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Robust non-singular terminal sliding mode control method used for train ATO system

A non-singular terminal, terminal sliding mode technology, applied in the field of robust non-singular terminal sliding mode control

Inactive Publication Date: 2017-12-26
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 non-singular terminal sliding mode control method for train ATO system, solve the tracking control problem for the position and speed of the train ATO system when affected by model uncertainty and external disturbance

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  • Robust non-singular terminal sliding mode control method used for train ATO system

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Embodiment Construction

[0054] 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.

[0055] Such as figure 1 As shown, the robust non-singular terminal sliding mode control method for the train ATO system disclosed by the present invention comprises the following steps:

[0056] 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;

[0057] S2. Define position tracking error, velocity tracking error and acceleration tracking error, and con...

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Abstract

The invention discloses a robust non-singular terminal sliding mode control method used for a train ATO system. The method comprises the following steps of S1, analyzing a train stress condition during vertical motion and establishing a vertical train motion power equation including a unknown parameter, nondeterminacy and an external interference; S2, defining a position tracking error, a speed tracking error and an acceleration tracking error and constructing a non-singular terminal sliding mode surface; S3, designing a control strategy of the non-singular terminal sliding mode surface; and S4, plugging the non-singular terminal sliding mode surface and the control strategy of the non-singular terminal sliding mode surface into the vertical train motion power equation including the unknown parameter, the nondeterminacy and the external interference and acquiring a non-singular terminal sliding mode closed-loop control equation, and using the non-singular terminal sliding mode closed-loop control equation to carry out robust non-singular terminal sliding mode control used for the train ATO system. The method can be applied to the train ATO system so that a tracking error of a position speed of the train ATO system can reach a sliding surface in limited time and is 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 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 fields of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/12
CPCG05B13/04G05D1/12
Inventor 姚秀明董海荣张暖笛
Owner BEIJING JIAOTONG UNIV
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