Second-order sliding mode controller with model reference adaptation for automatic train operation |
| |
Authors: | M Ganesan Jijo Benni |
| |
Institution: | 1. Alstom Digital Mobility Engineering &2. Technology, ALSTOM Transport India Limited, Bangalore, India;3. Department of Instrumentation and Control Engineering, National Institute of Technology, Tiruchirappalli, India |
| |
Abstract: | In this paper, a new approach to model reference based adaptive second-order sliding mode control together with adaptive state feedback is presented to control the longitudinal dynamic motion of a high speed train for automatic train operation with the objective of minimal jerk travel by the passengers. The nonlinear dynamic model for the longitudinal motion of the train comprises of a locomotive and coach subsystems is constructed using multiple point-mass model by considering the forces acting on the vehicle. An adaptation scheme using Lyapunov criterion is derived to tune the controller gains by considering a linear, stable reference model that ensures the stability of the system in closed loop. The effectiveness of the controller tracking performance is tested under uncertain passenger load, coupler-draft gear parameters, propulsion resistance coefficients variations and environmental disturbances due to side wind and wet rail conditions. The results demonstrate improved tracking performance of the proposed control scheme with a least jerk under maximum parameter uncertainties when compared to constant gain second-order sliding mode control. |
| |
Keywords: | High speed train longitudinal dynamic motion adaptive model reference second-order sliding mode controller super twisting control |
|
|