电子测量与仪器学报

程翔,吴家仪,张昌凡,贾林.基于级联干扰观测器的货运列车分布式控制研究[J].电子测量与仪器学报,2024,38(9):223-233

基于级联干扰观测器的货运列车分布式控制研究

Research on distributed control of freight train basedon cascade disturbance observer

DOI：

英文关键词:freight train multi-source disturbance replace sliding mode disturbance observer

基金项目:国家自然科学基金（61273137, 62303178）、湖南省自然科学基金资助项目(2023JJ60232)、湖南省教育厅资助科研项目（23B1018, 22B0577）、湖南铁道职业技术学院科研创新团队建设项目(KYTD202408)资助

作者	单位
程翔	华中师范大学物理科学与技术学院武汉430079
吴家仪	湖南铁道职业技术学院人工智能学院株洲412000
张昌凡	湖南铁道职业技术学院人工智能学院株洲412000
贾林	湖南工业大学轨道交通学院株洲412007

Author	Institution
Cheng Xiang	School of Physical Science and Technology, Central China Normal University, Wuhan 430079，China
Wu Jiayi	School of Artificial Intelligence, Hunan Railway Professional Technology College, Zhuzhou 412000，China
Zhang Changfan	School of Artificial Intelligence, Hunan Railway Professional Technology College, Zhuzhou 412000，China
Jia Lin	School of Railway Transportation, Hunan University of Technology, Zhuzhou 412007，China

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中文摘要:

针对货运列车在多源扰动下的跟踪控制问题，提出一种基于级联干扰观测器的固定时间替换滑模控制方法。首先构建了考虑车间作用力的多质点动力学模型，针对匹配与非匹配扰动同时存在的情形，设计了一种级联结构扰动观测器同时估计多源扰动，放宽了传统扰动观测器要求“扰动缓慢变化”的前提条件。基于扰动观测信息，将非匹配扰动下的列车动力学模型转化为匹配模式。最终，提出了一种基于替代滑模法的分布式控制策略。仿真结果表明，所提的级联干扰观测器能够在0.5 s内准确估计多源干扰；相比于传统的列车跟踪控制研究，所提出的控制策略能够在快速处理多源扰动带来的一系列失稳问题，在保障车间作用力稳定的同时，实现了速度位移双指标鲁棒跟踪控制；相对于传统控制方法系统收敛时间提高5 s以上，体现了较好的实时性与鲁棒性。

英文摘要:

In response to the tracking control challenges faced by freight trains under multi-source disturbances, this paper proposes a fixed time replacement sliding mode control method based on a cascaded disturbance observer. Initially, a multi-mass dynamic model that takes into account the inter-vehicular forces is constructed. To address the scenario where both matched and unmatched disturbances coexist, a cascaded structure disturbance observer is designed to estimate multi-source disturbances concurrently, thereby relaxing the traditional prerequisite of disturbance observers that dictates disturbances must vary slowly. Utilizing the disturbance observation data, the train dynamics model under unmatched disturbances is transformed into a matched mode. Ultimately, a distributed control strategy based on the alternative sliding mode approach is put forward. Simulation results demonstrate that the proposed cascaded disturbance observer can accurately estimate multi-source disturbances within 0.5 seconds. Compared with traditional research on train tracking control, the proposed control strategy manages to swiftly handle a series of destabilizing issues caused by multi source disturbances. While ensuring the stability of inter-vehicular forces, it achieves robust tracking control of both speed and displacement indices. Relative to conventional control methods, the system convergence time is enhanced by more than 5 seconds, reflecting superior real-time performance and robustness.

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