强风下高速列车滑膜自适应鲁棒H_∞控制方法
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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.
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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[10]杨艳飞,崔科,吕新军.列车自动驾驶系统的滑模PID组合控制[J].铁道学报,2014,36(6):61-67.YANG Yanfei,CUI Ke,LXinjun.Combined Sliding Mode and PID Control of Automatic Train Operation System[J].Journal of the China Railway Society,2014,36(6):61-67.
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[12]顾桂梅,蒲松芝.基于模糊广义预测控制算法的ATO系统仿真研究[J].城市轨道交通研究,2014,17(1):69-73,94.GU Guimei,PU Songzhi.Simulation of ATO System Based on Fuzzy Generalized Predictive Control Algorithm[J].Urban Mass Transit,2014,17(1):69-73,94.
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[15]段洪君,史小平.基于滑模自适应的飞行器鲁棒姿态控制[J].兵工学报,2009,30(7):1004-1008.DUAN Hongjun,SHI Xiaoping.Robust Attitude Control for Micro Air Vehicle Based on Sliding Adaptive Algorithm[J].Acta Armamentarii,2009,30(7):1004-1008.
[16]陈南翼,张健.高速列车空气阻力试验研究[J].铁道学报,1998,20(5):40-46.CHEN Nanyi,ZHANG Jian.Experimental Investigation on Aerodynamic Drag of High Speed Train[J].Journal of the China Railway Society,1998,20(5):40-46.
[17]田红旗.风环境下的列车空气阻力特性研究[J].中国铁道科学,2008,29(5):108-112.TIAN Hongqi.Study on the Characteristics of Train Air Resistance under Wind Environment[J].China Railway Science,2008,29(5):108-112.
[18]杨婧.侧风下高速列车运行安全性分析[J].机械工程与自动化,2016(5):19-20,24.YANG Jing.Safety Analysis of High-speed Train under Crosswind[J].Mechanical Engineering&Automation,2016(5):19-20,24.
[19]王璐雷,徐宇工,毛军.强侧风对高速列车运行安全性的影响及其控制[J].内燃机车,2004(10):5-8,19.WANG Lulei,XU Yugong,MAO Jun.Influence of Strong Side-wind on the Operation Safety of High-speed Train and Its Control[J].Diesel Locomotives,2004(10):5-8,19.
[20]马淑红,马韫娟,程先东,等.我国高速铁路沿线强风区间的确定方法及风险评估[J].铁道工程学报,2011,28(3):37-45.MA Shuhong,MA Yunjuan,CHENG Xiandong,et al.Determining Method and Risk Assessment of Strong Wind Region along High-speed Railway in China[J].Journal of Railway Engineering Society,2011,28(3):37-45.
[21]LIAN J,ZHAO J.Robust H∞Control of Uncertain Switched Systems:a Sliding Mode Control Design[J].Acta Automatica Sinica,2009,35(7):965-970.
[22]李中奇,杨振村,杨辉,等.高速列车双自适应广义预测控制方法[J].铁道学报,2015,36(6):120-126.LI Zhongqi,YANG Zhencun,YANG Hui,et al.Generalized Predictive Ccontrol with Dual Adaptation Strategy of High Speed Train[J].China Railway Science,2015,36(6):120-126.
[2]于梦阁.基于可靠性的高速列车风致安全研究[D].成都:西南交通大学,2014:1-4.
[3]马淑红,马韫娟.瞬时风速对高速列车安全运行的影响及其控制[J].铁道工程学报,2009(1):11-16.MA Shuhong,MA Yunjuan.Effects of Maximum Instantaneous Wind Velocity on the Safety of High-speed Train and Its Control[J].Journal of Railway Engineering Society,2009(1):11-16.
[4]任尊松,徐宇工,王璐雷,等.强风对高速列车运行安全性影响研究[J].铁道学报,2006,28(6):46-50.REN Zunsong,XU Yugong,WANG Lulei,et al.Study on the Running Safety of High-speed Train under Strong Cross Winds[J].Journal of the China railway Society,2006,28(6):46-50.
[5]董香婷,党向鹏.风障对风作用下列车行车安全影响的数值模拟研究[J].铁道学报,2008,30(5):36-40.DONG Xiangting,DANG Xiangpeng.Study on Influence of Wind Barriers on Traffic Safety of Train under Crosswind by Numerical Simulation[J].Journal of the China railway Society,2008,30(5):36-40.
[6]于梦阁,张继业,张卫华.桥梁上高速列车的强横风运行安全性[J].机械工程学报,2012,48(18):104-111.YU Mengge,ZHANG Jiye,Zhang Weihua.Running Safety of High-speed Train on Bridges under Strong Crosswinds[J].Journal of Mechanical Engineering,2012,48(18):104-111.
[7]田红旗.中国恶劣风环境下铁路安全行车研究进展[J].中南大学学报(自然科学版),2010,41(6):2435-2443.TIAN Hongqi.Research Progress in Railway Safety under Strong Wind Condition in China[J].Journal of Central South University(Science and Technology),2010,41(6):2435-2443.
[8]钱立新.世界高速列车技术的最新进展[J].中国铁道科学,2003,24(4):1-11.QIAN Lixin.Recent Technical Development of High-speed Trains in the World[J].China Railway Science,2003,24(4):1-11.
[9]唐涛,黄良骥.列车自动驾驶系统控制算法综述[J].铁道学报,2003,25(2):98-102.TANG Tao,HUANG Liangji.A Survey of Control Algorithm for Automatic Train Operation[J].Journal of the china Railway Society,2003,25(2):98-102.
[10]杨艳飞,崔科,吕新军.列车自动驾驶系统的滑模PID组合控制[J].铁道学报,2014,36(6):61-67.YANG Yanfei,CUI Ke,LXinjun.Combined Sliding Mode and PID Control of Automatic Train Operation System[J].Journal of the China Railway Society,2014,36(6):61-67.
[11]CUCALA A P,FERNNDEZ A,SICRE C,et al.Fuzzy Optimal Schedule of High-speed Train Operation to Minimize Energy Consumption with Uncertain Delays and Driver’s Behavioral Response[J].Engineering Applications of Artificial Intelligence,2012,25(8):1548-1557.
[12]顾桂梅,蒲松芝.基于模糊广义预测控制算法的ATO系统仿真研究[J].城市轨道交通研究,2014,17(1):69-73,94.GU Guimei,PU Songzhi.Simulation of ATO System Based on Fuzzy Generalized Predictive Control Algorithm[J].Urban Mass Transit,2014,17(1):69-73,94.
[13]FAIEGHI M,JALALI A,MASHHADI S K M.Robust Adaptive Cruise Control of High Speed Trains[J].ISA Transactions,2014,53(2):533-541.
[14]YANG C D,SUN Y P.Mixed H2/H∞Cruise Controller Design for High Speed Train[J].International Journal of Control,2001,74(9):905-920.
[15]段洪君,史小平.基于滑模自适应的飞行器鲁棒姿态控制[J].兵工学报,2009,30(7):1004-1008.DUAN Hongjun,SHI Xiaoping.Robust Attitude Control for Micro Air Vehicle Based on Sliding Adaptive Algorithm[J].Acta Armamentarii,2009,30(7):1004-1008.
[16]陈南翼,张健.高速列车空气阻力试验研究[J].铁道学报,1998,20(5):40-46.CHEN Nanyi,ZHANG Jian.Experimental Investigation on Aerodynamic Drag of High Speed Train[J].Journal of the China Railway Society,1998,20(5):40-46.
[17]田红旗.风环境下的列车空气阻力特性研究[J].中国铁道科学,2008,29(5):108-112.TIAN Hongqi.Study on the Characteristics of Train Air Resistance under Wind Environment[J].China Railway Science,2008,29(5):108-112.
[18]杨婧.侧风下高速列车运行安全性分析[J].机械工程与自动化,2016(5):19-20,24.YANG Jing.Safety Analysis of High-speed Train under Crosswind[J].Mechanical Engineering&Automation,2016(5):19-20,24.
[19]王璐雷,徐宇工,毛军.强侧风对高速列车运行安全性的影响及其控制[J].内燃机车,2004(10):5-8,19.WANG Lulei,XU Yugong,MAO Jun.Influence of Strong Side-wind on the Operation Safety of High-speed Train and Its Control[J].Diesel Locomotives,2004(10):5-8,19.
[20]马淑红,马韫娟,程先东,等.我国高速铁路沿线强风区间的确定方法及风险评估[J].铁道工程学报,2011,28(3):37-45.MA Shuhong,MA Yunjuan,CHENG Xiandong,et al.Determining Method and Risk Assessment of Strong Wind Region along High-speed Railway in China[J].Journal of Railway Engineering Society,2011,28(3):37-45.
[21]LIAN J,ZHAO J.Robust H∞Control of Uncertain Switched Systems:a Sliding Mode Control Design[J].Acta Automatica Sinica,2009,35(7):965-970.
[22]李中奇,杨振村,杨辉,等.高速列车双自适应广义预测控制方法[J].铁道学报,2015,36(6):120-126.LI Zhongqi,YANG Zhencun,YANG Hui,et al.Generalized Predictive Ccontrol with Dual Adaptation Strategy of High Speed Train[J].China Railway Science,2015,36(6):120-126.