Application of Disturbance Observer in Train Speed Preview and Tracking Control
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摘要: 针对高速列车在运行中牵引和制动系统必然出现的损耗现象以及车体受到外界环境的干扰是时刻变化的，导致建立的模型参数出现偏差，设计了一种用最优预见控制算法实现的控制器。该算法以列车动力学为基础，确定列车模型传递函数，进行极点配置之后使控制系统稳定；将建立的列车模型作为该算法的被控对象，线路附加阻力和基本阻力作为该算法的扰动输入，并在其基础上加入扰动观测器，进一步提升该控制系统的稳定性能，从而实现列车速度的自动预见控制。仿真结果表明，加入扰动观测器的最优预见算法控制列车按目标速度自动跟踪运行具有良好的抗干扰和自适应性，能在约束范围内使列车运行达到期望状态，且运动轨迹能很好地跟随目标轨迹。Abstract: Aiming at the inevitable loss of traction and braking system of high-speed train in operation and the time-varying disturbance caused by external environment, a controller based on optimal predictive control algorithm is designed. Based on train dynamics, the algorithm determines the transfer function of the train model and stabilizes the control system using pole assignment. The established train model is the controlled object of the algorithm, and the additional resistance and basic resistance of the line are taken as the disturbance input of the algorithm, and a disturbance observer is added to further enhance the performance. The stability of the control system and the automatic preview control of train speed are realized. The simulation results show that the optimal preview control algorithm with disturbance observer has good anti-jamming and adaptability, and can make the train run to the desired state within the constraints, and the trajectory can follow the target trajectory well.
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Key words:
- high-speed train /
- speed controller /
- optimal preview control /
- disturbance observer /
- transfer function /
- trajectory /
- simulation /
- pole assignment
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表 1 线路参数表
参数名称 参数值 线路长度/km 88.2 线路限速/km 225 0~14.8/‰ 5.5 14.8~37.2/‰ -3.0(下坡) 37.2~38.1/‰ 2.5 38.1~56.5/‰ -1.0(下坡) 56.5~57.3/‰ 2.5 57.3~81.7/‰ -4.0(下坡) 81.7~88.2/‰ 0.2 
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表 2 列车参数表
参数名称 参数特性 列车总重/t 750 最高速度/(km·h-1) 300 编组长度/m 200 基本阻力/(N·kN-1) w=0.62+0.008 2v+0.000 14v2 牵引特性/kN F1=0.285v+300(0 < v < 120)
F2=31 500/v(v>120)B1=1 140*(2v+120)/(3v+120)
紧急制动制动特性/kN B2=912*(2v+120)/(3v+120)
常用制动减压130KPB3=570*(2v+120)/(3v+120)
减压80KP
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