基于动态面方法的高速列车蠕滑速度跟踪控制

针对高速列车的主动黏着防滑控制问题,提出基于障碍Lyapunov函数的蠕滑速度动态面跟踪控制算法,可以实现对蠕滑速度的上界约束,同时保障黏着控制系统的稳定性。首先建立考虑牵引与制动转矩产生过程的高速列车动力学模型,并将黏着控制问题描述为含输出约束的非线性系统的跟踪控制问题;然后引入障碍Lyapunov函数处理输出约束问题,设计了自适应动态面控制律,未知参数由自适应律估计得到,未知时变的黏着力和运行阻力由两个力观测器来估算;最后通过Lyapunov方法证明了蠕滑速度跟踪误差半全局一致最终有界,蠕滑速度始终保持在稳定区域内。仿真结果证明了该方法的有效性。

Slip Velocity Tracking Control of High-speed Train Using Dynamic Surface Method

In view of the active adhesion and antiskid control of high-speed train(HST),a dynamic surface control method based on barrier Lyapunov function(BLF)was proposed to design the slip velocity tracking controller with an output upper constraint,to keep the adhesion control system operating within the stable region of adhesion characteristics curve.Firstly,a dynamic model of HST was established considering the traction and braking torque generation dynamics,and the adhesion control was described as the tracking control of the nonlinear system with output constraints.Secondly,two force observers were applied to estimate the unknown and time-varying adhesion force and resistance,and the adaptive dynamic surface control law was designed.In this method,the unknown parameters were estimated by adaptive laws and a BLF was constructed to deal with the problem of constrained antiskid control.Finally,Lyapunov stability analysis of the system was given,which indicated that the proposed method could guarantee the semi-global uniformly ultimate boundedness of the slip velocity tracking error and keep the slip velocity in the stable region all the time.The simulation results prove the effectiveness of the proposed method.