摘要
大风环境下高速列车的运行是一个强耦合、高度非线性过程,且随着风速增大和车速增加,这种特性逐渐增强,因此需要更高要求的自动驾驶系统。基于李亚普诺夫稳定性理论设计高速列车自动驾驶滑模自适应鲁棒控制器,该控制器采用自适应控制实时逼近列车不确定性特征的系统输入系数,采用鲁棒H∞控制将自动驾驶系统中模型误差、大风和其他干扰造成的参数变化等所有不确定量减小到最小范围,同时也消除了系统抖振现象。计算出高速列车需要施加的牵引/制动力,通过滑模控制消除系统安全运行速度跟踪误差,实现不同风速下高速列车对给定安全运行速度的高精度跟踪。仿真结果证明了该方法的有效性。
The operation of high-speed trains under strong wind conditions is a strongly coupled and highly nonlinear process.The characteristic is gradually enhanced with the increase of wind speed and train speed,which effects higher requirements for the automatic train operation(ATO)system.A sliding mode adaptive robust controller for the ATO of high-speed train was designed based on Lyapunov's stability theory.Firstly,the controller using adaptive control approached the input parameter of train uncertainty characteristic system in real time.Then,the robust H∞control was used to reduce all uncertainties of parameter variation caused by model errors,strong wind and other disturbances of the ATO to an acceptant minimum range,and the chattering phenomenon of the system was also eliminated.Secondly,the applied traction/braking force of the high-speed train was calculated,and the sliding mode control was used to eliminate the tracking errors of safe running speed of the system.Finally,for a given safety running speed,the high-speed train can achieve high precision tracking ability under different wind speeds.Simulation results prove the effectiveness of the proposed method.
引文
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