基于有限时间干扰观测器的高速列车非奇异终端滑模协同控制  

Non-singular terminals sliding mode cooperative control of high-speed train based on finite-time disturbance observer

作　　者：张友鹏[1] 王小天 杨军霞[1] 王东 金煜翔 高子轩 ZHANG Youpeng;WANG Xiaotian;YANG Junxia;WANG Dong;JIN Yuxiang;GAO Zixuan(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3期967-978,共12页Journal of Railway Science and Engineering

基　　金：国家自然科学基金资助项目(51967010);甘肃省优秀博士生资助项目(23JRRA912)。

摘　　要：为解决高速列车在运行时存在时变非线性动态、附加阻力、外部干扰及输入饱和情况下多列车协同追踪运行问题,利用非奇异终端滑模控制、有限时间干扰观测器及动态辅助系统设计控制器实现多列高速列车的协同追踪运行控制。首先,建立多列车的多智能体系统模型。其次,采用反正切函数设计一种新型的非奇异终端滑模控制算法;利用有限时间干扰观测器估计系统的附加阻力及复合未知干扰,并将其估计值反馈补偿到控制器的输出,以消除此部分干扰对高速列车运行的影响;针对输入饱和特性,引入动态辅助系统解决输入饱和对列车控制系统的影响;利用lyapunov稳定性理论分别证明控制器与观测器的稳定性。最后,采用matlab软件仿真验证,通过与自适应终端滑模、有限时间干扰观测器终端滑模、有限时间干扰观测器线性滑模3种方法对比,以及在有无输入饱和约束条件下列车追踪运行时的速度、位移误差以及控制力输入对比。研究结果表明:相较于其他3种方法,采用有限时间干扰观测器非奇异终端滑模的方法时列车速度、位移误差更小,且控制力输入也更为平滑。计及输入饱和下,当列车遇到外部干扰时,控制输入均在牵引制动特性约束范围之内,设计动态辅助系统有效解决了输入饱和对列车追踪运行的影响。基于以上分析可知,计及输入饱和下利用所设计的有限时间干扰观测器非奇异终端滑模控制器及动态辅助系统可实现多列车的协同追踪运行。研究结果可为提高线路利用率,实现多列高速列车安全稳定地追踪运行提供参考。To solve the problem of multi-train cooperative tracking operation of high-speed trains in the presence of time-varying nonlinear dynamics,additional drag,external disturbances and input saturation.Using nonsingular terminal sliding mode control,finite-time disturbance observer and dynamic auxiliary system design controllers to realize cooperative tracking operation control of multiple high-speed trains.Firstly,a multi-train multi-intelligent system model was established.Secondly,a new type of non-singular terminal sliding mode control algorithm was designed using arctan function.A finite time disturbance observer was used to estimate the additional resistance and compound unknown disturbances of the system.Its estimated value was compensated to the output of the controller in order to eliminate the influence of this part of the disturbance on the high-speed train operation.For the saturating characteristics of the inputs,a dynamic auxiliary system was introduced to solve the problem of the saturating influence on the train control system.The stability of the controller and the observer were proved respectively by using lyapunov stability theory.Finally,Matlab software simulation was used to verify the stability of the controller and observer by comparing the speed,position error with the adaptive terminal sliding mode,finite-time disturbance observer terminal sliding mode and finite-time disturbance observer linear sliding mode,as well as control force inputs of the train tracking operation with or without the input saturation constraints.The results show that compared with the other three methods,the finite-time disturbance observer non-singular terminal sliding mode method has smaller position and speed errors and smoother control force inputs.Taking into account the input saturation,when the train encounters external disturbances,the control inputs are within the constraints of the traction braking characteristics.The designed dynamic auxiliary system effectively solves the influence of input saturation on tr

关 键 词：有限时间干扰观测器 非奇异终端滑模 输入饱和 多列车 协同运行 

分 类 号：U284.48[交通运输工程—交通信息工程及控制]