Research on Safety Protection Control Method of Train Braking Process based on Active Disturbance Rejection Control
The braking process of urban rail transit trains is faced with a variety of complex disturbance factors such as speed fluctuations,slope changes,and load changes,which must be accurately controlled.Based on the multi-rigid body dynamics theory,the longitudinal dynamics model of the train is established,the modular braking force model is constructed,the main disturbance factors in the braking process of the train are defined,and then the active disturbance rejection controller is designed,and the disturbance information is accurately estimated and the disturbance compensation is implemented through the tracking differential,the extended state observer and the nonlinear state feedback modules.On this basis,considering the speed constraints and the concept of safety domain,the safety protection control strategies such as stop protection,overspeed protection and slippage protection are studied.
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