首页|基于观测器的高速列车半主动悬架滑模容错控制

基于观测器的高速列车半主动悬架滑模容错控制

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高速列车长期处于高强度、强干扰、长距离的运行环境中,悬架系统出现执行器故障等情况都会影响列车运行过程中的安全.针对此问题,提出了一种基于滑模观测器的滑模容错控制方法.首先,构建了含有执行器故障的高速列车横向动力学模型,设计了滑模观测器,对执行器未知故障值进行实时估计;然后,将故障估计值输入滑模控制器,设计了滑模变结构容错控制器,计算得出列车姿态平稳所需的等效输出阻尼力,以实现包含执行器故障的半主动悬架系统容错控制,并且结合Lyapunov稳定性理论对滑模容错控制器的稳定性进行了分析;最后,通过实验验证了所设计的滑模观测器能够使各变量观测值在0.3 s左右跟踪上实际值,跟踪精度达到90％左右,并且同样验证了所设计的滑模控制器相较于传统PID控制器在悬架发生执行器故障的情况下有更好的鲁棒性.
Fault-Tolerant Control of Sliding Mode of Semi-Active Suspension of High-Speed Train Based on Observer
High-speed trains operate in a high-intensity,strong interference,and long-distance environment for a long time,and many situations such as actuator failure in the suspension system can affect the safety of the train during operation.In order to solve this problem,a sliding mode fault-tolerant control method based on sliding mode observer is proposed.Firstly,a lateral dynamics model of a high-speed train with actuator faults is constructed,and a sliding mode observer is designed to estimate the unknown fault values of actuators in real time.Then,the fault estimation value is input into the sliding mode controller,and the fault-tolerant controller of sliding mode variable structure is designed,and the equivalent output damping force required to stabilize the attitude of the train is calculated to achieve the purpose of fault-tolerant control of the semi-active suspension system including actuator fault,and the stability of the sliding mode fault-tolerant controller is analyzed in com-bination with the Lyapunov stability theory.Finally,experiment verifies that the designed sliding mode observer can track the actual value of each variable observation value at about 0.3 s and the tracking accuracy reaches about 90％,and it is also verifies that the designed sliding mode controller has better robustness than the tradi-tional PID controller in the case of suspension actuator failure.

high-speed trainattitude fault-tolerant controlactuator deviation faultsliding mode observerslid-ing mode controller

何静、黄健涛、贾林

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湖南工业大学电气与信息工程学院,湖南株洲 412007

湖南工业大学轨道交通学院,湖南株洲 412007

高速列车 姿态容错控制 执行器偏差故障 滑模观测器 滑模控制器

国家自然科学基金国家自然科学基金湖南省教育厅科学研究项目湖南省教育厅科学研究项目湖南省自然科学基金项目

521724035227234723A042622B05772023JJ50193

2024

10.19708/j.ckjs.2024.07.242

测控技术
中国航空工业集团公司北京长城航空测控技术研究所

测控技术

CSTPCD
影响因子：0.5
ISSN：1000-8829
年,卷(期)：2024.43(10)