高速列车鲁棒迭代学习速度跟踪控制  

Robust Iterative Learning Control for Speed Tracking of High-speed Trains

作　　者：李中奇 望文铎[1,2] 杨辉 唐博伟 LI Zhongqi;WANG Wenduo;YANG Hui;TANG Bowei(School of Electrical and Automation Engineering,East China Jiaotong University,Nanchang 330013,China;State Key Laboratory of Performance Monitoring and Protecting of Rail Transit Infrastructure,East China Jiaotong University,Nanchang 330013,China)

机构地区：[1]华东交通大学电气与自动化工程学院,江西南昌330013 [2]华东交通大学轨道交通基础设施性能监测与保障国家重点实验室,江西南昌330013

出　　处：《控制工程》2025年第4期614-620,共7页Control Engineering of China

基　　金：国家自然科学基金资助项目(52162048)。

摘　　要：针对高速列车在运行时易受外部扰动的影响和阻力模型难以描述的问题,提出了一种基于鲁棒迭代学习控制的高速列车自动驾驶控制方法。首先,将滑模控制与迭代学习控制相结合,在迭代学习控制律中加入滑模控制的积分滑模面,利用迭代学习控制减小快速时变的非参数化阻力模型对系统的影响,利用滑模控制保证系统快速响应并具有强鲁棒性,从而在使控制器保持较好跟踪性能的同时,有效提高其收敛性能。然后,基于李雅普诺夫稳定性理论,对此控制方法的稳定性进行分析,保证系统的速度跟踪误差可以在有限时间内收敛。最后,基于CRH380A型动车组进行仿真,仿真结果表明,所提控制方法有效减小了未知阻力模型和外部扰动对系统的影响,使列车能够更平稳地运行。To solve the problems that high-speed trains are susceptible to external disturbances and resistance model is difficult to describe,a high-speed train automatic driving control method based on robust iterative learning control is proposed.Firstly,sliding mode control(SMC)is combined with iterative learning control,and the integral sliding mode surface of SMC is added into the iterative learning control law.Iterative learning control is used to reduce the influence of the fast time-varying non-parametric resistance model on the system,and SMC is used to ensure the rapid response and strong robustness of the system,so that the controller can maintain good speed tracking performance,and have improved convergence performance.Then,based on Lyapunov stability theory,the stability of the control method is analyzed,and the speed tracking error of the system is guaranteed to converge in finite time.Finally,the simulation results based on CRH380A motor train unit show that the proposed control method can effectively reduce the influence of unknown resistance model and external disturbances on the system,so that the train can run more smoothly.

关 键 词：高速列车 迭代学习 滑模控制 跟踪控制 非参数化模型 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]