电子测量与仪器学报

张友鹏,金煜翔,杨军霞,王东.高速列车分布式 super-twisting 滑模控制研究[J].电子测量与仪器学报,2023,37(11):187-196

高速列车分布式 super-twisting 滑模控制研究

Research on distributed super-twisting sliding mode control of high-speed train

DOI：

中文关键词: 高速列车多智能体分布式控制 super-twisting 滑模控制速度跟踪

英文关键词:high-speed train multi-agent distributed control super-twisting sliding model control speed tracking

基金项目:国家自然科学基金(51967010)、甘肃省优秀博士生项目(23JRRA912)资助

作者	单位
张友鹏	1.兰州交通大学自动化与电气工程学院
金煜翔	1.兰州交通大学自动化与电气工程学院
杨军霞	1.兰州交通大学自动化与电气工程学院
王东	1.兰州交通大学自动化与电气工程学院

Author	Institution
Zhang Youpeng	1.School of Automation and Electrical Engineering, Lanzhou Jiaotong University
Jin Yuxiang	1.School of Automation and Electrical Engineering, Lanzhou Jiaotong University
Yang Junxia	1.School of Automation and Electrical Engineering, Lanzhou Jiaotong University
Wang Dong	1.School of Automation and Electrical Engineering, Lanzhou Jiaotong University

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中文摘要:

针对不确定因素及外界干扰下高速列车分布式协同控制问题,提出基于 super-twisting 滑模一致性算法的高速列车速度跟踪控制策略。首先,考虑列车受到的外部干扰、基本阻力及车厢间耦合作用力,构建高速列车多智能体模型;其次,利用相邻车厢的位移和速度信息设计一致性滑模函数,引入 super-twisting 算法削弱控制输入抖振;最后,设计分布式二阶滑模控制律,并采用 Lyapunov 理论验证算法稳定性。以高速列车实际参数进行仿真研究,并加入外界干扰,利用本文方法、普通一致性、PID 一致性及滑模一致性方法进行仿真。结果表明,相较于其他 3 种方法,所提算法能使车厢单元快速、精准跟踪目标速度曲线,速度误差在(-0. 8~ 1. 1)×10 -3 m/ s 内,同时使相邻车厢距离保持在安全范围内,且控制输入较平滑,对外部干扰有较好的鲁棒性。

英文摘要:

In response to the problem of distributed cooperative control of high-speed trains under uncertain factors and external interference, a high-speed train speed tracking control strategy based on the super-twisting sliding mode consensus algorithm is proposed. Firstly, considering the external interference, basic resistance, and coupling forces between carriages that the train is subjected to, a multi-agent model for high-speed train is established. Secondly, the consistent sliding mode function is designed according to the displacement and speed information of adjacent carriages, and the super-twisting algorithm is introduced to reduce control input chattering. Finally, design a distributed second-order sliding mode control law and use Lyapunov theory to verify the stability of the algorithm. Conduct a simulation study using the actual parameters of a high-speed train and adding external interference, simulation is carried out with the method proposed in this paper, as well as the ordinary consensus, PID consensus, and sliding mode consensus methods. The results show that compared with the other three algorithms, the proposed algorithm can enable the train unit to quickly and accurately track the target speed curve, with a speed error within (-0. 8~ 1. 1)×10 -3 m/ s, while keeping the distance between adjacent train cars within a safe range. Moreover, the control input is relatively smooth, and the algorithm has good robustness against external disturbances.

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