Tracking Control Of High-speed Train Based On Disturbance Observer

In line with the political,economic and cultural strategy of the Belt and Road Initiative,China’s high-speed railway is in a golden stage of development.With the total operating mileage exceeding 40,000 kilometers by 2021,it has a profound impact on people’s life and travel.Automatic Train Operation(ATO)which has attracted much academic attention can improve the running efficiency and comfort and reduce energy consumption while ensuring the safe operation and accurate parking of trains.However,due to the high speed,harsh operating environment and complex track layout of highspeed trains,it is still in the stage of theoretical research.As one of the key technologies of ATO,the precise tracking control of high-speed trains urgently needs to be solved.And the distributed tracking control of high-speed train convoys can further improve the line utilization rate and transportation capacity.Therefore,this paper studies the tracking control of high-speed trains and high-speed train convoys in cruise mode.Considering the complex operating environment of high-speed trains and their own uncertainties,the research work of this paper is carried out under different operating scenarios.The main work and innovations are as follows:(1)The tracking control problem of a high-speed train with actuator saturation constraint under random occurrence of multiple faults and natural wind is studied.Firstly,the high-speed train model is established under random occurrence of multiple faults based on Markov jump system theory.Then the multiple disturbances model of natural wind composed of turbulent wind and gust wind is established.Furthermore,a novel antidisturbance fault-tolerant control strategy based on the composite adaptive disturbance observer is proposed to ensure the accurate tracking of the expected speed curve during the running of the high-speed train.The research results are extended to the partial known and completely unknown cases of transition probability matrix of the high-speed train fault process.(2)The tracking control problem of a high-speed train under adhesive dynamics is studied.Firstly,the improved body and wheel model of the high-speed train and natural wind disturbance model are established and then transformed into the nonlinear coupled tracking error system of the high-speed train.Then the error system is processed by feedback linearization,and the system with nonlinear unmatched disturbance is obtained by disturbance equivalence method.A sliding mode controller based on nonlinear disturbance observer is designed to solve the problem of anti-disturbance control of the system.Then,a new control strategy for the error system is obtained by decoupling control theory.The asymptotic convergence of position and velocity tracking errors in finite time is ensured,and the tracking error of creep rate is guaranteed within an acceptable range.(3)The distributed control problem of a high-speed train convoy under communication delay is studied.Firstly,the information topological structure of the train convoy is analyzed,and its improved dynamic model and natural wind disturbance model are established.On this basis,the concrete form of control system is established by combining graph theory and matrix theory.Then,a new distributed tracking control strategy of the train convoy based on disturbance observer is obtained,and the natural wind estimation is realized through disturbance observer.The controller designed based on Lyapunov-Razumikhin theorem solves the communication delay problem encountered in the anti-disturbance control of the system.The effectiveness of the results is verified by simulation.There are 26 figures,3tables and 109 references.