西南交通大学学报2026，Vol.61Issue(1)：197-206,242,11.DOI:10.3969/j.issn.0258-2724.20240120
重载列车运行过程的滑模自抗扰控制方法
Sliding Mode Active Disturbance Rejection Control Method for Heavy-Haul Trains During Operation
摘要
Abstract
To resolve the difficulty in controlling heavy-haul trains operating in complex environments caused by insufficient driver experience,a multi-mass dynamic model for multi-locomotive traction was established based on the Locotrol synchronous control principle of the Datong-Qinhuangdao Railway.A controller was designed for the main locomotive,where the total time-varying unknowns,including coupler forces,running resistance,and external disturbances,were regarded as aggregated uncertainties.The acceleration of these uncertainties was further treated as an extended state,enabling real-time estimation and compensation via an extended state observer.Moreover,the fast terminal sliding mode control was introduced to improve the nonlinear error feedback control law in active disturbance rejection control,and an improved adaptive reaching law was employed to refine the dynamic quality of the sliding mode reaching motion.Simulations were conducted on a heavy-haul train with the formation of"1+105+1+105+controllable end"by incorporating actual line data from Datong-Qinhuangdao Railway and expert driver experience,and compared with traditional methods.The simulation results demonstrate that,compared to conventional sliding mode active disturbance rejection control,the proposed method reduces control force chattering in master-slave locomotives by 23.7%,improves tracking accuracy by 19%,and confines tracking errors within±0.7 km/h.关键词
快速终端滑模自抗扰控制/重载列车/速度跟踪/自适应趋近率/大秦线Key words
fast terminal sliding mode active disturbance rejection control/heavy-haul train/speed tracking/adaptive reaching law/Datong-Qinhuangdao Railway分类
交通工程引用本文复制引用
李中奇,余剑烽,周靓..重载列车运行过程的滑模自抗扰控制方法[J].西南交通大学学报,2026,61(1):197-206,242,11.基金项目
国家自然科学基金项目(52162048,61991404,52472342,632363011) （52162048,61991404,52472342,632363011）
