铁道科学与工程学报2025，Vol.22Issue(4)：1480-1491,12.DOI:10.19713/j.cnki.43-1423/u.T20240914
计及一个单元动力完全缺失的动车组自动驾驶跟踪控制
Automatic driving tracking control of electric multiple unit considering complete power lack of a unit
摘要
Abstract
During the operation of the Electric Multiple Unit(EMU),the traction/braking system plays a vital role.If traction/braking-related equipment in a power unit fails during mid-operation,emergency measures require disconnecting the unit's traction/braking force,resulting in complete power loss of the unit.For the multi-particle model EMU,the system becomes an underactuated system with strong coupling.To solve the problem of EMU's safe operation and precise stopping under the above faults,the Controlled Lagrangians method was considered to be extended to design a tracking controller that can be used to realize EMU with underactuated degree one automatic driving function,so as to achieve the purpose of fault-tolerant control.First,the desired energy and Lagrangian function of the controlled system were constructed according to the control objective,which were used to derive the matching condition and the representation of the explicit matching controller for the equivalence of the EMU system and the controlled system.Second,specific matching controllers for the faulty EMU system were obtained by solving the matching conditions.Then,the controlled energy was directly selected as the Lyapunov function,and the asymptotic stability of the closed-loop system was proved by using the LaSalle invariance principle.Since the desired trajectory of the fault power unit needs to satisfy the desired trajectory matching condition,the use of numerical analysis to obtain the fault unit's desired trajectory is a character of the controller design.Finally,the CR400BF high-speed train was selected as the research object for simulating and analyzing the proposed controller.The simulation results show that the tracking controller based on the Controlled Lagrangians method can indirectly control the fault dynamic unit by coordinating the coupling force between the normal power units of the train,so that each unit can track the expected displacement and velocity stably.The strategy satisfies the demand of precise stopping performance,and is beneficial to maintain the steadiness of the faulty train during the operation and improved passengers'travelling comfort.关键词
多质点模型/动力完全缺失/欠驱动跟踪控制/受控拉格朗日函数法/精准停车Key words
a multi-particle model/complete lack of power/tracking control for underactuation/controlled lagrangians/precise stopping分类
交通运输引用本文复制引用
李茂青,王元,周怀庆,高云波..计及一个单元动力完全缺失的动车组自动驾驶跟踪控制[J].铁道科学与工程学报,2025,22(4):1480-1491,12.基金项目
国家自然科学基金资助项目(52162050,61164010) （52162050,61164010）
