Discrete sliding mode trajectory and speed tracking control method for high-speed train

Abstract

The invention discloses a discrete sliding mode trajectory and speed tracking control method for a high-speed train. The method comprises the following steps: constructing a nonlinear train model of the train, and assigning estimation parameters; with displacement and control input quantities as the input and output data for model optimization, and discretizing and linearizing the nonlinear trainmodel so as to obtain a discrete linear train model with optimized model parameters; designing an extended Kalman filter oriented to the discrete and linearized model to obtain filtered train displacement and an estimated speed; designing a high-speed train trajectory tracking controller by adopting a discrete sliding mode method, and designing an interference observer to estimate model uncertainty and linearized errors so as to improve train tracking precision. According to the invention, train model parameters are estimated by adopting a chaos optimization method, the nonlinear train model is discretized and linearized, and then train displacement and speed estimation is designed by adopting a discrete extended Kalman filtering method, so measurement noise interference of train displacement is relieved, and the problem of speed sensor faults is solved.

Description

technical field [0001] The invention relates to the technical field of rail trains, in particular to a discrete sliding mode track and speed tracking control method for high-speed trains. Background technique [0002] One of the tasks of train automatic driving is whether to achieve high-quality tracking of the target curve under the given expected displacement and speed curve conditions, which directly affects the safety and energy saving of train operation. During the operation of high-speed trains, the environment is complex and changeable. Changes in relative wind speed and wheel-rail creep rate make the parameters of the train dynamics model not fixed, and the noise of the sensor measurement causes the control command to fluctuate greatly. When the train control system adopts computer real-time control, the train control system is also a discrete system. Therefore, it is meaningful to design a trajectory tracking control method for a discrete train motion model with un...

AI Technical Summary

Problems solved by technology

During the operation of high-speed trains, the environment is complex and changeable, the relative wind speed changes and wheel-rail creep rate changes cause the parameters of the train dynamics model to be unstable, and the noise of the sensor measurement causes the control commands to fluctuate greatly

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