Anti-saturation self-adaptive pseudo-proportion integration differentiation (PID) sliding mode fault-tolerant control method for high-speed train

Abstract

The invention provides an anti-saturation self-adaptive pseudo-proportion integration differentiation (PID) sliding mode fault-tolerant control method for a high-speed train and the method can improvethe effect of tracking a desired track of a high-speed train. The method includes the following steps: establishing a high-speed train dynamic model having an actuator fault, actuator asymmetric nonlinear saturation constraint and integral quadratic disturbance; giving the position and speed of a desired track, and establishing a desired track model; establishing an actuator auxiliary saturationcompensation system; based on the established high-speed train dynamic model, desired track model and actuator auxiliary saturation compensation system, calculating a track tracking error; based on the calculated track tracking error, constructing a pseudo-PID sliding mode surface; and based on the constructed pseudo-PID sliding mode surface, determining self-adaptive control laws, wherein the self-adaptive control laws include: a nominal control law for realizing exponential stability, a compensation control law for suppressing actuator faults and the influence of integral quadratic disturbance, and a self-adaptive law. The invention relates to the technical field of rail transportation control.

Description

technical field [0001] The invention relates to the technical field of rail traffic control, in particular to an anti-saturation adaptive pseudo-PID sliding mode fault-tolerant control method for high-speed trains. Background technique [0002] High-speed trains higher than 200km / h have been widely used because of their rapidity, comfort, convenience, safety, green traffic and economic characteristics. In order to avoid delays in train operation due to human factors and affect the normal operation order of trains, automatic driving of high-speed trains will inevitably become the future development trend of train operation control systems, and the core of automatic driving is to control trains to track expectations automatically and accurately in a safe and reliable manner. track. In order to achieve this goal, many tracking control strategies have emerged, such as adaptive sliding mode control strategy, adaptive iterative learning control strategy, adaptive inversion contro...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide an anti-saturation adaptive pseudo-PID sliding mode fault-tolerant control method for high-speed trains, which does not need to measure the acceleration information of the expected trajectory, and can effectively solve actuator faults, actuator asymmetry and asymmetry. High-speed train trajectory tracking problem under linear saturation constraints and integral quadratic disturbances, so as to improve the effect of high-speed train tracking desired trajectory

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