基于扩张状态观测器的虚拟编组列车分布式鲁棒控制OA
Robust control of virtual coupled trains based on the extended state observer
针对虚拟编组高速列车运行中扰动不确定性、间距约束、速度约束、乘客舒适性约束及控制器饱和等问题,提出一种基于扩张状态观测器的虚拟编组列车分布式鲁棒协同控制一致性算法.首先,将基本阻力、附加阻力和不确定阻力统一视为列车总扰动,建立虚拟编组列车动力学模型,并将间距约束、速度约束、乘客舒适性约束和控制器饱和约束转化为单位质量控制输入约束.然后,设计线性扩张状态观测器对列车总扰动进行实时观测并补偿,减小不确定扰动对系统性能的影响,并引入饱和函数和抗饱和补偿器确保系统状态、控制输入始终受限,同时保证单位质量控制输入饱和时的系统性能.此外,将有界观测误差视为有界扰动,结合李雅普诺夫稳定性理论与H∞性能分析,通过线性矩阵不等式形式,最终得到系统稳定的充分条件.最后,基于CRH380A型动车组和实际线路数据,将提出的控制算法与未考虑输入饱和以及无不确定扰动补偿的传统分布式一致性控制算法进行对比,仿真中考虑了干扰和约束下4列编组的速度、间距等运行指标.研究结果表明:提出的控制算法在满足多种物理约束条件的同时,有效增强了系统的鲁棒性,不仅能够确保列车在编组形成过程和编组运行过程中的安全性、乘客舒适性和系统稳定性,而且具有更强的抗扰动能力.
To address the issues of disturbance uncertainty,spacing constraints,speed constraints,passenger comfort constraints,and controller saturation in high-speed trains under virtual coupling,a distributed robust consensus control algorithm for virtually coupled trains based on an Extended State Observer was proposed.First,the basic resistance,additional resistance,and uncertain resistance were collectively treated as the total disturbance of the train,and a dynamic model of the virtually coupled train was established.The spacing constraints,speed constraints,passenger comfort constraints,and controller saturation constraints were transformed into unit-mass control input constraints.Then,a linear Extended State Observer was designed to estimate and compensate for the total disturbance of the train in real-time,thereby reducing the impact of uncertain disturbances on system performance.A saturation function and an anti-saturation compensator were introduced to ensure that system states and control inputs remain bounded,while maintaining system performance even when the unit-mass control input reaches saturation.In addition,the bounded estimation error was regarded as a bounded disturbance.By using Lyapunov stability theory and H∞ performance analysis,sufficient conditions for system stability were derived in the form of Linear Matrix Inequalities.Finally,based on the CRH380A high-speed train and real line information,simulation experiments were conducted to compare the proposed controller with traditional distributed consensus controllers that either ignore actuator saturation or do not include disturbance compensation.In the simulation,the speed,spacing,and other operational indicators of a four-train formation were evaluated under disturbances and constraints.The results indicate that the proposed controller not only ensures safety,passenger comfort,and system stability during both the formation and operation phases of virtual coupling,but also significantly enhances disturbance rejection capability.
李柯颖;王小敏;邓红元;田元;陶克武
西南交通大学 信息科学与技术学院,四川 成都 611756西南交通大学 信息科学与技术学院,四川 成都 611756||四川省列车运行控制技术工程研究中心,四川 成都 611756西南交通大学 信息科学与技术学院,四川 成都 611756||通号城市轨道交通技术有限公司,北京 100010西南交通大学 信息科学与技术学院,四川 成都 611756||通号城市轨道交通技术有限公司,北京 100010西南交通大学 信息科学与技术学院,四川 成都 611756||四川省列车运行控制技术工程研究中心,四川 成都 611756
交通工程
虚拟编组列车协同控制扩张状态观测器状态约束输入饱和H∞控制
virtual couplingtrain cooperative controlextended state observerstate constraintsinput saturationH∞ control
《铁道科学与工程学报》 2026 (2)
616-630,15
四川省科技计划项目(2024ZHCG0001,2025YFHZ0161)上海轨道交通无人驾驶列控系统工程技术研究中心课题(SUTC-2024KT-02)
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