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Robustness self-adaption nonsingular terminal sliding-mode control method for train ATO system

A non-singular terminal, robust adaptive technology, applied in the field of robust adaptive non-singular terminal sliding mode control, to achieve the effect of eliminating singularity

Inactive Publication Date: 2017-11-24
BEIJING JIAOTONG UNIV
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Problems solved by technology

[0006] The object of the present invention is to provide a kind of robust adaptive non-singular terminal sliding mode control method for train ATO system, to solve the position and speed of train ATO system under the influence of unknown parameters, model uncertainty and external disturbance track control problem

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  • Robustness self-adaption nonsingular terminal sliding-mode control method for train ATO system
  • Robustness self-adaption nonsingular terminal sliding-mode control method for train ATO system
  • Robustness self-adaption nonsingular terminal sliding-mode control method for train ATO system

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[0052] In order to illustrate the present invention more clearly, the present invention will be further described below in conjunction with preferred embodiments and accompanying drawings. Similar parts in the figures are denoted by the same reference numerals. Those skilled in the art should understand that the content specifically described below is illustrative rather than restrictive, and should not limit the protection scope of the present invention.

[0053] Such as figure 1 As shown, the robust adaptive non-singular terminal sliding mode control method for the train ATO system disclosed by the present invention comprises the following steps:

[0054] S1. Analyze the force situation of the longitudinal movement of the train, and establish the dynamic equation of the longitudinal movement of the train including unknown parameters, uncertainties and external disturbances;

[0055] S2. Define position tracking error, velocity tracking error and acceleration tracking error...

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Abstract

The present invention discloses a robustness self-adaption nonsingular terminal sliding-mode control method for a train ATO system. The method comprises: S1, analyzing stress condition of vertical motion of a train, and establishing a train vertical motion power equation comprising unknown parameters, nondeterminacy and external interference; S2, defining position tracking errors, speed tracking errors and acceleration tracking errors, and constructing a nonsingular terminal sliding-mode surface; S3, design self-adaption rules of each unknown parameter estimation value and the control strategy of the nonsingular terminal sliding-mode surface; and S4, putting the nonsingular terminal sliding-mode surface, the self-adaption rules of each unknown parameter estimation value and the control strategy of the nonsingular terminal sliding-mode surface into the train vertical motion power equation, obtaining a nonsingular terminal sliding-mode closed-loop control equation, and performing control through adoption of the nonsingular terminal sliding-mode closed-loop control equation. The tracking errors of the position speed of the train ATO system can arrive the slide surface in a limited time and can be converged to zero in the limited time.

Description

technical field [0001] The invention relates to the technical field of train control. More specifically, it relates to a robust adaptive non-singular terminal sliding mode control method for train ATO systems. Background technique [0002] The modern railway transportation system adheres to the goal of rapid development and meeting the huge demand, so it is very urgent and inevitable to pursue higher train speed. The current automatic train control (ATC) system is mainly composed of the following three subsystems, namely automatic train operation (ATO) system, automatic train protection (ATP) system and automatic train monitoring (ATS) system. Among them, the train ATO system can control all stages of train operation, such as automatic start, acceleration, cruise, brake, precise stop, temporary stop between stations, automatic return, etc. Therefore, the train ATO system plays a vital role in the performance of ATC trains, and has been highly valued by researchers in the f...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02
CPCG05B13/024
Inventor 姚秀明董海荣张暖笛
Owner BEIJING JIAOTONG UNIV
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