The invention discloses a high-speed railway pantograph robust prediction control method based on state estimation. The method specifically comprises the following steps of establishing a nonlinear pantograph-contact network system model; constructing a control-oriented pantograph-contact network system model to obtain a state space equation under the pantograph-contact network system model; adding process noise and measurement noise to obtain an estimation-oriented discrete state equation; determining a pantograph active control target, and augmenting the integral of a contact force trackingerror to a pantograph-contact network system state-space equation on the basis of the pantograph-contact network system model state-space equation to obtain an augmented state-space equation under thepantograph-contact network system model; designing a robust prediction controller; and combining the estimation result to obtain an active control force. The method is advantaged in that effectiveness of the robust prediction control method is studied through a nonlinear pantograph-contact network system model, and control performance of the control method is still good under different working conditions.
本发明公开了一种基于状态估计的高速铁路受电弓鲁棒预测控制方法,具体为:建立非线性受电弓‑接触网系统模型;构建面向控制的受电弓‑接触网系统模型,得到受电弓‑接触网系统模型下的状态空间方程;加入过程噪声和测量噪声,得到面向估计的离散状态方程;确定受电弓主动控制目标,在受电弓‑接触网系统模型状态空间方程的基础上,将接触力跟踪误差的积分增广至弓网系统状态空间方程中,得到增广后的受电弓‑接触网系统模型下的状态空间方程;再设计鲁棒预测控制器;结合估计结果,得到主动控制力。本发明通过非线性受电弓‑接触网系统模型,研究了鲁棒预测控制方法的有效性;且控制方法在不同的工况下控制性能依旧良好。
High-speed railway pantograph robust prediction control method based on state estimation
一种基于状态估计的高速铁路受电弓鲁棒预测控制方法
2020-07-03
Patent
Electronic Resource
Chinese
IPC: | G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |