城市轨道交通列车分数阶控制算法研究  

Study on urban rail transit train based on fractional order control

作　　者：温淑慧[1] 胡学恒 王铁兴 罗小元[1] WEN Shuhui;HL Xueheng;WANG Tiexing;LLO Xiaoyuan(Key Lab of industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao,Hebei 066004,China;Qinhuangdao Tap Water Co.Ltd.,Qinhuangdao,Hebei 066000,China)

机构地区：[1]燕山大学河北省工业计算机控制工程重点实验室,河北秦皇岛066004 [2]秦皇岛市自来水有限公司,河北秦皇岛066000

出　　处：《燕山大学学报》2018年第4期320-325,共6页Journal of Yanshan University

基　　金：国家自然科学基金资助项目(61773333;61375105)

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 PI^λD^μcontroller,the fractional PI^λD^μATO speed control algorithm is used,the design and Realization of fractional order PI^λD^μcontroller 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 PI^λD^μATO speed control algorithm can meet the basic indicators of train operation much better,thus proving its good robustness and adaptability.

关 键 词：列车自动驾驶系统 分数阶PI^λD^μ控制算法 整数阶PID控制算法 速度控制器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]