中低速磁浮列车制动过程的时滞补偿预测控制  

Time-delay compensation predictive control for braking process of medium-low speed maglev train

作　　者：崔俊锋 王长远 王琦 周艳丽 熊光华 杨辉 CUI Junfeng;WANG Changyuan;WANG QI;ZHOU Yanli;XIONG Guanghua;YANG Hui(Beijing National Railway Research&Design Institute of Signal&Communication Co.,Ltd.,Beijing 100070,China;School of Electrical and Automation Engineering,East China Jiaotong University,Nanchang 330013,China)

机构地区：[1]北京全路通信信号研究设计院集团有限公司,北京100070 [2]华东交通大学电气与自动化工程学院,江西南昌330013

出　　处：《铁道科学与工程学报》2024年第2期735-747,共13页Journal of Railway Science and Engineering

基　　金：国家自然科学基金资助项目(U2034211);国家重点研发计划项目(2022YFB4300500);江西省科技专项(20203AEI009)。

摘　　要：中低速磁悬浮列车制动过程中具有非线性强、时滞大、时滞特性难处理等特性,传统列车制动控制方法难以实现对磁浮列车制动过程的精准速度控制。为解决中低速磁悬浮列车制动过程的时滞问题,提高制动控制精度,提出一种中低速磁浮列车制动过程的时滞补偿预测控制方法。首先,根据中低速磁悬浮列车实际运行数据,利用带有遗忘因子的递推最小二乘法辨识列车模型参数,建立列车自回归模型。然后,根据得到的受控自回归积分滑动平均模型和Smith预估器构建带时滞补偿的广义预测控制器并分析其控制律更新过程,实现对中低速磁悬浮列车制动过程的纯滞后补偿,降低列车制动过程中时滞特性的影响。最后,基于某磁浮线现场数据,以中低速磁悬浮列车制动过程为被控对象进行实验仿真,并比较时滞补偿广义预测控制方法与传统广义预测控制方法对于中低速磁悬浮列车制动过程速度跟踪控制的效果。仿真结果表明:所设计的时滞补偿广义预测控制器能够以更高的精度实现对中低速磁悬浮列车制动过程的速度跟踪,且与传统广义预测控制方法相比,系统跟踪误差更小并具有更好的控制性能。所提出的时滞补偿广义预测控制算法不仅解决了中低速磁悬浮列车制动过程的时滞问题,而且有效提高了列车制动控制的精度,验证了该方法的有效性。The braking process of the medium-low speed maglev train has the characteristics of strong nonlinearity,significant time delay and complex time-delay processing.Therefore,achieving accurate speed tracking control with traditional train braking control methods is challenging.To improve braking control accuracy and solve the time-delay problem in the braking process of medium-low speed maglev trains,a timedelay compensation predictive control method for the braking process of medium-low speed maglev trains was proposed.First,the coefficients of the model of the train were identified using the recursive least squares method with forgetting factor based on the field operation data of the medium-low speed maglev trains.This was done to establish the autoregressive model of the maglev train.Then,based on the obtained controlled autoregressive integrated moving average model and Smith predictor,a generalized predictive controller with time-delay compensation was constructed and the updating process of its control law was analyzed,to realize the pure delay compensation for the braking process and reduce the influence of time delay characteristics in the braking process of medium-low speed maglev trains.Finally,with the medium-low speed maglev train braking process as the controlled object,the simulation experiments were conducted to compare the performance of the time-delay compensation generalized predictive control method and the traditional generalized predictive control method on the speed tracking control of medium-low speed maglev train braking process using the maglev-line field data.The simulation results show that the designed time-delay compensation generalized predictive controller in this paper can achieve the speed tracking of medium-low speed maglev train braking process with higher accuracy and has smaller tracking error and better control performance compared with the traditional generalized predictive control method.The proposed time-delay compensation generalized predictive control algorithm not only so

关 键 词：中低速磁悬浮列车 制动过程 时滞补偿 广义预测控制 SMITH预估器 

分 类 号：U125[交通运输工程]