Research On Lateral Semi-active Suspension Adaptive PID Control Of High-speed Trains

In recent years,in the context of the high development of High-speed Trains(HST)construction and the rapid improvement of train running speed in China,people's demands for safety operation and ride comfortably of HST are constantly improving.The problem of vibration control for HST lateral suspension is becoming more and more prominent because of some factors such as excitation of track irregularity and external environment interference.In this paper,a more accurate lateral semi-active suspension system model for HST is established,and the possible actuator fault is considered.Two strategies are designed,which are adaptive PID control and adaptive fault-tolerant PID control.The major contents can be summarized as follows:(1)The classification and development history of suspension system are described,the characteristics of the passive,active and semi-active suspension system are compared,the necessity of adopting lateral semi-active suspension for HST in China is expounded,and several main semi-active suspension control strategies are analyzed and discussed.(2)The train vibration mode and vibration type of HST in the course of actual operation are analyzed,the time-varying parameters,excitation of track irregularity,external environment interference and other factors are considered in HST suspension system,the 14-DOF model for train's wheel sets,bogie and body of lateral displacement,shake head and sidewinder vibration is established by means of dynamic analysis.(3)According to the lateral semi-active suspension system model for HST,the adaptive PID control strategy is researched and designed.The designed control method makes full use of the characteristics of system model itself.By introducing the symbol matrix,the problem of asymmetric positive definite of the system gain matrix is solved.It has good robustness to the factors such as time-varying system parameters and external environment interference which are considered in modeling.With the help of the Lyapunov stability theory,the stability analysis and proof are carried out.Finally,the MATLAB simulation shows that the designed control algorithm can.effectively attenuate the train vibration.Moreover,compared with traditional PID control,the designed control algorithm has better damping effect.(4)Considering the possible actuator fault in a lateral semi-active suspension system for HST,a system model with actuator fault is established.The corresponding adaptive fault-tolerant PID control strategy is studied and designed.The designed control method is more practical,which has good robustness and fault-tolerant ability.The stability proof is carried out by selecting the appropriate Lyapunov function.Finally,the MATLAB simulation validates the effectiveness of the control algorithm.