Time-delay compensation predictive control for braking process of medium-low speed maglev train
The braking process of the medium-low speed maglev train has the characteristics of strong nonlinearity,significant time delay and complex time-delay processing.Therefore,achieving accurate speed tracking control with traditional train braking control methods is challenging.To improve braking control accuracy and solve the time-delay problem in the braking process of medium-low speed maglev trains,a time-delay compensation predictive control method for the braking process of medium-low speed maglev trains was proposed.First,the coefficients of the model of the train were identified using the recursive least squares method with forgetting factor based on the field operation data of the medium-low speed maglev trains.This was done to establish the autoregressive model of the maglev train.Then,based on the obtained controlled autoregressive integrated moving average model and Smith predictor,a generalized predictive controller with time-delay compensation was constructed and the updating process of its control law was analyzed,to realize the pure delay compensation for the braking process and reduce the influence of time delay characteristics in the braking process of medium-low speed maglev trains.Finally,with the medium-low speed maglev train braking process as the controlled object,the simulation experiments were conducted to compare the performance of the time-delay compensation generalized predictive control method and the traditional generalized predictive control method on the speed tracking control of medium-low speed maglev train braking process using the maglev-line field data.The simulation results show that the designed time-delay compensation generalized predictive controller in this paper can achieve the speed tracking of medium-low speed maglev train braking process with higher accuracy and has smaller tracking error and better control performance compared with the traditional generalized predictive control method.The proposed time-delay compensation generalized predictive control algorithm not only solves the problem of time delay in the braking process of medium-low speed maglev trains,but also effectively improves the accuracy of train braking control.It verifies the effectiveness of the proposed method.
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