城市轨道交通列车分数阶控制算法研究
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摘要
实现全自动驾驶是城市轨道交通列车未来的发展方向,速度控制算法作为列车自动驾驶系统(Automatic Train Operation,ATO)的核心,对于列车的控制性能具有重要的影响。本文使用了分数阶PIλDμATO速度控制算法,采用Tustin直接离散化作为分数阶PIλDμ控制器的数值离散化方法,完成了分数阶PIλDμ控制器的设计与实现,并将该控制器应用于列车自动运行系统中。仿真研究表明,与传统的整数阶PID控制算法相比较,分数阶PIλDμATO速度控制算法能很好地满足列车运行的基本指标,从而验证了其较好的鲁棒性和适应性。
The realization of fully automatic driving is the future development direction of urban rail transit train. As the core of Automatic Train Operation( ATO),speed control algorithm has important influence on the control performance of train. By using Tustin as a direct discretization of numerical discretization methods of fractional PIλDμcontroller,the fractional PIλDμATO speed control algorithm is used,the design and Realization of fractional order PIλDμcontroller are completed and the controller is applied to automatic train operation system. Simulation results show that compared with the traditional integer order PID control algorithm,the fractional order PIλDμATO speed control algorithm can meet the basic indicators of train operation much better,thus proving its good robustness and adaptability.
The realization of fully automatic driving is the future development direction of urban rail transit train. As the core of Automatic Train Operation( ATO),speed control algorithm has important influence on the control performance of train. By using Tustin as a direct discretization of numerical discretization methods of fractional PIλDμcontroller,the fractional PIλDμATO speed control algorithm is used,the design and Realization of fractional order PIλDμcontroller are completed and the controller is applied to automatic train operation system. Simulation results show that compared with the traditional integer order PID control algorithm,the fractional order PIλDμATO speed control algorithm can meet the basic indicators of train operation much better,thus proving its good robustness and adaptability.
引文
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[14]杜庆萱.电力机车自动调节系统的分析与计算[J].西南交通大学学报,1977,10(2):111-118.DU Q X.Analysis and calculation of automatic adjustment system for electric locomotive[J].Journal of Southwest Jiaotong University,1977,10(2):111-118.
[15]LEE Chinghung,CHANG Fhkai.Factional-order PID controller optimizationvia improved electromagnetism like algorithm[J].Expert Systems with Applications,2010,37(12):8871-8878.
[2]邵华平,贾利民,覃征.基于计算机技术的一体化列车运行智能控制系统[J].中国铁道科学,2004,25(1):56-61.SHAO H P,JIA L M,QIN Z.Integrated train operation intelligent control system based on computer technology[J].China Railway Science,2004,25(1):56-61.
[3]刘晓娟,张雁鹏,汤自安.城市轨道交通智能控制[M].北京:中国铁道出版社,2008:4-11,13-22.LIU X J,ZHANG Y P,TANG Z.Intelligent control of urban rail transit[M].Beijing:China Railway Publishing House,2008:4-11,13-22.
[4]吴振宇,赵亮,冯林.基于分数阶PID控制器的智能车控制[J].控制工程,2011,18(3):401-404.WU Z Y,ZHAO L,FENG L.Control of intelligent vehicle based on fractional PID[J].Control Engineering of China,2011,18(3):401-404.
[5]OSHIMA H,YASHUNBOU S,SEJINO S.Automatic train operation system based onpredictive fuzzy control[C]//Artificial Intelligence for Industrial Applications.Proceedings of the International Workshop,Hitachi City:IEEE,1988:485-489.
[6]董海荣,高冰,宁滨,等.基于模糊PID软切换控制的列车自动驾驶系统调速制动[J].控制与决策,2010,25(5):794-796.DONG H R,GAO B,NING B,et al.Fuzzy-PID soft switching speed control of automatic control system[J].Control and Decision,2010,25(5):794-796.
[7]邵华平,贾利民,覃征.基于计算机技术的一体化列车运行智能控制系统[J].中国铁道科学,2004,25(1):56-61.SHAO H P,JIA L N,QIN Z.Integrated train operation intelligent control systembased on computer technology[J].China Railway Science,2004,25(1):56-61.
[8]黄良骥,唐涛.地铁列车自动驾驶系统分析与设计[J].北方交通大学学报,2002,26(3):36-39.HUANG L J,TANG T.System analysis and design of automatic train on metro[J].Journal of Beijing Jiaotong University,2002,26(3):36-39.
[9]LI H,LUO Y,CHEN Y Q.A fractional order proportional and derivative(FOPD)motion controller:tuning rule and experiments[J].IEEE Transactions on Control Systems Technology,2010,18(2):516-520.
[10]高建龙.分数阶PID控制器在伺服系统中的应用及实现[D].南京:南京理工大学,2013:33-47.GAO J L.Application and the realization of fractional order PID controller in the servo system[D].Nanjing:Nanjing University of Science and Technology,2013:33-47.
[11]DELAVARI H,GHADERI R,RANJBAR N A,et al.Adaptive fractional PID controller for robot manipulator[C]//FDA Workshops.The 4th IFAC Workshop on Fractional Differentiation and Its Applications.Badajoz:IFAC,2010:1-7.
[12]YANG C D,SUN Y P.Mixed h2/h-infinity cruise controller design for high speed trains[J].International Journal of Control,2001,74(9):905-920.
[13]陈志旺,张健,赵子铮,等.分数阶时滞统一混沌系统反馈控制器设计及稳定性分析[J].燕山大学学报,2017,41(2):156-163.CHEN Z W,ZHANG J,ZHAO Z Z,et al.Feedback controller design of fractional order unified chaotic system with time delay and its stability analysis[J].Journal of Yan Shan University,2017,41(2):156-163.
[14]杜庆萱.电力机车自动调节系统的分析与计算[J].西南交通大学学报,1977,10(2):111-118.DU Q X.Analysis and calculation of automatic adjustment system for electric locomotive[J].Journal of Southwest Jiaotong University,1977,10(2):111-118.
[15]LEE Chinghung,CHANG Fhkai.Factional-order PID controller optimizationvia improved electromagnetism like algorithm[J].Expert Systems with Applications,2010,37(12):8871-8878.