铁道科学与工程学报2025，Vol.22Issue(10)：4354-4365,12.DOI:10.19713/j.cnki.43-1423/u.T20250005
时滞执行器故障下高速列车无模型自适应预测协同控制
Model free adaptive predictive cooperative control of high-speed trains with time delay and actuator fault
摘要
Abstract
To improve the operating efficiency of high-speed railway and promote the upgrading of the high-speed train control systems,a model-free adaptive predictive fault tolerant cooperative control(MFAPFTCC)method was proposed for cooperative tracking operation of multiple high-speed trains under both time delay and actuator fault.By ensuring that all signals of the closed-loop are bounded,the proposed MFAPFTCC can achieve the tracking of the respective desired speed trajectories and the maintaining of the operating distances between adjacent trains,such that the operating efficiency of the trains can be improved meanwhile the safe and reliable operation is guaranteed.For time delays and actuator faults of complex and unknown high-speed trains,an equivalent dynamic data predictive model was developed by utilizing dynamic linearization technology.A Smith predictor was introduced to convert the system output that contains time delay into the actual system output as well as the product of the differential of the actual system output and time delay;meanwhile,a tracking differentiator was exploited to obtain the differential information of system output,such that the prediction of the future output at a certain moment under the influence of time delay can be achieved.Based on the output tracking error between adjacent trains together with the estimation and prediction of parameters in the constructed equivalent dynamic data model,online adaptive estimation and prediction of actuator fault information was realized which effectively reduced the adverse effects faults on high-speed train operation systems.In order to validate the effectiveness of the proposed MFAPFTCC method,a group of four high-speed trains were used as the control object to carry out the simulation.Simulation results show that the proposed MFAPFTCC method achieves high-performance tracking of the desired trajectory and maintains safe operation distance between adjacent trains,moreover,the tracking accuracy is improved by 69.79%and 84.44%against the other two compared algorithms,respectively.The proposed method effectively solves the problems of time delay and actuator fault in practical complex high-speed train operation and improves control accuracy and stability simultaneously.关键词
无模型自适应控制/预测控制/协同控制/时滞/执行器故障Key words
model free adaptive control/predictive control/cooperative control/time-delay/actuator fault分类
交通工程引用本文复制引用
余琼霞,吴帅帅,孙俊杰,侯忠生..时滞执行器故障下高速列车无模型自适应预测协同控制[J].铁道科学与工程学报,2025,22(10):4354-4365,12.基金项目
国家自然科学基金资助项目(62003133,62373206) （62003133,62373206）
河南理工大学杰出青年科学基金资助项目(J2023-5) （J2023-5）
