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

A high-speed train, fault-tolerant control technology, applied to controllers with specific characteristics, electric controllers, etc.

Active Publication Date: 2020-01-03
UNIV OF SCI & TECH BEIJING
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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 traject...

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

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[0049] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0050] like figure 1 As shown, the anti-saturation adaptive pseudo-PID sliding mode fault-tolerant control method for high-speed trains provided by the embodiments of the present invention includes:

[0051] S101, establishing a high-speed train dynamic model with actuator faults, actuator asymmetric nonlinear saturation constraints, and integral quadratic disturbances;

[0052] S102, given the position and velocity of the desired trajectory, establishing a desired trajectory model;

[0053] S103, establishing an actuator auxiliary saturation compensation system;

[0054] S104, calculating the trajectory tracking error based on the established dynamic model of the high-speed train, the expected trajectory model, and the actuator saturation compensation...

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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...

Claims

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Application Information

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IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 郭祥贵赵君杰方晓李洪建
Owner UNIV OF SCI & TECH BEIJING
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