摘要
为研究城轨列车精确停车算法,本文深入分析列车自动停车过程,结合列车牵引计算模型和制动系统模型,提出城轨列车停车控制算法的设计目标,即在避免控制输入切换频繁的前提下实现高精度的速度跟踪效果。应用终端滑模控制原理设计列车停车控制算法,并引入参数自适应机制,增强控制系统的自适应性。引入扰动观测器,进一步增强系统的抗干扰能力。仿真结果表明,基于扰动观测器的自适应终端滑模控制停车算法表现出良好的鲁棒性和自适应性。在系统模型具备参数不确定性和外部扰动的情况下,控制系统都能保证高精度的停车,提高了乘坐的舒适性。
To study precise automatic train stop control algorithm,this paper analyzed the automatic stop process of urban rail transit trains.Combined with the train traction calculation model and the braking system model,the design goal of an automatic train stop control method was proposed,namely to realize high-precision speed tracking performance on the premise of avoiding frequent switching control input.The automatic train stop control method was designed based on the terminal sliding mode control principle.To enhance the adaptability of the control system,the parameter adaptive mechanism was introduced.The disturbance observer was introduced to further enhance the capability of the system against interference.The simulation results showed that the adaptive terminal sliding mode train stop control algorithm based on disturbance observer demonstrated good robustness and adaptability.In the case of the system model with parametric uncertainty and external disturbance,the control system can ensure the high precision of train stop and improve the ride comfort.
出处
《铁道学报》
EI
CAS
CSCD
北大核心
2016年第2期56-63,共8页
Journal of the China Railway Society
基金
国家自然科学基金(51207131)
关键词
列车自动驾驶
自适应终端滑模控制
跟踪控制
精确停车
扰动观测器
automatic train operation
adaptive terminal sliding mode control
tracking control
precise train stop control
disturbance observer
