CN109835372A - A kind of Active Fault-tolerant Control Method of railway transportation train stability - Google Patents
A kind of Active Fault-tolerant Control Method of railway transportation train stability Download PDFInfo
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- CN109835372A CN109835372A CN201910109054.4A CN201910109054A CN109835372A CN 109835372 A CN109835372 A CN 109835372A CN 201910109054 A CN201910109054 A CN 201910109054A CN 109835372 A CN109835372 A CN 109835372A
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Abstract
The invention discloses a kind of Active Fault-tolerant Control Methods of railway transportation train stability, mainly comprise the steps of, data acquisition module, it passes through guss receiver, the running state data of IMU inertial sensor and status monitoring sensor acquisition train column head and column tail, establishes faults-tolerant control floor data library；Kinetic model, which is run, according to compartment establishes compartment running space state model；A kind of distributed fault estimator is constructed, the system failure of train operation is obtained；Adaptive algorithm estimating system fault message is designed, floor data library fault message is based on, and combine the opposite output information between train body, designs the feedback controller of output, faults-tolerant control is carried out to train operation state.
Description
Technical field
The invention belongs to the present invention relates to Active Fault-tolerant Control Method, in particular to a kind of railway transportation train stability
Active Fault-tolerant Control Method.
Background technique
The efficiency of train maintenance can be improved in the monitoring of train operation state, guarantees the operational safety of train.Faults-tolerant control
(Fault Tolerant Control--FTC) is risen along with the development of the fault diagnosis technology based on Analysis design
Come.1971 can be traced back to earliest, propose that the new concept of integrity control is mark with Nieder Linski；High speed arranges
Traction subsystem in vehicle system is its main actuator.During actual motion, due to external environment or internal item
The variation of part may generate different failures.If bullet train system still uses after traction subsystem breaks down
For the operation controller designed under fault-free conditions, bullet train operation may be made to be affected, in some instances it may even be possible to jeopardize height
The safety of fast train, and the interference of gap and damage between the wheel tread of track, can all bring not the even running of train
The influence of benefit.It is therefore desirable to design appearance in the case where guaranteeing that bullet train is under trailer system failure, track tread damage
Wrong controller guarantees the safe and stable operation of bullet train.
Summary of the invention
The purpose of the present invention is design a kind of active of railway transportation train stability to overcome the shortcomings of prior art
Fault tolerant control method.
Mainly comprise the steps of:
1) data acquisition module, by guss receiver, IMU inertial sensor and status monitoring sensor acquire train
The running state data of column head and column tail, establish faults-tolerant control floor data library；
2) compartment running space state model, is established；
3) a kind of distributed fault estimator, is constructed, the system failure of train smooth operation is obtained；
4), design adaptive algorithm estimating system fault value, be based on floor data library fault message, and combine train body it
Between opposite output information, design the feedback controller of output；
Preferably, distance travelled, longitude, latitude, the speed data of guss receiver acquisition train；IMU inertial sensor
Acquire acceleration, the angular velocity data of train；Status monitoring sensor acquires train power supply, braking pressure, train oil temperature, train
Water temperature detection data.
Preferably, the step 2) compartment runs kinetic model are as follows:
Mi(1+γi)ai=fi i-1-fi i+1-Rei
Wherein, MiIt is the quality of cabin unit i, γiFor the conversion factor of cabin unit i, fi i-1For cabin unit i by
Preceding coupler force, fi i+1For the rear coupler force that cabin unit i is subject to, ReiFor the resistance that cabin unit i is subject to, ViFor cabin unit
The speed of i operation, AiFor the acceleration of cabin unit i operation.
Compartment is run into the parameter M in kinetic modeli、γi、Rei、Vi、AiBe set as the state of state-space equation to
The vector composition of X (t) is measured, and converts following state space for kinetic model and expresses:
Y (t)=Cx (t)
X (t) is state vector, and u (t) is input vector, and y (t) is output vector, and w (t) is Unknown worm vector, f (t)
For actuator failures, A, B, D are real matrixes, and C and E are non-singular matrix, and matrix D meets matching condition D=BH, and H is permanent matrix；
E is failure distribution matrix, indicates the fault effect of carriage movements.
Preferably, the state equation of step 3) the distributed fault estimator are as follows:
It is the state vector of estimator,It is the output vector of estimator,It is Fault Estimation vector, L is to estimate
Estimator matrix；It enablesIt obtains
State estimation error equation:
ey(t)=Cex(t)；
Fault Estimation strategy is established later.
Preferably, the feedback controller of the step 4) output are as follows: be based on H2/H∞Robust controller, to train operation
Manipulation parameter be finely adjusted.
Preferably, the fault condition fault-tolerant controller database of establishing is first to select robust according to each operating condition and hold
Wrong controller parameter, then fault condition database is established by the way of data form.
Compared with prior art, the present invention its beneficial technical effect are as follows:
1, the Fault Tolerance Control Technology energy strong real-time, the robust passive fault tolerant control of poor performance and performance is good, real-time
Not good enough active tolerant control combines, and gives full play to respective advantage.
2, the present invention selection lower train runing parameters information of dimension comes design error failure observer and fault-tolerant controller, keeps away
Exempt to give train monitoring system bring burden since system mode dimension is excessively high.
3, Failure Observer and fault-tolerant controller are to separate design, and consider respective performance simultaneously, optimize and set
Meter process, convenient for the solution of parameter in Failure Observer and fault-tolerant controller.
Detailed description of the invention
Fig. 1 is structure flow chart of the invention.
Specific embodiment
Bullet train is generally all made of multiple compartments, and during high-speed cruising, each compartment, which not only will receive, to be led
Draw/the effect of brake force, resistance, also suffers from the interaction force between compartment.In bullet train operational process, every section vehicle
Compartment can all be pulled/brake force, active force between compartment, air drag and mechanical resistance, and stitch between the wheel tread of track
The interference of gap and damage all can bring detrimental effect to the even running of train；A kind of master of railway transportation train stability
Dynamic fault tolerant control method, mainly comprises the steps of:
1) data acquisition module, by guss receiver, IMU inertial sensor and status monitoring sensor acquire train
The running state data of column head and column tail, establish faults-tolerant control floor data library；
2) compartment running space state model, is established；
3) a kind of distributed fault estimator, is constructed, the system failure of train smooth operation is obtained；
4), design adaptive algorithm estimating system fault value, be based on floor data library fault message, and combine train body it
Between opposite output information, design the feedback controller of output；
Preferably, distance travelled, longitude, latitude, the speed data of guss receiver acquisition train；IMU inertial sensor
Acquire acceleration, the angular velocity data of train；Status monitoring sensor acquires train power supply, braking pressure, train oil temperature, train
Water temperature detection data.
Preferably, the step 2) compartment runs kinetic model are as follows:
Mi(1+γi)ai=fi i-1-fi i+1-Rei
Wherein, MiIt is the quality of cabin unit i, γiFor the conversion factor of cabin unit i, fi i-1For cabin unit i by
Preceding coupler force, fi i+1For the rear coupler force that cabin unit i is subject to, ReiFor the resistance that cabin unit i is subject to, ViFor cabin unit
The speed of i operation, AiFor the acceleration of cabin unit i operation.
Compartment is run into the parameter M in kinetic modeli、γi、Rei、Vi、AiBe set as the state of state-space equation to
The vector composition of X (t) is measured, and converts following state space for kinetic model and expresses:
Y (t)=Cx (t)
X (t) is state vector, and u (t) is input vector, and y (t) is output vector, and w (t) is Unknown worm vector, f (t)
For actuator failures, A, B, D are real matrixes, and C and E are non-singular matrix, and matrix D meets matching condition D=BH, and H is permanent matrix；
E is failure distribution matrix, indicates the fault effect of carriage movements；
The state equation of step 3) the distributed fault estimator are as follows:
It is the state vector of estimator,It is the output vector of estimator,It is Fault Estimation vector, L is to estimate
Estimator matrix；It enablesIt obtains
State estimation error equation:
ey(t)=Cex(t)；
Fault Estimation strategy is established later.
Preferably, the feedback controller of the step 4) output are as follows: be based on H2/H∞Robust controller, to train operation
Manipulation parameter be finely adjusted, such as adjust brake pressure.
Preferably, the fault condition fault-tolerant controller database of establishing is first to select robust according to each operating condition and hold
Wrong controller parameter, then fault condition database is established by the way of data form.
Preferably, feedback controller described in step 4) is also possible to by the way of reconfigurable controller, reconstructs fault-tolerant control
Device processed is designed according to pseudoinverse technique, the formula of use are as follows:
uf=MfM0u0
Wherein, u0For the state of a control parameter under normal operation, ufFor control amount under failure operation, M0For under nominal situation
Control battle array, MfTo control battle array, K under fault conditionf=MfM0For the gain battle array for controlling mixer.
The present invention is described in detail above, specific case used herein is to the principle of the present invention and embodiment party
Formula is expounded, and the above description of the embodiment is only used to help understand the method for the present invention and its core ideas；Meanwhile it is right
In those of ordinary skill in the art, according to the thought of the present invention, change is had in specific embodiments and applications
Place, in conclusion the contents of this specification are not to be construed as limiting the invention.
Claims (6)
1. a kind of Active Fault-tolerant Control Method of railway transportation train stability, it is characterised in that mainly comprise the steps of:
1) data acquisition module, by guss receiver, IMU inertial sensor and status monitoring sensor acquisition train column are first
And the running state data of column tail, establish faults-tolerant control floor data library；
2) kinetic model, is run according to compartment and establishes compartment running space state model；
3) a kind of distributed fault estimator, is constructed, the system failure of train operation is obtained；
4) adaptive algorithm estimating system fault message, is designed, is based on floor data library fault message, and combine between train body
Opposite output information, design the feedback controller of output.
2. a kind of Active Fault-tolerant Control Method of railway transportation train stability according to claim 1, it is characterised in that:
Distance travelled, longitude, latitude, the speed data of guss receiver acquisition train；The acceleration of IMU inertial sensor acquisition train
Degree, angular velocity data；Status monitoring sensor acquires train power supply, braking pressure, train oil temperature, train water temperature detection data.
3. a kind of Active Fault-tolerant Control Method of railway transportation train stability according to claim 1, which is characterized in that
Step 2) the compartment runs kinetic model are as follows:
Mi(1+γi)ai=fi i-1-fi i+1-Rei
Wherein, MiIt is the quality of cabin unit i, γiFor the conversion factor of cabin unit i, fi i-1Before being subject to for cabin unit i
Coupler force, fi i+1For the rear coupler force that cabin unit i is subject to, ReiFor the resistance that cabin unit i is subject to, ViFor cabin unit i fortune
Capable speed, AiFor the acceleration of cabin unit i operation；
Compartment is run into the parameter M in kinetic modeli、γi、Rei、Vi、AiIt is set as the state vector X of state-space equation
(t) vector composition, and convert following state space for kinetic model and express:
Y (t)=Cx (t)
X (t) is state vector, and u (t) is input vector, and y (t) is output vector, and w (t) is Unknown worm vector, and f (t) is to hold
Row device failure, A, B, D are real matrixes, and C and E are non-singular matrix, and matrix D meets matching condition D=BH, and H is permanent matrix；E is
Failure distribution matrix indicates the fault effect of carriage movements.
4. a kind of Active Fault-tolerant Control Method of railway transportation train stability according to claim 1, which is characterized in that
The state equation of step 3) the distributed fault estimator are as follows:
It is the state vector of estimator,It is the output vector of estimator,It is Fault Estimation vector, L is estimator
Matrix；It enablesObtain state
Evaluated error equation:
ey(t)=Cex(t)；
Fault Estimation strategy is established later.
5. a kind of Active Fault-tolerant Control Method of railway transportation train stability according to claim 1, which is characterized in that
The feedback controller of the step 4) output are as follows: be based on H2/H∞Robust controller, the manipulation parameter of train operation is carried out micro-
It adjusts.
6. a kind of Active Fault-tolerant Control Method of railway transportation train stability according to claim 5, feature is in institute
Stating and establishing failure tolerant controlled load case database is first to select Robust Fault-tolerant Controller parameter according to each operating condition, then use
The mode of data form establishes fault condition database.
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| CN112637805A (en) * | 2020-12-11 | 2021-04-09 | 浙江大学 | Plug-and-play distributed estimation method for running state of high-speed train |
| CN113110130A (en) * | 2021-03-22 | 2021-07-13 | 青岛科技大学 | Control method for multi-train cooperative tracking operation |
| CN113595763A (en) * | 2021-06-30 | 2021-11-02 | 清华大学 | Fault-tolerant control method and device, fault-tolerant controller and storage medium |
| CN116643554A (en) * | 2023-06-01 | 2023-08-25 | 中国铁道科学研究院集团有限公司通信信号研究所 | Fault management method, system and equipment for ATP (adenosine triphosphate) vehicle-mounted equipment of high-speed railway |
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| CN112637805B (en) * | 2020-12-11 | 2022-02-11 | 浙江大学 | Plug-and-play distributed estimation method for running state of high-speed train |
| CN113110130A (en) * | 2021-03-22 | 2021-07-13 | 青岛科技大学 | Control method for multi-train cooperative tracking operation |
| CN113595763A (en) * | 2021-06-30 | 2021-11-02 | 清华大学 | Fault-tolerant control method and device, fault-tolerant controller and storage medium |
| CN113595763B (en) * | 2021-06-30 | 2022-11-25 | 清华大学 | Fault-tolerant control method and device, fault-tolerant controller and storage medium |
| CN116643554A (en) * | 2023-06-01 | 2023-08-25 | 中国铁道科学研究院集团有限公司通信信号研究所 | Fault management method, system and equipment for ATP (adenosine triphosphate) vehicle-mounted equipment of high-speed railway |
| CN116643554B (en) * | 2023-06-01 | 2023-11-28 | 中国铁道科学研究院集团有限公司通信信号研究所 | Fault management method, system and equipment for ATP (adenosine triphosphate) vehicle-mounted equipment of high-speed railway |
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