基于改进模糊滑模控制的列车速度跟踪研究  

Research on Train Speed Tracking Based on Improved Fuzzy Sliding Mode Control

作　　者：康庄 贾利民[1,2,3] 秦勇 KANG Zhuang;JIA Limin;QIN Yong(School of Traffic and Transportation,Beijing Jiaotong University,Beijing 100044,China;State Key Laboratory of Advanced Rail Autonomous Operation,Beijing Jiaotong University,Beijing 100044,China;Collaborative Innovation Center of Railway Traffic Safety,Beijing Jiaotong University,Beijing 100044,China)

机构地区：[1]北京交通大学交通运输学院,北京100044 [2]北京交通大学先进轨道交通自主运行全国重点实验室,北京100044 [3]北京交通大学轨道交通安全协同创新中心,北京100044

出　　处：《铁道学报》2024年第4期97-107,共11页Journal of the China Railway Society

基　　金：中央高校基本科研业务费(2022JBXT009)。

摘　　要：列车运行过程具有强耦合、非线性等特征,且往往存在较大且不可观测的外界干扰,这些特性加大了列车运行控制的难度,针对列车运行速度跟踪控制问题,提出一种新的模糊滑模控制器设计方法。首先基于模糊滑模控制,引入全局快速终端滑模控制,使系统在有限时间内达到稳态;然后构造以李亚普洛夫函数导数的绝对值为补偿的自适应干扰估计项,对外界干扰进行准确估计,进而提出一种双层递阶指数趋近全局快速终端模糊滑模控制器,并且引入指数趋近率来调节滑模面的动态品质,该控制器能快速收敛到稳定状态,且有效地消除了控制器的抖振情况;最后通过仿真算例验证了所提方法的有效性,且提高了列车运行控制系统性能。The train operation process is characterized by strong coupling,nonlinearity,and frequent large and unobservable external disturbances,which cause difficulty in train operation control.A new fuzzy sliding mode controller design method was proposed for the train operation speed tracking control problem.Firstly,based on fuzzy sliding mode control,a global fast terminal sliding mode control was introduced to make the system reach a steady state in a finite time.Then an adaptive disturbance estimation term compensated by the absolute value of the derivative of the Lyapunov function was constructed to make an accurate estimation of external disturbances.A double-layer hierarchical and exponential reaching law global fast terminal fuzzy sliding mode controller was proposed.By introducing the exponential reaching law to regulate the dynamic quality of the sliding mode surface,the controller can quickly converge to a stable state and effectively eliminate the jitter of the controller.Finally,the effectiveness of the proposed method was verified by simulation cases,which improves the train control system performance.

关 键 词：列车速度跟踪 滑模控制 模糊系统 全局快速终端滑模控制 指数趋近率 外界干扰 

分 类 号：U283.1[交通运输工程—交通信息工程及控制]