铁道科学与工程学报2025，Vol.22Issue(3)：967-978,12.DOI:10.19713/j.cnki.43-1423/u.T20240860
基于有限时间干扰观测器的高速列车非奇异终端滑模协同控制
Non-singular terminals sliding mode cooperative control of high-speed train based on finite-time disturbance observer
摘要
Abstract
To solve the problem of multi-train cooperative tracking operation of high-speed trains in the presence of time-varying nonlinear dynamics,additional drag,external disturbances and input saturation.Using non-singular terminal sliding mode control,finite-time disturbance observer and dynamic auxiliary system design controllers to realize cooperative tracking operation control of multiple high-speed trains.Firstly,a multi-train multi-intelligent system model was established.Secondly,a new type of non-singular terminal sliding mode control algorithm was designed using arctan function.A finite time disturbance observer was used to estimate the additional resistance and compound unknown disturbances of the system.Its estimated value was compensated to the output of the controller in order to eliminate the influence of this part of the disturbance on the high-speed train operation.For the saturating characteristics of the inputs,a dynamic auxiliary system was introduced to solve the problem of the saturating influence on the train control system.The stability of the controller and the observer were proved respectively by using lyapunov stability theory.Finally,Matlab software simulation was used to verify the stability of the controller and observer by comparing the speed,position error with the adaptive terminal sliding mode,finite-time disturbance observer terminal sliding mode and finite-time disturbance observer linear sliding mode,as well as control force inputs of the train tracking operation with or without the input saturation constraints.The results show that compared with the other three methods,the finite-time disturbance observer non-singular terminal sliding mode method has smaller position and speed errors and smoother control force inputs.Taking into account the input saturation,when the train encounters external disturbances,the control inputs are within the constraints of the traction braking characteristics.The designed dynamic auxiliary system effectively solves the influence of input saturation on train tracking operation.Based on the above analysis,it can be seen that the designed non-singular terminal sliding mode controller with finite time disturbance observer and the dynamic auxiliary system can be used to realize the cooperative tracking operation of multi-trains under input saturation.The results can provide a reference for improving the line utilization rate and realizing the safe and stable tracking operation of multiple high-speed trains.关键词
有限时间干扰观测器/非奇异终端滑模/输入饱和/多列车/协同运行Key words
finite-time disturbance observer/non-singular terminal sliding mode/input saturation/multi-train/cooperative operation分类
交通运输引用本文复制引用
张友鹏,王小天,杨军霞,王东,金煜翔,高子轩..基于有限时间干扰观测器的高速列车非奇异终端滑模协同控制[J].铁道科学与工程学报,2025,22(3):967-978,12.基金项目
国家自然科学基金资助项目(51967010) （51967010）
甘肃省优秀博士生资助项目(23JRRA912) （23JRRA912）
