| 赵凯辉,罗美芸,黄宜山,张昌凡,黄浪尘.基于分布式观测器的高速列车固定时间跟踪控制[J].电子测量与仪器学报,2025,39(7):180-191 |
| 基于分布式观测器的高速列车固定时间跟踪控制 |
| Fixed-time tracking control of high-speed train based on distributed observer |
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| DOI： |
| 中文关键词: 高速列车 多智能体系统 固定时间分布式观测器 固定时间跟踪控制 |
| 英文关键词:high speed train multi-agent systems fixed time distributed observer fixed time tracking control |
| 基金项目:国家自然科学基金（62303178）、湖南省自然科学基金项目（2023JJ50193, 2024JJ7139）资助 |
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| Author | Institution |
| Zhao Kaihui | School of Transportation and Electrical Engineering, Hunan University of Technology, Zhuzhou 412007, China |
| Luo Meiyun | School of Transportation and Electrical Engineering, Hunan University of Technology, Zhuzhou 412007, China |
| Huang Yishan | CRRC Electric Vehicle Co., Ltd., Zhuzhou 412001, China |
| Zhang Changfan | School of Transportation and Electrical Engineering, Hunan University of Technology, Zhuzhou 412007, China |
| Huang Langchen | School of Transportation and Electrical Engineering, Hunan University of Technology, Zhuzhou 412007, China |
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| 中文摘要: |
| 考虑高速列车运行时存在不确定因素及外界干扰等问题，为快速、准确、稳定地跟踪给定目标速度，提出一种基于分布式观测器的固定时间非奇异终端滑模控制策略。首先，根据列车实际运行过程中的受力情况，建立符合其运行规律的多智能体模型。其次，选取终端滑模面，并结合双幂次趋近律，设计领航者车厢的固定时间终端滑模控制器。由于高速列车中部分跟随者车厢与领航者车厢之间不能直接通信，无法获得领航者车厢的位置和速度，因此设计固定时间分布式状态观测器观测领航者车厢的状态信息；同时采用非奇异终端滑模面设计跟随者车厢的固定时间非奇异终端滑模控制器，通过Lyapunov稳定性理论分别证明了所设计的观测器和控制器能在固定时间内稳定。最终，以CRH型列车参数进行仿真，通过与滑模一致性方法进行比较，验证了所提算法能使跟随者车厢快速、精准跟踪目标速度曲线，速度误差在-2×10-6~2×10-6 m/s内，对外部干扰具有强鲁棒性。 |
| 英文摘要: |
| Considering the problems of uncertainties and external disturbances during the operation of high-speed train (HST), a fixed-time non-singular terminal sliding mode control method based on the distributed observer is proposed to track a given target speed quickly, accurately, and stably. First, the multi-agent model of HST is constructed by according to the force situation during the actual operation of the train. Secondly, the terminal sliding mode surface is selected and combined with the double power reaching law to design the fixed-time terminal sliding mode controller for the leader vehicle. Since there is no direct communication between some of the follower vehicles and the leader vehicle in HST, the position and speed of the leader vehicle cannot be obtained. A distributed fixed-time observer is designed to observe the state information of the leader vehicle. While, the non-singular terminal sliding mode surface is used to design the fixed-time non-singular terminal sliding mode controller for the follower vehicles. By Lyapunov stability theory, it proves that the designed observer and controller can be stabilized in a fixed time, respectively. Finally, the simulation is carried out with the parameters of CRH-type trains. under the condition of introducing external disturbances. The method is utilized to compare with the sliding-mode consistency method. The results show that the proposed algorithm can enable the follower vehicles to track the target velocity profile quickly and accurately with the velocity error within -2×10-6~2×10-6 m/s, and with strong robustness compared with the sliding mode consistency method. |
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