基于Smith预估器的模糊PID调车自动驾驶系统速度控制研究  

Research on Speed Control of Fuzzy PID Shunting ATO System Based on Smith Predictor

作　　者：王浩然 王兴有 盛玉 尚涛 WANG Haoran;WANG Xingyou;SHENG Yu;SHANG Tao(Beijing Huatie Information Technology Co.,Ltd.,China Academy of Railway Sciences Corporation Limited,Beijing 100081,China;Rolling Stock Branch,CHN Energy Shuozhou-Huanghua Railway Development Co.,Ltd.,Suning Hebei 062356,China;Communication&Signaling Department,China Railway Xi’an Group Co.,Ltd.,Xi’an Shaanxi 710054,China)

机构地区：[1]中国铁道科学研究院集团有限公司北京华铁信息技术有限公司,北京100081 [2]国能朔黄铁路发展有限责任公司机辆分公司,河北肃宁062356 [3]中国铁路西安局集团有限公司电务部,陕西西安710054

出　　处：《中国铁路》2024年第2期93-100,共8页China Railway

基　　金：国家能源投资集团有限责任公司科技创新项目(GJNY-20-107);中国铁道科学研究院集团有限公司科研开发基金项目(2021YJ021)。

摘　　要：针对铁路站场调车作业的复杂性,研发基于调车的自动驾驶系统可降低劳动强度并提高车站作业效率,而速度控制策略是系统的重点和难点。根据调车牵引控制系统和制动控制系统特性,建立传递函数模型,并对模型参数的不稳定因素进行分析;利用Smith预估方法处理时滞系统的优势,结合模糊PID算法,设计基于Smith预估器的模糊PID控制器(简称新型控制器);通过模拟模型参数不稳定,分别使用阶跃响应曲线和司机实操速度曲线进行仿真,对比传统的PID控制器、模糊PID控制器与新型控制器的控制效果。结果表明:新型控制器适应能力更强,速度跟踪效果和停车精度都更高。To address the complexities of shunting operations in railway stations and yards,the research and development of a shunting-based automatic train operation(ATO)system can help effectively reduce labor intensity and enhance the efficiency of station operations.The speed control strategy represents a key and difficult aspect of the system.A transfer function model is developed and unstable factors within the model parameters are analyzed according to the characteristics of the shunting traction control system and braking control system.Utilizing the advantages of Smith prediction in handling time-delay systems and incorporating a fuzzy PID algorithm,a fuzzy PID controller based on the Smith predictor(referred to as the“new controller”)is designed.Through the simulation of instability of model parameters,step response curves and the driver’s practical operation speed curves are used for the simulation to compare the control effects of the conventional PID controller,the fuzzy PID controller,and the new controller.The results indicate that the new controller exhibits superior adaptability and provides better speed tracking performance and stop precision.

关 键 词：调车ATO系统 SMITH预估器 模糊控制 PID 速度控制 

分 类 号：U283.1[交通运输工程—交通信息工程及控制]