the system as equivalent disturbances and designed corresponding robust compensation terms.According to the prior bounds of the parameters,the designed robust compensation term can suppress the model estimation errors,enabling rapid convergence of train position and speed tracking errors,until finally the control goal of accurate stopping is achieved.Meanwhile,the ultimately uniformly bounded stability of the system was also proved.Finally,the urban rail conditions were selected for simulation verification.The results show that the proposed control strategy can achieve fast and accurate tracking of the desired stopping curve even when the parameters of the train model are unknown and time-varying,showing strong robustness.