Synchronous Traction Research Of High Speed Trains Based On Robust And Adaptive Control

In recent years, with the rapid development of High-Speed Train (HST), the increasing requirements of safety and energy saving for HST have become the major concern. Multiple Units are new traction modes that bring economy saving, as well as novel questions. The main driving forces of the train come from the rolling of the traction wheels. While traction-wheels under power carriage are driven by unbalanced forces, which makes difference between several traction wheels running-speed and affects the carriage even running. To follow the train speed, individual wheel would idle and slide at running time, which can affect safe-running of the train and cause serious accidents. To ensure train traction wheels to synchronize operation is essential.The main jobs of this paper are as follows:Firstly, based on train traction wheels affected by different external disturbance torques and parameters perturbation of driving motors, more accurate dynamics models are established. This thesis will analyze reasons that cause the train traction wheels to run asynchronously with sliding mode control method and illustrate the importance of solving speed-inconsistent issues of traction wheels. So, adjacent cross coupling synchronization control method is adopted to solve above questions, realizing double-loop hybrid control:following controller and synchronous controller.Secondly, following controller is designed based on established model and controls the traction wheel speed to track the ideal speed curve. To gain more precise tracking control, disturbance observers are devised for evaluating and offsetting part of the interference. Compensating decreased speed-error with robust adaptive control method could improve tracking accuracy.Thirdly, as parameters of driving-motor change, the actual output of torque is different from ideal output, causing that wheels are driven by different force and speed is not consistent. Therefore, combining the adjacent cross coupling synchronization control method, synchronization controller is designed with robust adaptive control strategy. Synchronization controller is designed to compensate the difference between a wheel and two adjacent wheels, which ensures the synchronization among wheels. Combined with the following controller designed, this thesis selects four wheels under different interference to simulate synchronization between multiple traction wheels, and validates effectiveness of the control strategy using MATLAB/Simulink.At last, this thesis contrasts synchronization control strategy with sliding mode variable structure control method, and analyses the advantages and disadvantages of the two control strategies from perspectives of theory and simulation. Robust adaptive following and synchronization controller are designed according to the actual train systems and wheels synchronous operations are simulated. The results show the both control strategies realize track and synchronization and reduce idling and skip so as to ensure train to run safely and stably.