The invention provides a train speed control method based on H-infinity and multi-objective optimization, and belongs to the field of control algorithms. According to the train speed control method, firstly, a train operation resistance calculation model and a single-mass-point train kinematic model are built; then, the models are linearized by using a Lagrange expansion method; and, a reference speed is introduced to change the models into tracking error models. On the basis, a state feedback controller is designed; by optimizing an H-infinity index of the control error and system interference, the feedback gain of the controller is solved through an LMI tool; and then, the total driving force and braking force are calculated. A train multi-mass-point kinematic model and a hook buffer device tension model are built to obtain a kinetic model of each carriage. The parameter uncertainty of the kinetic model is processed by a polytope method, and the robustness of driving force or brakingforce control under all operation conditions is guaranteed by using an H-infinity control method.
本发明提供了一种基于H∞和多目标优化的列车速度控制方法,属于控制算法领域,首先构建列车运行阻力计算模型,和单质点的列车运动学模型,然后利用拉格朗日展开方法将模型进行线性化,引入参考速度把模型改变成跟踪误差模型。在此基础上,设计状态反馈控制器,通过优化控制误差和系统干扰的H∞指标,用LMI工具求解控制器的反馈增益,然后计算总的驱动力和制动力。构建列车多质点运动学模型和钩缓装置拉力模型,从而得到每节车厢的动力学模型。本发明利用多胞体的方法处理动力学模型的参数不确定性,和H∞的控制方法保证在所有运行情况下驱动力或制动力控制的鲁棒性。
Train speed control method based on H-infinity and multi-objective optimization
一种基于H∞和多目标优化的列车速度控制方法
2020-12-22
Patent
Elektronische Ressource
Chinesisch
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