基于改进滑模-自抗扰的高速列车速度跟踪控制OA

To address the low tracking accuracy,large error fluctuations,and limited disturbance rejec-tion capability of conventional control methods during target-speed tracking in the automatic operation of high-speed trains,a novel speed control algorithm based on Improved Sliding Mode Active Distur-bance Rejection Control(ISM-ADRC)is proposed.First,a single-point-mass model of a high-speed train is established.A novel nonlinear function is then introduced to replace the conventional fal func-tion in the design of the extended state observer,thereby mitigating the chattering caused by the nons-mooth behavior of the fal function near the origin.Second,a saturation function is incorporated into an adaptive variable-speed reaching law,which is combined with a nonsingular fast terminal sliding mode sur-face to derive the sliding mode control law.This approach suppresses the chattering caused by the inherent discontinuous switching characteristics of sliding mode control.The stability of the control system is subse-quently demonstrated using Lyapunov stability theory.Finally,simulations are conducted under both disturbance-free and disturbed conditions using the parameters of a CR400BF electric multiple unit.The simulation results show that the speed-tracking error of high-speed train remains within the range of −0.1 to 0.2 km/h,regardless of the presence of external disturbances.Compared with the traditional Propor-tional Integral Derivative(PID)control,Non-Singular Fast Terminal Sliding Mode Control(NFTSMC)and Sliding Mode Linear Active Disturbance Rejection Control(SM-LADRC),the proposed algorithm ex-hibits superior disturbance rejection capability and higher tracking accuracy.Its steady-state speed-tracking error is reduced by 95%,89%,and 49%,respectively,relative to the three comparative methods,dem-onstrating the effectiveness and feasibility of the proposed approach.