基于控制器匹配的高速列车广义预测控制方法  

Generalized Predictive Control Tuning for High-speed Train Based on Controller Matching Method

作　　者：李中奇 丁俊英 杨辉 刘江[3] LI Zhongqi;DING Junying;YANG Hui;LIU Jiang(School of Electrical and Automation Engineering,East China Jiaotong University,Nanchang 330013,China;School of Electronic and Information Engineering,Beijing Jiaotong University,Beijing 100044,China;Nanyang Railway Train Operation Depot,China Railway Zhengzhou Bureau Group Co.,Ltd.,Nanyang 473000,China)

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]中国铁路郑州局集团有限公司南阳车务段,河南南阳473000 [3]北京交通大学电子信息工程学院,北京100044

出　　处：《铁道学报》2018年第9期82-89,共8页Journal of the China Railway Society

基　　金：国家自然科学基金(51565012,U1334211,61673172,61663013)。

摘　　要：针对普通广义预测控制器在列车控制过程中不能修改控制器参数,以至列车运行中遇到未知干扰时影响控制精度和稳定性。本文采用基于控制器匹配的广义预测控制调优方法,以达到经过调优的GPC与H!输出反馈控制器(最优控制器)具有相同的控制效果,并获取GPC调优参数,实现高速列车速度跟踪运行过程的自动控制。该控制器通过最优控制器控制律的函数获得GPC增益,使GPC与最优控制器匹配;在获得GPC增益的基础上,将目标函数转化为凸优化问题,求得GPC的调优参数;GPC自适应建模参数与H!控制器模型匹配,避免模型参数失配,保证控制器模型的稳定性。仿真实验结果表明GPC和H!控制器能够较好地匹配,且基于控制器匹配的高速列车广义预测控制系统具有较好的速度和位移跟踪性能。Ordinary generalized predictive controller(GPC)can not modify the controller parameters adaptively in the train control process,which affects the control accuracy and stability when the unknown disturbance occurs during the train operation.This paper adopted a generalized predictive control tuning method based on controller matching to modify the GPC parameters,so as to achieve the same control effect between the well-tuned GPC and H∞output feedback controller(optimal controller),which realizes the automatic control of high-speed train.First,the GPC controller gain was obtained through the control law function of the optimal controller to match the GPC with the optimal controller.Then based on the controller gain,the objective function of GPC can be converted to a convex optimization problem to obtain the tuning parameters of the GPC.In addition,the GPC adaptive modeling parameters matched the H∞controller model to avoid the mismatch of model parameters and to ensure the stability of the GPC.The simulation results show that the GPC can match well with the H∞controller and has a good tracking performance in speed and displacement for controlling high-speed train.

关 键 词：高速列车 广义预测控制 控制器匹配 参数调优 速度跟踪 

分 类 号：U284[交通运输工程—交通信息工程及控制]