The invention discloses a virtual marshalling multi-train cooperative adaptive sliding mode control method based on an extended state observer, and the method comprises the steps: firstly constructing an urban rail multi-train tracking error dynamic model based on a unit train dynamic equation; secondly, establishing a nonsingular terminal sliding mode surface according to the urban rail multi-train tracking error dynamical model to obtain an equivalent control law, combining the equivalent control law with a switching control law to obtain a nonsingular terminal sliding mode control law, and introducing a gain adaptive law and a saturation function into the nonsingular terminal sliding mode control law to obtain an adaptive nonsingular terminal sliding mode control law; and finally, an extended state observer is adopted to estimate external interference, an observation value of the interference is added to the output of the adaptive nonsingular terminal sliding mode controller to serve as feed-forward compensation, and the adaptive nonsingular terminal sliding mode control method based on the extended state observer is constructed. According to the method, the multi-train cooperative operation tracking control precision and stability can be remarkably improved under the external interference condition.

    本发明公开了一种基于扩张状态观测器的虚拟编组多列车协同自适应滑模控制方法,首先,基于单元列车动力学方程构建城轨多列车追踪误差动力学模型;其次,根据城轨多列车追踪误差动力学模型建立非奇异终端滑模面,进而得到等效控制律,再与切换控制律结合得到非奇异终端滑模控制律,并在非奇异终端滑模控制律中引入增益自适应律和饱和函数得到自适应非奇异终端滑模控制律;最后,采用扩张状态观测器对外界干扰进行估计,并将干扰的观测值加入到自适应非奇异终端滑模控制器输出中作为前馈补偿,构建出基于扩张状态观测器的自适应非奇异终端滑模控制方法。本发明的方法在外界干扰条件下能显著提升多列车协同运行追踪控制精度和稳定性。


    Access

    Download


    Export, share and cite



    Title :

    Virtual marshalling multi-train cooperative adaptive sliding mode control method based on extended state observer


    Additional title:

    基于扩张状态观测器的虚拟编组多列车协同自适应滑模控制方法


    Contributors:
    ZUO JING (author) / YAN LONGGANG (author) / WANG TIEJUN (author) / CHO WONHYUN (author) / WANG RUNQI (author) / YANG QIAOLI (author) / MIN YONGZHI (author) / LIN JUNTING (author) / PU XUAN (author) / XUE MINGGAN (author)

    Publication date :

    2025-02-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



    Train cooperative control method based on virtual marshalling

    DONG HAIRONG / BAI WEIQI / XIONG YIZHAN et al. | European Patent Office | 2024

    Free access

    Train marshalling method for virtual marshalling control system

    LI DENG / YANG FENGWEI / XU XIANLIANG et al. | European Patent Office | 2024

    Free access

    Virtual marshalling train cooperative control method, device, equipment and medium

    LU DEBIAO / CHE SONGSHAN / CAI BOGEN et al. | European Patent Office | 2024

    Free access

    Virtual marshalling train marshalling stage control method based on specified performance control

    WANG XI / WANG HONGWEI / DONG HAIRONG et al. | European Patent Office | 2024

    Free access