高速列车主动悬架滑模容错控制器设计  

Design of sliding mode fault-tolerant controller for active suspension of high-speed train

作　　者：李德仓 彭伟尧 胥如迅 陈晓强 孟建军[1,2,3] LI Decang;PENG Weiyao;XU Ruxun;CHEN Xiaoqiang;MENG Jianjun(Mechatronics T&R Institute,Lanzhou Jiaotong University,Lanzhou 730070,China;Gansu Provincial Engineering Technology Center for Informatization of Logistics&Transport Equipment,Lanzhou 730070,China;Gansu Provincial Industry Technology Center of Logistics&Transport Equipment,Lanzhou 730070,China)

机构地区：[1]兰州交通大学机电技术研究所,兰州730070 [2]甘肃省物流及运输装备信息化工程技术研究中心,兰州730070 [3]甘肃省物流与运输装备行业技术中心,兰州730070

出　　处：《现代制造工程》2022年第9期40-47,共8页Modern Manufacturing Engineering

基　　金：国家自然科学基金项目(72061021,62063013);甘肃省科技计划项目(21JR7RA284,20JR10RA251);兰州交通大学校青年基金资助项目(20210018)。

摘　　要：针对高速列车主动悬架作动器随机故障对列车运行安全性和控制稳定性的重要影响问题,提出一种高速列车主动悬架滑模容错控制器设计方法。首先,建立两自由度高速列车1/4车横向主动悬架模型,利用故障调节因子表示作动器随机故障的大小,搭建故障悬架模型;其次,采用中国高速铁路无砟轨道不平顺谱作为高速列车主动悬架的外部激励源,融合经典滑模控制理论设计了比例-积分型滑模面函数和合适的滑模容错控制律,以达到故障悬架系统容错控制目的;然后,基于Lyapunov稳定性理论,对控制器稳定性进行分析;最后,采用Matlab/Simulink软件在不同条件下进行仿真,验证了所设计控制器的有效性和适用性。To resolve the significant impact problem of driving safety and control stability casused by the stochastic failure of high-speed train active suspension system actuator,a sliding mode fault-tolerant controller design method was proposed for high-speed train active suspension system.Firstly,a two-degree-of-freedom lateral active suspension model of 1/4 car of high-speed train was established.The fault adjustment factor was used to represent the random fault size of the actuator,then the failure suspension model was built.Secondly,the ballastless track irregularity spectrum of China high-speed Railway was used as the external excitation source for the active suspension of high-speed train.Based on the classical sliding mode control theory,the proportional integral sliding mode surface function and the appropriate sliding mode fault-tolerant control law were designed to achieve the fault-tolerant control of the fault suspension system.Thirdly,the stability analysis of the controller was carried out by Lyapunov stability theory.Finally,Matlab/Simulink software was used for simulation to verify the effectiveness and applicability of the designed controller under different conditions.

关 键 词：高速列车 主动悬架 作动器故障 滑模容错控制 LYAPUNOV稳定性 

分 类 号：U284.48[交通运输工程—交通信息工程及控制] TP391.9[交通运输工程—道路与铁道工程]