Interval Type-2 Fuzzy PID Semi-active Control of Contact Force between Pantograph and Catenary
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摘要: 针对不确定性条件下轨道交通列车弓网接触力改善的问题，首次提出了一种基于区间二型模糊PID(IT2F-PID)的受电弓半主动控制方法。首先，建立了三元弓网半主动控制模型。其次，设计了IT2F-PID半主动控制器，并且与一型模糊PID(T1F-PID)和PID半主动控制器对弓网接触力的控制效果进行对比分析。进一步考虑受电弓存在模型不确定性和外部扰动的问题。最后，以DSA380型受电弓为对象进行仿真实验验证。实验结果表明：当列车运行速度为200 km/h和300 km/h时，相较于被动控制，IT2F-PID半主动控制算法作用下的弓网接触力标准差分别降低了18.21%和24.91%，能有效改善弓网受流质量。另外，与主动控制相比，设计的半主动控制器具有所需能量更少的优点，而且拥有更好的处理模型不确定性以及抗扰动能力。Abstract: Aiming at the problem of improving pantograph-catenary contact force of rail transit trains under uncertain conditions, a pantograph semi-active control method based on the interval type-2 fuzzy PID (IT2F-PID) was proposed for the first time. Firstly, a three-degree-of-freedom pantograph-catenary semi-active control model is established. Secondly, the IT2F-PID semi-active controller is designed, and the control effect of the pantograph-catenary contact force is compared with the type-1 fuzzy PID (T1F-PID) and PID semi-active controllers. The problems of model uncertainty and external disturbance of the pantograph are further considered. Finally, the DSA380 pantograph was used as the object for simulation experiment verification. The results show that: when the trains run at 200 km/h and 300 km/h, compared with the passive control methods, the standard deviations of the pantograph-catenary contact force under the IT2F-PID semi-active control algorithm are reduced by 18.21% and 24.91%, respectively, and the quality of pantograph-catenary current can be effectively improved. In addition, compared with active control methods, the designed semi-active controller has the advantages of less energy required for the outside world, and has stronger ability to deal with model uncertainty and anti-disturbance.
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Key words:
- pantograph /
- contact force /
- active control /
- semi-active control /
- interval type-2 fuzzy PID
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表 1 比例增益的规则库
误差变化率 误差 NL NS Z PS PL NL M S S S M NS B M S M B Z VB B M B VB PS B M S M B PL M S S S M 
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表 2 积分增益的规则库
误差变化率 误差 NL NS Z PS PL NL NL NL NL NS Z NS NL NL NS Z PS Z NL NS Z PS PL PS NS Z PS PL PL PL Z PS PL PL PL
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表 3 微分增益的规则库
误差变化率 误差 NL NS Z PS PL NL PL PL PL PS Z NS PL PL PS Z NS Z PL PS Z NS NL PS PS Z NS NL NL PL Z NS NL NL NL
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表 4 弓网系统参数
参数 数值 参数 数值 参数 数值 m1/kg 7.12 c1/(N·s·m-1) 0 α1 0.466 m2/kg 6 c2/(N·s·m-1) 0 α2 0.083 m3/kg 5.8 c3/(N·s·m-1) 70 α3 0.26 k1/(N·m-1) 9 430 L 63 α4 -0.28 k2/(N·m-1) 14 100 L1 9 α5 -0.336 k3/(N·m-1) 0.1 k0/(N·m-1) 3 694
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表 5 V=200 km/h, 控制前后接触力统计对比
控制类型 最大值 最小值 平均值 标准差 被动控制 160.808 8 57.087 1 109.904 9 22.984 7 PID 158.179 7 57.009 5 109.766 3 20.964 5 T1F-PID 153.266 5 68.223 2 109.592 7 19.667 6 IT2F-PID 153.100 3 70.271 8 109.350 7 18.799 3
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表 6 V=300 km/h, 控制前后接触力统计对比
控制类型 最大值 最小值 平均值 标准差 被动控制 250.874 3 59.431 3 160.175 0 43.324 5 PID 241.389 6 77.460 9 159.770 3 40.670 8 T1F-PID 233.590 9 85.613 6 159.349 0 37.889 4 IT2F-PID 229.727 9 94.402 9 159.245 5 32.530 9
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表 7 同时考虑模型不确定性和外部扰动条件下, 控制前后接触力统计对比
控制类型 最大值 最小值 平均值 标准差 PID 251.587 0 82.428 9 168.284 7 46.836 5 T1F-PID 243.964 3 91.924 7 165.635 9 42.131 9 IT2F-PID 234.187 2 101.371 6 165.078 5 35.550 0
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