基于观测器的高速列车半主动悬架滑模容错控制

Fault-Tolerant Control of Sliding Mode of Semi-Active Suspension of High-Speed Train Based on Observer

高速列车长期处于高强度、强干扰、长距离的运行环境中,悬架系统出现执行器故障等情况都会影响列车运行过程中的安全。针对此问题,提出了一种基于滑模观测器的滑模容错控制方法。首先,构建了含有执行器故障的高速列车横向动力学模型,设计了滑模观测器,对执行器未知故障值进行实时估计;然后,将故障估计值输入滑模控制器,设计了滑模变结构容错控制器,计算得出列车姿态平稳所需的等效输出阻尼力,以实现包含执行器故障的半主动悬架系统容错控制,并且结合Lyapunov稳定性理论对滑模容错控制器的稳定性进行了分析;最后,通过实验验证了所设计的滑模观测器能够使各变量观测值在0.3 s左右跟踪上实际值,跟踪精度达到90%左右,并且同样验证了所设计的滑模控制器相较于传统PID控制器在悬架发生执行器故障的情况下有更好的鲁棒性。

High-speed trains operate in a high-intensity, strong interference, and long-distance environment for a long time, and many situations such as actuator failure in the suspension system can affect the safety of the train during operation.In order to solve this problem, a sliding mode fault-tolerant control method based on sliding mode observer is proposed.Firstly, a lateral dynamics model of a high-speed train with actuator faults is constructed, and a sliding mode observer is designed to estimate the unknown fault values of actuators in real time.Then, the fault estimation value is input into the sliding mode controller, and the fault-tolerant controller of sliding mode variable structure is designed, and the equivalent output damping force required to stabilize the attitude of the train is calculated to achieve the purpose of fault-tolerant control of the semi-active suspension system including actuator fault, and the stability of the sliding mode fault-tolerant controller is analyzed in combination with the Lyapunov stability theory.Finally, experiment verifies that the designed sliding mode observer can track the actual value of each variable observation value at about 0.3 s and the tracking accuracy reaches about 90%,and it is also verifies that the designed sliding mode controller has better robustness than the traditional PID controller in the case of suspension actuator failure.