重载组合列车的分布式鲁棒H_∞协同控制方法  

Distributed Robust H_∞ Cooperative Control Method of Heavy Haul Combined Train

作　　者：宁雅丽[1] 王亮军[2] 李国宁[2] 刘雨佳[3] 

机构地区：[1]甘肃广播电视大学理工学院,甘肃兰州730030 [2]兰州交通大学自动化与电气工程学院,甘肃兰州730070 [3]济南铁路局,山东济南266000

出　　处：《自动化仪表》2016年第1期26-29,共4页Process Automation Instrumentation

基　　金：甘肃广播电视大学2014年度科研基金资助项目(编号:2014-ZD-01)

摘　　要：针对重载组合列车在复杂地形路况存在通信延迟、通信短时中断以及扰动的问题,提出了一种重载组合列车多机车间的分布式鲁棒协同控制器。在重载组合列车纵向动力学模型的基础上,结合其实际运行特点,设计了协同控制器。该控制器在满足各子系统期望性能指标的同时,可使所有子系统准确地跟踪期望运行速度。仿真实例表明了所设计控制器的稳定性和鲁棒性。Aiming at the problems of communication delay, communication interruption in short time and disturbances when heavy haul combined trains run under complex topographic road conditions, the distributed robust cooperative controller among multiple locomotives of heavy haul combined train is proposed. On the basis of longitudinal dynamics model of heavy haul combined train, combining with its practical operating features,the cooperative contruller is designed. The expected performance indexes of each subsystem are met by the controller, in addition,all the subsystems may accurately track expected running velocity. The simulation examples demonstrate the stability and robustness of the controller designed.

关 键 词：重载组合列车 分布式协同控制 鲁棒控制 通信延迟 纵向动力学模型 

分 类 号：TH-3[机械工程]