铁道科学与工程学报2025，Vol.22Issue(1)：38-50,13.DOI:10.19713/j.cnki.43-1423/u.T20240483
基于预设非奇异终端滑模控制的高速列车速度控制研究
Speed control of high-speed train based on preset nonsingular terminal sliding mode control
摘要
Abstract
Aiming at the problem that high-speed trains are susceptible to the external uncertain disturbances and low accuracy of speed control in automatic train operation,a speed control method for automatic train operation based on expanded state observer-preset performance non-singular terminal sliding mode control was proposed based on the theory of preset performance control and the theory of non-singular terminal sliding mode control.Firstly,the expanded state observer was designed to estimate and compensate for the unknown internal and external disturbances during the operation of high-speed trains.Secondly,the system tracking error was converted into a variation error by adopting a preset performance function and the variation error was controlled in a certain range,which indirectly ensured that the system tracking error was always within the preset range.Thirdly,the non-singular terminal sliding-mode surface and the speed control law of the automatic train operation system were designed.The control method of the automatic train operation system was based on the theory of the non-singular terminal sliding-mode control,driving system control law,and using Lyapunov stability theory to prove that the system error can converge to the equilibrium point in a limited time.Finally,combined with the parameters of the CRH3 train and the actual line data of Xi'an North Railway Station-Weinan North Railway Station section of Zhengzhou-Xi'an High-speed Railway(950.620～1 010.970 km),simulation verification was carried out for the designed control system in the case of no interference and white noise interference.The simulation results show that the high-speed train control method based on the expanded state observer-preset performance non-singular terminal sliding mode control has significantly improved the tracking accuracy of speed and displacement compared with that of the self-resistant control method and the non-singular terminal sliding mode control method.It can accurately estimate and compensate for the disturbances of the train,and realize the high-precision tracking of the train's running expectation curve.Therefore,the research results can improve the robustness and control accuracy of the speed control system of high-speed train and provide a new speed control technology solution for high-speed train.关键词
自动驾驶/预设性能控制/非奇异终端滑模控制/高速列车/扩张状态观测器Key words
automatic train operation/preset performance control/nonsingular terminal sliding mode control/high-speed train/expansion state observer分类
交通工程引用本文复制引用
侯涛,魏建鹏,牛宏侠..基于预设非奇异终端滑模控制的高速列车速度控制研究[J].铁道科学与工程学报,2025,22(1):38-50,13.基金项目
甘肃省重点研发计划资助项目(23YFGA0049) （23YFGA0049）
甘肃省自然科学基金资助项目(22JR5RA358) （22JR5RA358）
