具有输入饱和的机车牵引传动系统自适应跟踪控制  

Adaptive Tracking Control for Locomotive Traction Drive System with Input Saturation

作　　者：刘芳璇[1] 谢程程 LIU Fangxuan;XIE Chengcheng(Xi’an Railway Vocational and Technical Institute,Xi’an 710028,China)

机构地区：[1]西安铁路职业技术学院,陕西西安710028

出　　处：《微型电脑应用》2022年第11期30-34,37,共6页Microcomputer Applications

基　　金：陕西省教育厅2021年度专项科研计划项目(21JK0864);西安铁路职业技术学院2019年度院级课题(XTZY19G09)。

摘　　要：为了研究机车牵引传动系统带载运行时的转速控制精度,考虑电机转子轴和负载轴所受的扰动,建立了牵引传动系统的数学模型;针对系统中存在的时变扰动,依据非线性观测器设计理论构造非线性扰动观测器对其实际值进行估计,并对估计误差进行自适应模糊逼近;结合控制量存在输入饱和的实际工况,引入饱和辅助控制系统;依据Lyapunov稳定性理论,基于微分跟踪器能够任意精度跟踪的优点,构造了基于微分跟踪器的自适应反推控制器。理论分析及仿真结果表明,系统闭环跟踪误差一致有界,扰动观测误差收敛于0。For the speed control precision of traction drive system on electric locomotive under load,a mathematical model of traction drive system is established after considering disturbance of rotor shaft and load shaft generated by wheel rail contact irregularity.A nonlinear disturbance observer(NDO)is designed to estimate the actual value of unknown time-varying interference with the observation error approached by adaptive fuzzy logic system based on nonlinear observer theory.Auxiliary control system is brought in for control variable saturation.According to the Lyapunov stability theory,adaptive back-stepping controller with differential estimator is constructed with the merit of arbitrary accuracy estimation.Theoretical analyses and simulation results demonstrate that the system has uniform tracking error boundness with observation error constricted to zero.

关 键 词：牵引传动系统 非线性观测器 饱和辅助控制 微分跟踪器 自适应反推控制 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]