Robust Control for Accurate Stopping of Urban Rail Vehicles with Unknown Time-varying Parameters
The complex and changeable train operation conditions cause difficulty in accurately obtaining parameters such as train mass,basic running resistance force and rail conditions.Further,the parameters exhibit obvious time-var-ying characteristics with train operation.The uncertain and time-varying characteristics of the parameters in the train model will have a significant impact on the accurate stopping performance of trains.Based on the multi-point dynamics model of electric multiple unit(EMU),a nonlinear train robust controller was designed according to the Lyapunov rede-sign method.The controller treated the uncertainties in the system as equivalent disturbances and designed corresponding robust compensation terms.According to the prior bounds of the parameters,the designed robust compensation term can suppress the model estimation errors,enabling rapid convergence of train position and speed tracking errors,until finally the control goal of accurate stopping is achieved.Meanwhile,the ultimately uniformly bounded stability of the system was also proved.Finally,the urban rail conditions were selected for simulation verification.The results show that the pro-posed control strategy can achieve fast and accurate tracking of the desired stopping curve even when the parameters of the train model are unknown and time-varying,showing strong robustness.
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