基于级联干扰观测器的货运列车分布式控制研究  

Research on distributed control of freight train based on cascade disturbance observer

作　　者：程翔 吴家仪 张昌凡[3] 贾林[3] Cheng Xiang;Wu Jiayi;Zhang Changfan;Jia Lin(School of Physical Science and Technology,Central China Normal University,Wuhan 430079,China;School of Artificial Intelligence,Hunan Railway Professional Technology College,Zhuzhou 412000,China;School of Railway Transportation,Hunan University of Technology,Zhuzhou 412007,China)

机构地区：[1]华中师范大学物理科学与技术学院,武汉430079 [2]湖南铁道职业技术学院人工智能学院,株洲412000 [3]湖南工业大学轨道交通学院,株洲412007

出　　处：《电子测量与仪器学报》2024年第9期223-233,共11页Journal of Electronic Measurement and Instrumentation

基　　金：国家自然科学基金(61273137,62303178);湖南省自然科学基金资助项目(2023JJ60232);湖南省教育厅资助科研项目(23B1018,22B0577);湖南铁道职业技术学院科研创新团队建设项目(KYTD202408)资助。

摘　　要：针对货运列车在多源扰动下的跟踪控制问题,提出一种基于级联干扰观测器的固定时间替换滑模控制方法。首先构建了考虑车间作用力的多质点动力学模型,针对匹配与非匹配扰动同时存在的情形,设计了一种级联结构扰动观测器同时估计多源扰动,放宽了传统扰动观测器要求“扰动缓慢变化”的前提条件。基于扰动观测信息,将非匹配扰动下的列车动力学模型转化为匹配模式。最终,提出了一种基于替代滑模法的分布式控制策略。仿真结果表明,所提的级联干扰观测器能够在0.5 s内准确估计多源干扰;相比于传统的列车跟踪控制研究,所提出的控制策略能够在快速处理多源扰动带来的一系列失稳问题,在保障车间作用力稳定的同时,实现了速度-位移双指标鲁棒跟踪控制;相对于传统控制方法系统收敛时间提高5 s以上,体现了较好的实时性与鲁棒性。In response to the tracking control challenges faced by freight trains under multi-source disturbances,this paper proposes a fixed-time replacement sliding mode control method based on a cascaded disturbance observer.Initially,a multi-mass dynamic model that takes into account the inter-vehicular forces is constructed.To address the scenario where both matched and unmatched disturbances coexist,a cascaded structure disturbance observer is designed to estimate multi-source disturbances concurrently,thereby relaxing the traditional prerequisite of disturbance observers that dictates disturbances must vary slowly.Utilizing the disturbance observation data,the train dynamics model under unmatched disturbances is transformed into a matched mode.Ultimately,a distributed control strategy based on the alternative sliding mode approach is put forward.Simulation results demonstrate that the proposed cascaded disturbance observer can accurately estimate multi-source disturbances within 0.5 seconds.Compared with traditional research on train tracking control,the proposed control strategy manages to swiftly handle a series of destabilizing issues caused by multi-source disturbances.While ensuring the stability of inter-vehicular forces,it achieves robust tracking control of both speed and displacement indices.Relative to conventional control methods,the system convergence time is enhanced by more than 5 seconds,reflecting superior real-time performance and robustness.

关 键 词：货运列车 多源干扰 替换滑模 干扰观测器 

分 类 号：U266.2[机械工程—车辆工程] TN98[交通运输工程—载运工具运用工程]