基于预设非奇异终端滑模控制的高速列车速度控制研究  

Speed control of high-speed train based on preset nonsingular terminal sliding mode control

作　　者：侯涛[1] 魏建鹏 牛宏侠 HOU Tao;WEI Jianpeng;NIU Hongxia(School of Automation and Electrical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China)

机构地区：[1]兰州交通大学自动化与电气工程学院,甘肃兰州730070

出　　处：《铁道科学与工程学报》2025年第1期38-50,共13页Journal of Railway Science and Engineering

基　　金：甘肃省重点研发计划资助项目(23YFGA0049);甘肃省自然科学基金资助项目(22JR5RA358)。

摘　　要：针对高速列车自动驾驶过程中容易受到外部不确定扰动以及速度控制精度低的问题,以预设性能控制理论和非奇异终端滑模控制理论为基础,提出一种基于扩张状态观测器-预设性能非奇异终端滑模控制的高速列车自动驾驶的速度控制方法。首先,设计扩张状态观测器对高速列车运行过程中所受的内部和外部的未知干扰进行估计和补偿;然后,通过采用预设性能函数把系统跟踪误差转换为一个变化误差,并控制变化误差在一定的范围,间接保证了系统跟踪误差始终在预先设定的范围内;其次,设计非奇异终端滑模面和高速列车自动驾驶系统速度控制律,并利用Lyapunov稳定性理论证明系统误差可以在有限时间内收敛于平衡点;最后,结合CRH3型列车参数和郑西高铁中西安北站—渭南北站段(950.620~1010.970km)实际线路数据,分别在没有干扰和有白噪声干扰的情况下对设计的控制系统进行仿真验证。仿真结果表明:基于扩张状态观测器-预设性能非奇异终端滑模控制的高速列车控制方法对速度和位移的跟踪精度较自抗扰的控制方法和非奇异终端滑模的控制方法有显著的提高,且对列车受到的干扰能够精确地估计和补偿,实现了对列车的运行期望曲线的高精度跟踪。该研究可以提高高速列车速度控制系统的鲁棒性和控制精度,为高速列车提供一种新的速度控制技术方案。Aiming at the problem that high-speed trains are susceptible to the external uncertain disturbances and low accuracy of speed control in automatic train operation,a speed control method for automatic train operation based on expanded state observer-preset performance non-singular terminal sliding mode control was proposed based on the theory of preset performance control and the theory of non-singular terminal sliding mode control.Firstly,the expanded state observer was designed to estimate and compensate for the unknown internal and external disturbances during the operation of high-speed trains.Secondly,the system tracking error was converted into a variation error by adopting a preset performance function and the variation error was controlled in a certain range,which indirectly ensured that the system tracking error was always within the preset range.Thirdly,the non-singular terminal sliding-mode surface and the speed control law of the automatic train operation system were designed.The control method of the automatic train operation system was based on the theory of the non-singular terminal sliding-mode control,driving system control law,and using Lyapunov stability theory to prove that the system error can converge to the equilibrium point in a limited time.Finally,combined with the parameters of the CRH3 train and the actual line data of Xi’an North Railway Station-Weinan North Railway Station section of Zhengzhou-Xi’an High-speed Railway(950.620~1010.970 km),simulation verification was carried out for the designed control system in the case of no interference and white noise interference.The simulation results show that the high-speed train control method based on the expanded state observer-preset performance non-singular terminal sliding mode control has significantly improved the tracking accuracy of speed and displacement compared with that of the self-resistant control method and the non-singular terminal sliding mode control method.It can accurately estimate and compensate for the disturbances

关 键 词：自动驾驶 预设性能控制 非奇异终端滑模控制 高速列车 扩张状态观测器 

分 类 号：U284.48[交通运输工程—交通信息工程及控制]