Research on speed and displacement tracking control for urban rail train based on ultra-local model
The automatic driving of trains requires high accuracy in tracking and controlling target speed and displacement.However,most existing methods for train speed and displacement tracking and controlling would use single or multiple particle model,which has issues such as high dependent on model accuracy and poor anti-interference ability.To this end,this article proposes a new method for tracking and controlling speed and displacement.Unlike other methods,the proposed method establishes a ultra-local model of train in the first place,so as to eliminate the dependence of the model on the accuracy of mass parameters,basic resistance and additional resistance,and achieve model-free control of the system;secondly,in order to enhance the system's anti-interference ability,an ESO online estimation of the system uncertainty of the ultra-local model is designed,and online compensation is implemented;finally,based on the principle of dynamic surface control and the online compensation results of ESO,a dynamic surface controller is designed to achieve accurate tracking of the target speed and displacement of the train.In addition,this article conducted simulation experiments based on the train parameters and line conditions of Shenzhen urban rail transit line 20 phase I project.The simulation results demonstrate that the proposed method could achieve accurate tracking of the target speed and displacement,proving its effectiveness.
urban rail transitultra-local modeldynamic surface controlspeed and displacement tracking
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