The invention discloses a train speed control method based on a fractional order sliding mode and Kalman filtering, and belongs to the technical field of train control, the adopted Kalman filtering not only can eliminate measurement errors caused by system noise in the earlier stage, but also can reduce the buffeting phenomenon caused by sliding mode control, and the accuracy of train speed control is improved. Considering that a sliding mode of a sliding mode controller is irrelevant to parameters and disturbance of a system, proposing an improved Kalman filtering control algorithm based on sliding mode control, and introducing fractional calculus into a sliding mode switching function to further suppress a buffeting phenomenon; according to the method, the early-stage sensor data measurement error in a train speed control algorithm is effectively restrained, so that the actual control precision is improved, and meanwhile, the high response speed and the weak model dependence effect are kept.
本发明公开了一种基于分数阶滑模以及卡尔曼滤波的列车速度控制方法,属于列车控制技术领域,所采用的卡尔曼滤波不仅可以消除前期系统噪声导致的测量误差,还可以降低滑模控制导致的抖振现象,考虑到滑模控制器的滑动模态与系统的参数及扰动无关,提出采用基于滑模控制的改进卡尔曼滤波控制算法,同时将分数阶微积分引入滑模切换函数以进一步抑制抖振现象;本发明有效的抑制了列车速度控制算法中前期传感器数据测量误差,从而提高了实际控制精度,同时也保持了较快的响应速度和弱模型依赖效果。
Train speed control method based on fractional order sliding mode and Kalman filtering
一种基于分数阶滑模以及卡尔曼滤波的列车速度控制方法
2023-06-23
Patent
Electronic Resource
Chinese
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