铁道科学与工程学报2025，Vol.22Issue(10)：4412-4423,12.DOI:10.19713/j.cnki.43-1423/u.T20242032
虚拟编组下基于扩张状态观测器的城轨列车多车协同自适应滑模控制
Multi-train coordination adaptive sliding mode control for urban rail trains based on extended state observer under virtual grouping
摘要
Abstract
In order to solve the problem of degradation of train tracking accuracy and stability caused by external uncertainty interference in the process of coordinated tracking operation control of multiple trains in urban railways under virtual grouping,an adaptive non-singular terminal sliding mode control method based on an extended state observer was proposed.First,a multi-train tracking dynamics model was constructed based on single-train dynamics analysis.Second,the gain of the sliding mode convergence law was dynamically adjusted by adaptive control,and an adaptive non-singular terminal sliding mode controller was designed to weaken the control force output jitter and ensure that the train control system error converges in a finite time.The expansion state observer was introduced into the sliding mode controller to achieve real-time estimation and compensation of external disturbances,and to improve the dynamic response and steady-state performance of the multi-train control system.The proposed control method was proved to converge to the vicinity of the origin in finite time by Lyapunov stability theory.Finally,the superiority of the proposed control method was verified by experimental comparison with the non-singular terminal sliding mode control with dilated state observer,the traditional sliding mode control with dilated state observer,and the tangential non-singular terminal sliding mode control with dilated state observer in the Matlab/Simulink simulation platform.The results show that,compared with the better performance of the expanded state observer arctangent non-singular terminal sliding mode control,the adaptive non-singular terminal sliding mode control based on expanded state observer reduces the velocity error Eits by 12.08%,the displacement error Eita by 35.03%,and the control force output Viaf by 8.87%.It indicates that the proposed control method improves the tracking and disturbance resistance of the control system,and reduces the accuracy and disturbance immunity of the control system.It shows that the proposed control method improves the tracking accuracy and anti-disturbance ability of the control system,and ensures more stable control force output while weakening the jitter.The research method can satisfy the demand of high real-time and high-precision cooperative tracking operation of urban rail virtual grouping,and the results provide a reference for the cooperative control and safe dynamic operation of multiple trains under urban rail virtual grouping.关键词
城市轨道交通/虚拟编组/多列车协同/扩张状态观测器/滑模控制Key words
urban rail transit/virtual coupling/multi-train coordination/extended state observer/sliding mode control分类
交通工程引用本文复制引用
左静,严龙刚,杨乔礼,文洮..虚拟编组下基于扩张状态观测器的城轨列车多车协同自适应滑模控制[J].铁道科学与工程学报,2025,22(10):4412-4423,12.基金项目
国家自然科学基金资助项目(52262045,72171106) （52262045,72171106）
甘肃省重点研发计划资助项目(23YFGA0045) （23YFGA0045）
