Train Velocity Tracking Based On Adaptive Sliding Mode And Its Semi-Physical Simulation

Urban Rail Transit have advantages of large passenger capacity, safety, comfort, convenience, energy saving and environmental protection. The rational use of urban rail transit is an effective measure to reduce the pressure on urban traffic. Train operation control system is the nerve center of urban rail transit and it is the key to ensure the train operating stably, reliably and safely. So a more complete control system need be designed. Due to the complexity of the train operation environment, time-varying parameters, and the nonlinear disturbance, the traditional train operation control algorithm can’t meet the requirement of the control, so it is significant to study the anti-jamming nonlinear control algorithm. Since the train control system has high security requirements, the design of semi-physical simulation platform can not only realize the testing of hardware and software of security computer and the control algorithm. The simulation system can reflect the actual process of the train operating environment, and reduce the develop cycle of algorithm and system. So the study of train operation system hardware emulation platform has a certain practical significance. Based on the above analysis, the main contents of this paper include the following aspects:Firstly, an adaptive sliding mode speed tracking controller is designed according to the single-mass train model for the complexity of the train operating environment. There are many uncertain external and internal disturbance in the operation of train. These disturbance lead to the train control system is nonlinear and exist other uncertain factors. By using the sliding mode control robustness to external disturbance, this paper design an appropriate control to guarantee the system state always stay on the sliding surface. By comparing the simulation results under different scenarios, the adaptive sliding mode control has good effect on eliminate disturbance.Secondly, this paper study the security computer system of train control system. The structure of the "two out of three" system is designed in the first, which has independent redundancy voting unit. Then the working principle of the system is introduced. Then the CMC based security computer hardware system is designed. In the last a test case is designed to test the feasibility of the system.Finally, a semi-hardware simulation system is realized. The PC software is designed based on the hardware of CMC security computer. After that design a simulation of different lines and train operation scenarios. By setting different parameters and algorithm, the simulation results show that the system can achieve real-time simulation of control algorithm, and it is possible to test the actual performance of the algorithm. So this work has practical value.