CN105511268B  A kind of composite control method for train actuator failures  Google Patents
A kind of composite control method for train actuator failures Download PDFInfo
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 CN105511268B CN105511268B CN201610009327.4A CN201610009327A CN105511268B CN 105511268 B CN105511268 B CN 105511268B CN 201610009327 A CN201610009327 A CN 201610009327A CN 105511268 B CN105511268 B CN 105511268B
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 G—PHYSICS
 G05—CONTROLLING; REGULATING
 G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
 G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
 G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
 G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
 G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
Description
Technical field
The present invention relates to Train Control Technology field.More particularly, to a kind of for the compound of train actuator failures Control method.
Background technology
The performances such as comfortableness, convenience and the validity of train are how improved, is the research side that next ought cause concern To.Further to study train system, scholars set up simple substance point model by Newton's law, and simple substance point model is with the letter of its structure Singly it is widely used.In addition, also there are another train modelmany Mass Models.Compared with simple substance point model, many particles The coupler force between adjacent compartment is considered in model, therefore, train model of many Mass Models closer to reality.
Based on abovementioned simple substance point and many Mass Models, in order to obtain desired performance, a series of control strategy is employed In train system, such as PID control parameter, Self Adaptive Control, fuzzy control, optimal control and PREDICTIVE CONTROL.
Abovementioned analysis is without simultaneously in view of the influence of frequency conversion fitful wind, actuator failures and slope resistance to train.
Accordingly, it is desirable to provide a kind of composite control method for train actuator failures.
The content of the invention
It is an object of the invention to provide a kind of composite control method for train actuator failures, solve slope and disturb The dynamic, influence of gust disturbances and actuator failures to train.
To reach abovementioned purpose, the present invention uses following technical proposals：
A kind of composite control method for train actuator failures, the method comprises the following steps：
S1, force analysis is carried out to Train's Longitudinal Movement, set up the lengthwise movement kinetic equation of train；
S2, according to Train's Longitudinal Movement kinetic equation, set up Train's Longitudinal Movement state space equation；
S3, according to actuator failures and Train's Longitudinal Movement state space equation, the row set up in the case of actuator failures Car lengthwise movement state space equation；
S4, according to the train status space equation in the case of actuator failures, using the observer based on disturbance and control Device, sets up train closedloop dynamic equation；
S5, obtained by LMI observer gain in the composite control method of train actuator failures and Controller gain, and then the actual displacement using observer and controller equation the control train based on disturbance and speed convergence phase The displacement of prestige and speed.
Preferably, the lengthwise movement kinetic equation of train is in step S1：
Wherein, m_{i}It is the actual mass in the section of train ith compartment, i=1,2 ..., n；K is the car for connecting two adjacent sections compartment The coefficient of elasticity of hook；T ∈ [0, T '], T ' are the run times of train；x_{i}T () is section reality of the compartment from 0 to t of train ith Border displacement；It is the actual speed of the section compartment t of train ith,Be train ith section compartment t reality add Speed；u_{i}T () is the actual controling power that train ith saves compartment t；c_{o}、c_{v}And c_{a}It is Davis's coefficient；ψ_{i}(t)=m_{i}gsin (θ_{i}(t)) it is slope resistance that train ith saves compartment t, g represents acceleration of gravity；θ_{i}T () represents the gradient in the ith section compartment Angle；Sin () is SIN function；It is fitful wind resistance that t is acted on the ith section compartment.
Preferably, step S2 further includes following substep：
S2.1, the desired displacement in compartment of the setting section of train ith, speed and acceleration are respectivelyWith Definition With reference to The lengthwise movement kinetic equation of the train, obtains the desired controling power in each compartment of train as follows：
Wherein, m_{i}It is the actual mass in the section of train ith compartment, i=1,2 ..., n；It is desired controling power；c_{o}、c_{v} And c_{a}It is Davis's coefficient；It is the grade resistance on desired position suffered by the section of train ith compartment；
S2.2, definitionIgnore higher order termObtain following Train's Longitudinal Movement Linear space equation：
Wherein,
The definition of parameter A and B is as follows respectively：
Represent real matrix.
Preferably, the Train's Longitudinal Movement state space equation in the case of the actuator failures is：
Wherein, parameter B_{f}=BL_{f},Expression actuator failures parameter, and satisfaction 0≤ λ_{i}≤1。
Preferably, step S4 further includes following substep：
S4.1, the state expression formula for setting up following fitful wind model：
Wherein, W is the frequency matrix of fitful wind, andIt is known gust frequency value；L_{1}And L_{4}It is battle array The magnitude matrix of wind；Δ W (t) represents the frequency property matrix of fitful wind, and w (t) is the state in the state expression formula of fitful wind model Variable；
S4.2, setting (A, B_{f}) controllable, (W+ Δs W (t), BL_{1}) considerable, with reference to fitful wind model, design is following to be based on what is disturbed Observer：
Wherein,WithIt is respectively d_{1}The estimate of (t) and w (t), parameter L_{4}, it is known that unknown parameter L_{2}It is to be based on disturbing Dynamic observer gain；
Define error termWithThen the observer error based on disturbance is：
S4.3, design controller are as follows：
Wherein, unknown parameter N_{u}Represent controller gain；
S4.4, basis observer error and controller based on disturbance, set up such as Train closedloop dynamic equation：
Preferably, step S5 further includes following substep：
S5.1, definition system state variablesWith reference to train closedloop dynamic equation, following augmented system is obtained：
Wherein,
S5.2, the reference output for defining augmented system：
Wherein, coefficient matrix
S5.3, it is defined as follows H_{∞}Performance index function
Wherein, γ is given normal number；
Obtained with reference to the method for Lyapunov analytic approach and LMI：For γ, there is scalar ε_{1}＞ 0, square Battle arrayMeet following linear MATRIX INEQUALITIES：
Wherein,
Observer gain based on disturbance is obtained by the LMIController gain
S5.4, actual displacement and the expectation of speed convergence using observer and controller equation the control train based on disturbance Displacement and speed.
Beneficial effects of the present invention are as follows：
Influence and effective attenuation or removal of the technical scheme effective compensation actuator failures of the present invention to train system The influence of slope resistance and unknown fitful wind resistance to train system, makes train system have good position and speed tracing Energy.
Brief description of the drawings
Specific embodiment of the invention is described in further detail below in conjunction with the accompanying drawings；
Fig. 1 shows the flow chart of the composite control method for train actuator failures；
Fig. 2 shows the force analysis schematic diagram of the lengthwise movement of train；
Fig. 3 shows to be directed to the schematic diagram of displacement error response curve in the composite control method of train actuator failures；
Fig. 4 shows the schematic diagram of the composite control method medium velocity error responses curve for train actuator failures；
Fig. 5 shows the single H for train actuator failures_{∞}The schematic diagram of displacement error response curve in control method；
Fig. 6 shows the single H for train actuator failures_{∞}The schematic diagram of control method medium velocity error responses curve.
Specific embodiment
In order to illustrate more clearly of the present invention, the present invention is done further with reference to preferred embodiments and drawings It is bright.Similar part is indicated with identical reference in accompanying drawing.It will be appreciated by those skilled in the art that institute is specific below The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
When the composite control method for train actuator failures that the present embodiment is provided is for train actuator failures In position and speed tracking control, as shown in figure 1, the method comprises the following steps：
S1, force analysis is carried out to Train's Longitudinal Movement, set up the lengthwise movement kinetic equation of train；
S2, according to Train's Longitudinal Movement kinetic equation, set up Train's Longitudinal Movement state space equation；
S3, according to actuator failures and Train's Longitudinal Movement state space equation, the row set up in the case of actuator failures Car lengthwise movement state space equation；
S4, according to the train status space equation in the case of actuator failures, using the observer based on disturbance and control Device, sets up train closedloop dynamic equation；
S5, obtained by LMI observer gain in the composite control method of train actuator failures and Controller gain, and then the actual displacement using observer and controller equation the control train based on disturbance and speed convergence phase The displacement of prestige and speed.
Wherein,
In step S1, the train N with reference to shown in Fig. 2 saves the force analysis figure of compartment lengthwise movement, in two adjacent sections compartment, Front compartment is to the coupler force φ (ε) of trunk：
φ (ε)=k ε=k (x_{i}(t)x_{i1}(t)) (1)
Wherein, k is the coefficient of elasticity of the hitch for connecting two adjacent sections compartment, k>0；ε is the relative position in two adjacent sections compartment Move；T ∈ [0, T '], T ' are the run times of train；x_{i}T () is section actual displacement of the compartment from 0 to t of train ith, i= 1,2 ..., n.
The kinetic equation of Train's Longitudinal Movement is：
Wherein, m_{i}It is the actual mass in the section of train ith compartment；It is the actual speed of the section compartment t of train ith,It is the actual acceleration of the section compartment t of train ith；u_{i}T () is the actual controling power that train ith saves compartment t, Controling power includes tractive force or brake force；c_{o}、c_{v}And c_{a}It is Davis's coefficient, and is all higher than 0, Davis's coefficient of different trains Difference, c_{o}、c_{v}And c_{a}According to actual situation value；ψ_{i}(t)=m_{i}gsin(θ_{i}(t)) be train ith save compartment t slope Resistance, g represents acceleration of gravity；θ_{i}T () represents the angle of gradient in the ith section compartment；Sin () is SIN function；It is t Act on the fitful wind resistance on the ith section compartment.
Step S2 further includes following substep：
S2.1, the desired displacement in compartment of the setting section of train ith, speed and acceleration are respectivelyWith Definition It is actual displacement x of the section compartment 0 of train ith to t_{i}(t) and expectation position MoveBetween error, i.e.,It is the actual speed of the section compartment t of train ithWith Desired speedBetween error, i.e.,It is the actual acceleration of the section compartment t of train ith DegreeWith expectation accelerationBetween error, i.e.,v_{0}＞ 0 is the value of desired speed, is root According to the value that different requirements sets；With reference to abovementioned Train's Longitudinal Movement kinetic equation, the desired controling power in each compartment of train is obtained It is as follows：
Wherein,It is desired controling power；It is the gradient on desired position suffered by the section of train ith compartment Resistance.
S2.2, definitionIt is the actual controling power u of the section compartment t of train ith_{i}(t) with Desired control powerBetween error, substituted into the kinetic equation of Train's Longitudinal Movement, ignore higher order termObtain following Train's Longitudinal Movement linear space equation：
Wherein,
The definition of parameter A and B is as follows respectively：
Represent real matrix.
In step S3, when actuator breaks down, performed as follows according to Train's Longitudinal Movement linear space establishing equation Train's Longitudinal Movement state space equation in the case of device failure：
Wherein, parameter B_{f}=BL_{f},Expression actuator failures parameter, and satisfaction 0≤ λ_{i}≤ 1, and λ_{i}=0 represents that ith actuator of train system is entirely ineffective；0 ＜ λ_{i}＜ 1 represents ith execution of train system Device partial failure；λ_{i}=1 ith actuator normal work for representing train system.
Step S4 further includes following substep：
S4.1, fitful wind expression formula are as follows：
Wherein, A_{g}Represent the amplitude of fitful wind, t_{st}And t_{end}Between representing respectively at the beginning of fitful wind is acted on train and terminate Time, cos () is cosine function.The form of fitful wind expression formula (6) is written as first form of formula in formula (7), will be remaining String function cos () sets up the state expression formula of following fitful wind model as the w (t) in (7)：
Wherein, W is the frequency matrix of fitful wind, L_{1}And L_{4}It is the magnitude matrix of fitful wind, and For known Gust frequency value, Δ W (t) represents the frequency property matrix of fitful wind, and it is known matrix to meet Δ W (t)=E Σ (t) F, E, F, and Unknown matrix Σ (t) meets Σ (t) Σ^{T}T ()≤I, w (t) are the state variable in the state expression formula of fitful wind model.
S4.2, setting (A, B_{f}) controllable, (W+ Δs W (t), BL_{1}) considerable, with reference to fitful wind model, design is following to be based on what is disturbed Observer：
Wherein,WithIt is respectively d_{1}The estimate of (t) and w (t), parameter L_{4}, it is known that unknown parameter L_{2}It is to be based on disturbing Dynamic observer gain.
Define error termWithThen the observer error based on disturbance is：
S4.3, design controller are as follows：
Wherein, unknown parameter N_{u}Represent controller gain；
S4.4, basis observer error and controller based on disturbance, set up such as Train closedloop dynamic equation：
Step S5 further includes following substep：
S5.1, one new system state variables of definitionWith reference to closedloop system dynamical equation, one is obtained New augmented system：
Wherein,
S5.2, the reference output for defining augmented system：
Wherein, coefficient matrix
S5.3, it is defined as follows H_{∞}Performance index function
Wherein, γ is given normal number；
Obtained with reference to the method for Lyapunov analytic approach and LMI：For γ, there is scalar ε_{1}＞ 0, square Battle arrayMeet following linear MATRIX INEQUALITIES：
Wherein,
It is based on the observer gain for disturbing by what LMI can obtain train system The controller gain of train system is
S5.4, actual displacement and the expectation of speed convergence using observer and controller equation the control train based on disturbance Displacement and speed.
Below, in order to verify the present embodiment provide the composite control method for train actuator failures validity, Emulation experiment checking is carried out using MATLAB, and is explained in detail：
The many Mass Models of train that the present embodiment is provided, consider actuator failures, slope resistance and unknown fitful wind pair The influence of train position and speed tracing performance, using control (DOBC) method and H of the observer based on disturbance_{∞}Control method The composite controller being combined, makes closedloop system Asymptotic Stability, with good position and speed tracing performance, and has to failure There is good robustness.
The Train Parameters of table 1
By LMI, the observer gain L based on disturbance is tried to achieve_{2}With controller gain N_{u}Respectively：
L_{2}=[0_{2×8} L_{12} L_{22}], N_{u}=[N_{11} N_{12} N_{13}]；
Wherein,
Based on abovementioned parameter, simulating, verifying is carried out to the composite control method that the present embodiment is provided, obtain Fig. 3, Fig. 4.Wherein, Fig. 3 shows control (DOBC) strategy and H of the observer based on disturbance_{∞}The displacement in each compartment of control strategy Train system rings Curve, Fig. 4 is answered to show control (DOBC) strategy and H of the observer based on disturbance_{∞}Each compartment of control strategy Train system Velocityresponse curve.
To prove the validity of the observer based on disturbance in the composite control method that the present embodiment is provided, using independent H_{∞}Control strategy, analogous diagram is as shown in Figure 5, Figure 6.Wherein, Fig. 5 shows single H_{∞}Each compartment of control strategy Train system Dynamic respond curve, Fig. 6 shows single H_{∞}The velocityresponse curve in each compartment of control strategy Train system.
By abovementioned analysis, it was demonstrated that composite control method for train actuator failures that the present embodiment is provided has Effect property.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not right The restriction of embodiments of the present invention, for those of ordinary skill in the field, may be used also on the basis of the above description To make other changes in different forms, all of implementation method cannot be exhaustive here, it is every to belong to this hair Obvious change that bright technical scheme is extended out changes row still in protection scope of the present invention.
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CN104360679A (en) *  20141021  20150218  南京航空航天大学  Train suspension system fault diagnosis and faulttolerant control method based on dynamic actuator 
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WO2015158341A2 (en) *  20140416  20151022  Schaeffler Technologies AG & Co. KG  Method for parameterizing a softwarebased vibration absorber for damping vibrations caused by a grabbing clutch 
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