考虑执行器性能约束的高速列车容错跟踪控制  

Fault-tolerant tracking control for high-speed trains considering actuator output constraints

作　　者：徐传芳[1] 谷晓琳[2] 王龙达[1] XU Chuanfang;GU Xiaolin;WANG Longda(School of Automation and Electrical Engineering,Dalian Jiaotong University,Dalian 116028,China;School of Computer and Communication Engineering,Dalian Jiaotong University,Dalian 116028,China)

机构地区：[1]大连交通大学自动化与电气工程学院,大连116028 [2]大连交通大学计算机与通信工程学院,大连116028

出　　处：《中国惯性技术学报》2022年第4期545-552,共8页Journal of Chinese Inertial Technology

基　　金：辽宁省教育厅科学研究项目(JDL2020020);辽宁省自然科学基金(20180550835)。

摘　　要：针对高速列车受到执行器故障、输出幅值和变化率饱和等执行器性能约束,模型参数不确定性,以及附加阻力干扰等影响下的跟踪控制问题,设计了一种鲁棒容错跟踪控制算法。首先,基于双曲正切函数构造的辅助系统,构建了高速列车的增广速度跟踪控制模型;其次,为避免控制器中出现虚拟控制信号的一阶导数,采用动态面方法并结合自适应控制技术,设计了高速列车的容错跟踪控制器,基于Lyapunov函数对控制器的稳定性进行了分析;最后,对设计的容错跟踪控制算法进行了仿真验证。仿真结果表明,控制输入及其变化率均满足所设置饱和约束的要求;列车运行中的暂态速度和位移跟踪误差分别在0.016 m/s和0.003 m范围内,从而验证了所设计控制器的良好容错跟踪性能。A robust fault-tolerant tracking control algorithm is proposed to solve the tracking control problem of high-speed trains subject to actuator faults,actuator output magnitude and rate saturations,model parameter uncertainty,and external disturbance.Firstly,an augmented velocity tracking control system model of high-speed train is established based on an auxiliary system constructed by hyperbolic tangent function;Secondly,a fault-tolerant tracking controller for high-speed train is designed,in which the dynamic surface method is combined with adaptive control technology to avoid the first derivative of the virtual control signals,and the stability of the controller is analyzed based on Lyapunov function;Finally,the proposed fault-tolerant tracking control algorithm is verified by simulation.The simulation results show that the control input and its rate always remain within their constrained regions;The transient velocity and position tracking errors during train operation are within the ranges of 0.016 m/s and 0.003 m respectively,hence good fault-tolerant tracking performance of the designed controller is verified.

关 键 词：容错跟踪控制 自适应动态面控制 幅值和变化率饱和 执行器故障 高速列车 

分 类 号：TM351[电气工程—电机]