作动器故障时摆式电动车组受电弓主动倾摆控制系统的自动容错控制方法

通过分析摆式电动车组受电弓主动倾摆控制系统的结构和工作原理,建立其状态方程和非完全失效故障情况下作动器模型.考虑到倾摆控制系统参数和作动器故障的不确定性,采用基于参考模型的自适应容错控制策略,通过将故障作动器损失的驱动力平均分配给其他无故障的作动器,实现作动器驱动力的重组.以某摆式电动车组的受电弓主动倾摆控制系统作动器发生故障为例,对电动车组以120km·h-1速度通过半径为800m的圆曲线线路时的容错控制进行仿真研究.结果表明;倾摆控制系统能够跟踪给定的参数输出并使状态跟踪误差迅速收敛为0,基于自适应容错控制技术设计的自适应故障补偿控制器能够有效实现部分作动器故障后作动器驱动力的重组,表明给出的自适应容错控制方法完全适用于摆式电动车组受电弓主动倾摆控制系统的不确定性运行环境.

Automatic Fault-Tolerant Control Method for the Active Tilting Control System of Pantograph in Tilting Electric Multiple Unit at Actuator Faults

The state equation and actuator model under partial fault was established through analyzing the structure and the working principle of active tilting control system of pantograph in tilting Electric Multiple Unit(EMU).Considering the uncertainties of tilting control system parameters and actuator faults,adaptive fault-tolerant control strategy based on the reference model was adopted to restructure the driving force of actuator by equally allocating the loss driving force of fault actuator to other normal actuators.An example was given for the active tilting control system of pantograph with actuator faults in certain tilting EMU,and simulation was carried out on fault-tolerant control when EMU running at the speed of 120 km·h-1 through a circular curve with the radius of 800 m.Results show that the tilting control system can track a given parameter output and make state tracking error converge quickly to 0.The restructuring of actuator driving force is effective after partial actuator faults by using an adaptive failure compensation controller based on the technology of adaptive fault-tolerant control,which shows that the proposed adaptive fault-tolerant control method is fully applicable to the uncertain running environment for the active tilting control system of pantograph in tilting EMUs.