| The research of high-speed train control system is not only a concentrated reflection of the development of cutting-edge high-speed railway technology,but also related to the smooth and safe operation of high-speed trains.Adopting reliable and accurate control methods is an important way to ensure the safe and reliable operation of high-speed trains.However,with the continuous improvement of operating speed,the traction and braking actuators of high-speed trains will be in frequent operation,with a greatly increased probability of failure.Moreover,the complex and volatile operating environment and external nonlinear random disturbances will affect their safe operation.Therefore,in order to ensure the safe and reliable operation of multiple high-speed trains running on the same line,it is of great significance to design a distributed collaborative fault-tolerant controller that enables high-speed trains to accurately track the target displacement speed and synchronize the current state information.This paper mainly studies the cooperative precise control of high-speed trains under external random disturbances and actuator failures.The main work is as follows:(1)A single particle dynamic model of high-speed trains is established by fully considering the basic resistance and additional resistance during operation.On this basis,the train communication network is used to exchange information between trains,and the safety distance of the workshop is constrained by conditions such as train length and maximum braking distance.A multi vehicle cooperative operation model is established.(2)A fractional order non singular terminal sliding mode collaborative control method for high-speed trains operating on the same line is proposed based on a multi vehicle collaborative operation model.This method first utilizes fractional order differentiation and sliding mode theory to design fractional order nonsingular terminal sliding mode surfaces,and introduces radial basis function neural network(RBFNN)to better approximate external random nonlinear disturbances;Secondly,in order to better enhance the precise tracking performance of the system,a constant velocity approach law was designed to improve the chattering problem of the system;Finally,a cooperative control system is designed,and the feasibility of the control strategy is verified through simulation experiments.The proposed control method can synchronize the train state information,accurately track the target displacement speed,and the trains can operate cooperatively at a safe distance,and can better suppress the chattering phenomenon of Sliding mode control,which has strong robustness.Compared with other control methods,it has better tracking performance and stability.(3)In response to possible actuator failures during high-speed train operation,the actuator failure factor was introduced and a fault model for the actuator was established.Based on the dynamic model of high-speed trains,an effective fractional order non singular terminal sliding surface was designed to ensure rapid convergence of the system to the equilibrium point while reducing chattering;Utilize a dual loop recurrent neural network(DLRNN)with better approximation ability to approximate external disturbances during high-speed train operation and update parameters in real-time;A highly robust fractional order non-singular terminal sliding mode fault-tolerant controller(FFONTSMC)was designed,and its stability and convergence were demonstrated using Lyapunov equations;An improved Grey Wolf Optimization Algorithm(IGWO)is proposed based on the idea of inertia weight and a nonlinear position update strategy with convergence factors to obtain the optimal parameters of the control system.The simulation results show that the method designed in this paper can accurately track the ideal speed and displacement,and has better control accuracy compared to other control methods,with ideal fault tolerance,robustness,and stability. |
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