According to the high-speed train fault-tolerant compensation control method based on neural network embedding provided by the invention, the neural network controller is added on the basis of not changing the original controller, so that the control performance of the high-speed train and the effect of tracking an expected trajectory under a fault are improved. The method comprises the steps that a high-speed train dynamic model with actuator faults and unknown nonlinear disturbance is established; giving the position and speed of an expected trajectory, and establishing an expected trajectory model; verifying the original controller of the high-speed train to ensure that the original controller meets the Lyapunov stability; based on the obtained trajectory error, constructing a vector related to the control performance, selecting a proper vector function, and constructing a neural network related to the control performance and having an output greater than 0; based on the control performance vector, establishing an equivalent loss function, and adopting an SGD algorithm to optimize neural network parameters; and constructing a fault-tolerant controller based on neural network embedding compensation based on the original controller, the control performance vector, the vector function and the neural network.
本发明提供了一种基于神经网络嵌入的高速列车容错补偿控制方法,在不改变原控制器的基础上,添加神经网络控制器,提高高速列车的控制性能和故障下跟踪期望轨迹的效果。所述方法包括:建立存在执行器故障、未知非线性扰动的高速列车动态模型;给定期望轨迹的位置、速度,建立期望轨迹模型;验证高速列车原控制器,保证其满足李雅普诺夫稳定性;基于得到的轨迹误差,构造与控制性能有关的向量,选取合适的向量函数,并构建一个与控制性能有关且输出大于0的神经网络;基于控制性能向量,建立等价损失函数,采用SGD算法优化神经网络参数;基于原控制器、控制性能向量、向量函数与神经网络,构建基于神经网络嵌入补偿的容错控制器。
High-speed train fault-tolerant compensation control method based on neural network embedding
一种基于神经网络嵌入的高速列车容错补偿控制方法
2023-08-04
Patent
Electronic Resource
Chinese
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