Virtual Line Shafting-based Total-amount Coordinated Control Of Multi-motor Traction Power

High speed train is an important economic pillar in China today,and it is the first choice of transportation for people to travel.Its safety problem can not be ignored.Traction system control technology is the key to the safe operation control technology of high-speed trains.China high-speed rail lines are long and span a wide area.Different environmental conditions will have different effects on wheel rail conditions.If a wheel set fails,its traction power loss,if not handled in time,will cause adverse effects on the traction system.However,the saturation phenomenon of the actuator due to its own physical limitations will lead to the degradation of the system control performance and other problems,which will affect the safe operation of the traction system.Therefore,the key of this paper is to find the control algorithm that can ensure the safe and stable operation of the traction system.Aiming at the train safety problem caused by wheel set failure and actuator saturation of high-speed train,this paper mainly uses the sliding mode variable structure control theory,virtual line-shafting control strategy and totalamount coordinated control principle to design the virtual controller,total-amount coordinated controller and total-amount coordinated anti saturation controller.Specific research contents are given as follows:In view of the train safety problem caused by the loss of traction power,a coordinated control method of total traction power of multi motor based on virtual line-shafting is proposed.Firstly,the framework of the total traction power coordination system of multi motor based on virtual line-shafting is established.Secondly,the virtual controller and the total-amount coordinated controller are designed to ensure that the traction power of the multi motor system can still maintain the total coordinated traction power under the uncertain parameter perturbation and unknown disturbance.By using Lyapunov stability theory,it is proved that the system is stable under the control algorithm.Finally,MATLAB numerical simulation and RT-LAB hardware in the loop simulation are carried out,and the simulation and experimental results verify the effectiveness of the control method proposed in this chapter.On the basis of virtual line-shafting,a multi-motor traction power total-amount coordinated anti saturation control framework is constructed considering actuator saturation.In this framework,the non singular terminal sliding mode control method is introduced to design the virtual controller,which ensures that the error between the output torque of the virtual motor and the given torque of the system converges in a finite time.Then an anti-saturation compensator is designed to compensate the output of the controller,and the stability of the compensator is proved.Finally,the total-amount coordinated anti saturation controller is designed with the anti-saturation compensator.The total-amount coordinated anti saturation control of the traction power of the following motor is carried out to ensure that the total traction power of the following motor and the output value of the virtual motor remain the same after the actuator is saturated.The control goal of the total-amount coordinated anti saturation controller is achieved in a limited time.The simulation results verify the effectiveness of the control method proposed in this chapter.