铁道科学与工程学报2026，Vol.23Issue(2)：616-630,15.DOI:10.19713/j.cnki.43-1423/u.T20250645
基于扩张状态观测器的虚拟编组列车分布式鲁棒控制
Robust control of virtual coupled trains based on the extended state observer
摘要
Abstract
To address the issues of disturbance uncertainty,spacing constraints,speed constraints,passenger comfort constraints,and controller saturation in high-speed trains under virtual coupling,a distributed robust consensus control algorithm for virtually coupled trains based on an Extended State Observer was proposed.First,the basic resistance,additional resistance,and uncertain resistance were collectively treated as the total disturbance of the train,and a dynamic model of the virtually coupled train was established.The spacing constraints,speed constraints,passenger comfort constraints,and controller saturation constraints were transformed into unit-mass control input constraints.Then,a linear Extended State Observer was designed to estimate and compensate for the total disturbance of the train in real-time,thereby reducing the impact of uncertain disturbances on system performance.A saturation function and an anti-saturation compensator were introduced to ensure that system states and control inputs remain bounded,while maintaining system performance even when the unit-mass control input reaches saturation.In addition,the bounded estimation error was regarded as a bounded disturbance.By using Lyapunov stability theory and H∞ performance analysis,sufficient conditions for system stability were derived in the form of Linear Matrix Inequalities.Finally,based on the CRH380A high-speed train and real line information,simulation experiments were conducted to compare the proposed controller with traditional distributed consensus controllers that either ignore actuator saturation or do not include disturbance compensation.In the simulation,the speed,spacing,and other operational indicators of a four-train formation were evaluated under disturbances and constraints.The results indicate that the proposed controller not only ensures safety,passenger comfort,and system stability during both the formation and operation phases of virtual coupling,but also significantly enhances disturbance rejection capability.关键词
虚拟编组/列车协同控制/扩张状态观测器/状态约束/输入饱和/H∞控制Key words
virtual coupling/train cooperative control/extended state observer/state constraints/input saturation/H∞ control分类
交通工程引用本文复制引用
李柯颖,王小敏,邓红元,田元,陶克武..基于扩张状态观测器的虚拟编组列车分布式鲁棒控制[J].铁道科学与工程学报,2026,23(2):616-630,15.基金项目
四川省科技计划项目(2024ZHCG0001,2025YFHZ0161) （2024ZHCG0001,2025YFHZ0161）
上海轨道交通无人驾驶列控系统工程技术研究中心课题(SUTC-2024KT-02) （SUTC-2024KT-02）
