铁道标准设计2016，Vol.60Issue(7)：144-149,6.DOI:10.13238/j.issn.1004-2954.2016.07.033
基于扩张状态观测器的列车轨迹跟踪控制及其在CMC环境的测试
Train Trajectory Tracking Control Based on Extended State Observer and Its Simulation Test in CMC Environment
摘要
Abstract
In the process of train operation, it is difficult to obtain the expression and the coefficient of the resistance due to the complex and uncertain external environment. Therefore, the accurate estimation of the external resistance is the key factor to the accuracy of the tracking. Thus, a novel train trajectory tracking control algorithm based on the extended state observer is designed, which extends all kinds of resistances to a new state variable for precise estimation. The genetic algorithm is applied to optimize the parameters of the extended state observer. Finally, test is conducted in home-made hardware environment of CMC chip. The test results show that the control strategy based on the extended state observer has better tracking performance than that of the existing PID algorithm. It is concluded that the proposed control algorithm can achieve accurate position tracking and velocity tracking with strong anti-interference ability.关键词
列车自动控制/列车轨迹跟踪/扩张状态观测器/CMC芯片Key words
Automatic train operation/Train trajectory tracking/Extended state observer/CMC chip分类
交通工程引用本文复制引用
郭亮,侯晓伟,蔡虎..基于扩张状态观测器的列车轨迹跟踪控制及其在CMC环境的测试[J].铁道标准设计,2016,60(7):144-149,6.基金项目
国家863计划项目(2012AA041701-3)。 （2012AA041701-3）
