基于自抗扰控制的高速列车自动驾驶速度控制  

Automatic Operation Speed Control of High-speed Train Based on ADRC

作　　者：连文博 刘伯鸿[1] 李婉婉 刘宪庆 高锋阳[1] 李茂青[1] LIAN Wenbo;LIU Bohong;LI Wanwan;LIU Xianqing;GAO Fengyang;LI Maoqing(School of Automation and Electrical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China;School of Mechano-Electronic Engineering,Xidian University,Xi’an 710071,China)

机构地区：[1]兰州交通大学自动化与电气工程学院,甘肃兰州730070 [2]西安电子科技大学机电工程学院,陕西西安710071

出　　处：《铁道学报》2020年第1期76-81,共6页Journal of the China Railway Society

基　　金：国家自然科学基金(73007003-51-5);国家重点研发计划(2017YFB1201003-20)

摘　　要：针对高速列车在复杂环境运行时,传统PID控制器受未建模动态及外界未知干扰导致列车速度追踪误差大的问题,提出一种基于自抗扰控制ADRC(Active Disturbance Rejection Control)的高速列车速度控制算法。基于单质点模型建立列车的状态空间方程,令列车方程中的未知部分作为扩张状态设计二阶自抗扰控制器,并利用CRH380A型列车参数进行仿真,对指定的目标速度曲线进行追踪,证明基于自抗扰控制算法的可行性;同时设置干扰量,与传统PD控制、非线性PID控制算法在抗干扰性能和追踪误差等方面作比较。结果表明,基于自抗扰控制的高速列车速度控制器具有抗干扰性强、追踪误差小的优点。When the high-speed train is running in complex environment,the traditional PID controller is affected by unmodeled dynamics and unknown external disturbances,which leads to train model mismatch and large speed tracking error.A speed control algorithm for high-speed train based on Active Disturbance Rejection Control(ADRC)was proposed to improve it.The state space equation of the train was established based on the single particle model.The unknown part of the equation was transformed into the extended state to design a second-order ADRC.The target speed curve was tracked by the simulation of CRH380A train parameters,which proved the feasibility of the ADRC algorithm.At the same time,the specific disturbance value was set up to compare with the traditional PD control and non-linear PID control algorithm in anti-disturbance performance and tracking error.The results show that the speed controller of high-speed train based on ADRC has the advantages of strong anti-disturbance and small tracking error.

关 键 词：高速列车 自抗扰控制 速度追踪 自动驾驶 

分 类 号：U284.48[交通运输工程—交通信息工程及控制]