基于滑模自适应鲁棒控制的城市轨道交通列车电空制动控制策略研究
赵德生1李德仓2
Research on EP Braking Control Strategy for Urban Rail Transit Train Based on SMARC
ZHAO DeshengLI Decang
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作者信息:1.南京铁道职业技术学院通信信号学院，210031，南京；
2.兰州交通大学机电技术研究所，730070，兰州
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Affiliation:urban rail transit; train; EP braking; SMARC control
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关键词:
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Key words:
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DOI:10.16037/j.1007-869x.2020.07.006
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中图分类号/CLCN:U260.352;TP273+.1
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栏目/Col:研究报告
摘要:
针对城市轨道交通列车电空制动系统控制过程中外界干扰、执行机构时滞、基本阻力不确定等特性造成ATO(列车自动运行)系统速度跟踪及停车不准问题，根据李雅普诺夫稳定性理论提出一种基于SMARC(滑模自适应鲁棒控制)的城市轨道交通列车电空制动控制策略，设计城市轨道交通列车ATO系统基于SMARC的制动控制器。通过鲁棒控制将系统模型中非线性、输入时滞和外界扰动等所有不确定量减小到最小范围，同时也削弱了滑模控制器的抖振现象，增强了控制器的鲁棒性；进一步采用滑模控制减小列车制动过程中速度跟踪误差和减速度误差，从而获得较高的停车精度。仿真结果表明，基于SMARC的制动控制器的控制能完全满足城市轨道交通列车制动要求。
Abstracts:
Considering the problems of inaccurate speed tracking and stop in ATO (automatic train operation) system caused by external disturbance, actuator delay and uncertain basic resistance in the control process of urban rail transit EP (electro pneumatic ) braking system, and according to Liapunov stability theory, a control strategy of electric and pneumatic braking for urban rail transit train based on SMARC (sliding mode adaptive robust control) is proposed, and the SMARC controller is designed for urban rail transit train ATO system. Through robust control, all the uncertainties such as non\|linearity, input delay and external disturbance in the system model are reduced to the minimum range. Meanwhile, the chattering of sliding mode controller is weakened while the robustness of the controller is enhanced. The sliding mode control is further adopted to reduce the speed tracking and decelerating errors in the train braking process, so as to obtain higher stopping accuracy. Simulation results show that SMARC control can fully meet the braking requirements of urban rail transit trains.
引文 / Ref:
赵德生，李德仓.基于滑模自适应鲁棒控制的城市轨道交通列车电空制动控制策略研究[J].城市轨道交通研究，2020，23（7）：30.
ZHAO Desheng，LI Decang.Research on EP Braking Control Strategy for Urban Rail Transit Train Based on SMARC[J].Urban mass transit，2020，23（7）：30.
ZHAO Desheng，LI Decang.Research on EP Braking Control Strategy for Urban Rail Transit Train Based on SMARC[J].Urban mass transit，2020，23（7）：30.
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