基于微分律的机车单元制动器自适应鲁棒控制  

Adaptive Robust Control of Locomotive Unit Brake with Differential Control Law

作　　者：刘芳璇[1] 侯艳[1] 王桂荣 崔晶[1] 张爱民[1] Liu Fangxuan;Hou Yan;Wang Guirong;Cui Jing;Zhang Aimin(College of Power Traction,Xi'an Railway Vocational and Technical Institute,Xi'an 710028,China;College of Mechanical and Electrical Engineering,China Metrology University,Hangzhou 310018,China)

机构地区：[1]西安铁路职业技术学院牵引动力学院,陕西西安710028 [2]中国计量大学机电工程学院,浙江杭州310018

出　　处：《甘肃科学学报》2021年第2期8-13,共6页Journal of Gansu Sciences

基　　金：国家自然科学基金资助项目(51505373,61640314);陕西省教育厅自然科学研究项目(18JK1111);西安铁路职业技术学院2019年度院级科研项目(XTZY19G09)。

摘　　要：针对机车单元制动器制动时闸瓦位置控制中存在的时变扰动等非线性因素,结合Lyapunov稳定性理论,构造基于super-twisting观测器和微分控制律的自适应鲁棒控制器,并对其应用效果进行研究。设计super-twisting观测器对轮瓦间因挤压产生的时变扰动进行估计并对估计误差自适应模糊逼近以削弱时变扰动;引入微分控制律并通过求解微分方程确定控制器中的鲁棒项。理论分析及仿真结果表明,系统各状态变量闭环输出有界,跟踪误差及滑模面导数一致有界并收敛于0,滑模面常值收敛。系统输出能够快速、稳定且精确跟踪输入,并对外部时变扰动具有较强的鲁棒性。Adaptive robust controller based on super-twisting observer(STO)and differential control law(DCL)is constructed combined with Lyapunov stability theory and nonlinear factors such as time-varying disturbance existed in position control system of brake shoe in unit brake on electric locomotive.STO is designed to estimate the actual value of time-varying interference triggered by extrusion between wheel and brake shoe,and observe error approached by adaptive fuzzy logic system to weaken time-varying perturbation.DCL is brought in the controller of which the robust term obtained by solving differential equations.Theoretical analyses and simulation results demonstrate that the system state variables have closed-loop bounded output with tracking error and sliding surface derivative boasting of uniform bound and convergence to 0 while sliding surface to a constant value.Output value of the position control system could swiftly,steadily and accurately tracking to the input value,and is robust to time-varying destabilization.

关 键 词：机车单元制动器 super-twisting观测器 自适应模糊逼近 微分控制律 自适应鲁棒控制 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]