高速动车组制动过程的建模及跟踪控制  

Modeling and Tracking Control for Braking Process of High Speed Electric Multiple Unit

作　　者：李中奇[1] 杨辉[1] 刘明杰[2] 刘杰民[3] 

机构地区：[1]华东交通大学电气与自动化工程学院,江西南昌330013 [2]济南铁路局济南西机务段,山东济南250021 [3]济南铁路局总工程师室,山东济南250001

出　　处：《中国铁道科学》2016年第5期80-86,共7页China Railway Science

基　　金：国家自然科学基金资助项目(51565012;61164013);国家自然科学基金高铁联合基金资助项目(U1334211);江西省自然科学基金资助项目(20151BAB207045)

摘　　要：通过分析动力分散式高速动车组多动力单元制动过程中制动力和速度之间的关系,根据动车组制动过程中的运行数据和制动特性曲线,建立高速动车组制动过程多动力单元的分布式三阶自回归模型;采用多变量广义预测控制方法,实时生成各动力单元所需制动力,实现制动过程中对动车组各动力单元给定速度的跟踪控制。采用MATLAB软件和给出的建模方法以及跟踪控制方法,以CRH380A型高速动车组为例进行跟踪控制仿真。结果表明:由仿真计算得到的动力单元速度与其实际速度的最大正负误差之绝对值均小于2km·h^(-1),均方根误差小于1km·h^(-1),均满足高速动车组运行过程的速度误差要求,验证了所建模型的准确性;高速动车组在制动过程中各动力单元对给定速度跟踪控制的最大绝对误差仅为0.195 8km·h^(-1),大大优于传统的多变量比例积分微分控制方法,满足制动过程中对动车组运行安全、舒适和停靠准确的要求。A third-order distributed autoregressive model for the braking process of high speed EMU with multiple power units was established by analyzing the relationship between the braking force and velocity in the braking process of power-distributed high speed EMU with multiple power units,and based on the operation data during EMU braking process and braking characteristic curve.A multivariable generalized predictive control method was employed to real-time generate the needed braking force for each power unit thus to achieve the tracking control of the given speed during braking process.With MATLAB software and the proposed modeling and tracking control methods,the CRH380 Atype high speed EMU was taken as example for tracking control simulation.Results show that the absolute value of the positive or negative error between the calculated velocity and the actual value is less than 2km·h^（-1） and the root-mean-square error is less than 1km·h^（-1）,both can satisfy the requirements for velocity error during EMU braking process and verify the accuracy of the established model.The maximum absolute error of the tracking control for the given speed of each power unit is 0.195 8km·h^（-1） during EMU braking process,which is far better than the conventional multivariable PID control method and satisfies the requirements for the operation safety,comfort and stopping accuracy during EMU braking process.

关 键 词：高速动车组 动力单元 制动力 速度跟踪 分布式模型 多变量广义预测控制 跟踪控制 

分 类 号：U260.131[机械工程—车辆工程]