基于多质点模型的动车组精准停车自适应控制  

Adaptive control of electric multiple unit for accurate stopping based on multi-mass model

作　　者：李茂青[1] 王以庆 高云波[1] 阳长琼 LI Mao-qing;WANG Yi-qing;GAO Yun-bo;YANG Chang-qiong(Department of Automation and Electrical Engineering,Lanzhou Jiaotong University,Lanzhou Gansu 730070,China;Key Laboratory of Electro-optical Technology and Intelligent Control Education Department,Lanzhou Jiaotong University,Lanzhou Gansu 730070,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]兰州交通大学光电技术与智能控制教育部重点实验室,甘肃兰州730070

出　　处：《控制理论与应用》2022年第8期1579-1586,共8页Control Theory & Applications

基　　金：国家自然科学基金地区项目(61661027)资助.

摘　　要：精准停车是列车自动驾驶系统的关键技术之一,有助于提高乘客上下车效率,降低列车停站晚点风险.本文针对动车组精准停车问题,建立动车组多质点非线性动力学模型,处理各节车厢因随机且未知的乘车人数分配不同的制动力.在此模型的基础上,利用动车组运行过程中的状态偏差,设计自适应控制器.针对模型动态非线性和参数的未知性,设计参数的估计律,对参数值进行实时估计.根据输入–输出稳定性理论,通过构建含参数估计误差的Lyapunov函数,证明自适应控制算法的渐近稳定性.仿真结果表明:基于动车组多质点模型,参数自适应控制器分配不同的控制输入给复合控制单元进行协调制动.该控制方法在实现动车组平稳运行的同时,使得停车误差在±5 cm以内.As the key technology of the automatic train operation(ATO) system, accurate stopping is helpful for improving the efficiency of boarding or alighting and reducing the risk of train delaying. Aiming at realizing accurate stopping of electric multiple unit(EMU), we established a multi-mass nonlinear dynamics model of EMU to deal with the different braking force due to stochastic and uncertain distribution of passengers along carriages. Further, a parameter adaptive controller was designed by utilizing the state deviation during the EMU operation. The estimation law of parameters was devised to tackle its uncertainty and multi-mass model’s dynamic nonlinearity in real time. According to the input-output stability theory, the asymptotic stability of the control algorithm was proved through constructing the Lyapunov function with respect to the error of parameter estimation. The simulation results show that parameter adaptive controller is able to effectively allocate different inputs to composite control units for coordinated braking based on multi-mass model of EMU.Under the premise of guaranteeing the smooth operation of EMU, the proposed method has controlled the stopping error range within ± 5 cm.

关 键 词：精准停车 多质点模型 动车组 参数自适应控制 输入–输出稳定性 

分 类 号：U266[机械工程—车辆工程]