基于反步法的弓网系统接触力跟踪控制策略  

Tracking Control Strategy of Contact Force of Pantograph-Catenary System Based on Backstepping Method

作　　者：祁文延 王江文[1] 韩宝峰 梅桂明[1] QI Wen-yan;WANG Jiang-wen;HAN Bao-feng;MEI Gui-ming(State Key Laboratory of Traction Power,Southwest Jiaotong University,Chengdu Sichuan 610031,China;Bao De Li Electrification Equipment Co.Ltd,Baoji Shanxi 721013,China)

机构地区：[1]西南交通大学牵引动力国家重点实验室,四川成都610031 [2]保德利电气设备有限责任公司,陕西宝鸡721013

出　　处：《计算机仿真》2023年第1期200-207,共8页Computer Simulation

基　　金：国家重点研发计划项目(2016YFB1200401-102B)。

摘　　要：针对高速列车实际运行时弓网接触力波动大而影响受流质量的问题,以受电弓理想弓头位移为控制对象,通过弓头位移间接实现对接触力的控制。采用一种非线性状态反馈的控制方法,将弓网系统的线性时变模型转化成级联形式,以反步法作为控制器设计的基本结构,为弓网子系统分步设计控制器。对于系统中不可测状态量,设计一种观测器对其进行重构,并证明了观测误差的全局渐近稳定性。仿真结果表明,所设计的控制器能够使接触力有效的跟踪到目标值,当运行速度为300km/h时,跟踪偏差仅3.01%,验证了该控制策略的优越性。Aiming at the problem that the contact force of the pantograph-catenary system fluctuates greatly during the actual operation of high-speed trains, which affects the quality of the train’s current flow, in the paper the ideal bow displacement of the pantograph-catenary system was taken as the control object, and the contact force was controlled indirectly through the pantograph head displacement. A nonlinear state feedback control method was adopted to transform the linear time-varying model of the pantograph-catenary system into a cascade form, the backstepping method was used as the basic structure of the controller design, and the controller was designed step by step for the pantograph-catenary subsystem. For the unmeasurable state in the system, an observer was designed to reconstruct it, and the global asymptotic stability of the observation error was proved. The simulation results show that the designed controller can effectively track the contact force to the target value. When the running speed is 300km/h, the tracking error is only 3.01%,which verifies the superiority of the control strategy.

关 键 词：反步法 接触力 跟踪控制 受电弓 观测器 

分 类 号：U264.34[机械工程—车辆工程]