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城轨列车自动驾驶积分反步线性自抗扰控制
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Integral Back-stepping Linear Active Disturbance Rejection Control for Automatic Operation of Urban Rail Trains
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    摘要:

    针对列车在外部干扰和不确定动态下的速度控制问题,设计了融合积分反步法和线性自抗扰的复合控制方案.首先,考虑列车具有强耦合性,为了更加符合列车真实的纵向动力学特性和受力情况,建立了具有时变系数的多质点模型.其次,为了降低参数调节的难度,跟踪微分器和扩张状态观测器均采用线性形式.跟踪微分器用于求取微分信号,同时具有滤波作用.利用跟踪微分器对虚拟控制量进行求导,正好可解决反步法中存在的“微分爆炸”问题.扩张状态观测器用于实时估计总和扰动.此外,利用积分反步法改进了误差反馈控制律,设计了一种积分反步线性自抗扰控制(IBS-LADRC)算法.最后,证明了观测误差的收敛性及闭环系统稳定性.结合杭州地铁6号线AH型动车组参数和实际线路数据进行仿真,并将IBS-LADRC与反步法、线性自抗扰算法、PID控制进行对比,结果表明:IBS-LADRC方法下各动力单元速度误差均处在±0.04 km/h以内,加速度处在±1 m/s2以内,加速度和速度误差均变化较平稳;车钩力相对其他3类方法最小,变化也最平缓,最大车钩力仅为2 320 N;本文控制策略对列车期望速度具有较高的跟踪精度,有利于保证车钩安全,防止车钩断裂,并提高列车运行的安全性、平稳性及乘客舒适度.

    Abstract:

    Aiming at the speed control problem of the train under external disturbance and uncertain dynamics, a composite control scheme combining integral back-stepping (IBS) method and linear active disturbance rejection control (LADRC) is designed. Firstly, considering the strong coupling of the train, a multi-particle model with time-varying coefficients is established to better conform to the real longitudinal dynamic characteristics and force conditions of the train. Secondly, to reduce the difficulty of parameter adjustment, the tracking differentiator (TD) and the extended state observer (ESO) are in linear form. TD is used to obtain the differential signal and has a filtering effect. The problem of differential explosion in back-stepping method can be solved by using the TD to derive the virtual control quantity. ESO is used to estimate the total disturbance in real-time. In addition, the IBS method is used to improve the error feedback control law, and an integral back-stepping linear active disturbance rejection control (IBS-LADRC) algorithm is designed. Finally, the convergence of the observation error and the stability of the closed-loop system are proved. Combined with the parameters of AH electric multiple units of Hangzhou Metro Line 6 and the actual line data, the simulation comparison is carried out, and the IBS-LADRC is compared with the back-stepping method, LADRC algorithm and PID control.The results show that under the IBS-LADRC method, the velocity error of each power unit is within ±0.04 km/h, the acceleration is within ±1 m/s2, and the acceleration and velocity error change smoothly. The coupler force is the smallest and the change is the most gentle compared with the other three methods, and the maximum coupler force is only 2 320 N. The proposed control strategy has high tracking accuracy for the expected speed of the train, which is conducive to ensuring the safety of the coupler, preventing the coupler from breaking, and improving the safety, stability and passenger comfort of the train operation.

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岳丽丽 ,王一栋 ,肖宝弟 ?,武晓春 .城轨列车自动驾驶积分反步线性自抗扰控制[J].湖南大学学报:自然科学版,2024,(8):78~90

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  • 在线发布日期: 2024-08-26
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