重载列车运行过程的滑模自抗扰控制方法

李中奇; 余剑烽; 周靓

doi:10.3969/j.issn.0258-2724.20240120

重载列车运行过程的滑模自抗扰控制方法

doi: 10.3969/j.issn.0258-2724.20240120

李中奇^{1, 2,},
余剑烽^{1, 2},
周靓^{1, 2}

1.
华东交通大学电气与自动化工程学院，江西南昌 330013
2.
华东交通大学轨道交通基础设施性能监测与保障国家重点实验室，江西南昌 330013

基金项目: 国家自然科学基金项目（52162048, 61991404, 52472342, 632363011）；

详细信息

作者简介:
李中奇（1975—），男，教授，研究方向为列车运行过程建模与控制，E-mail：lzq0828@163.com

中图分类号: U284
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- 被引次数: 0
出版历程
- 收稿日期: 2024-03-12
- 修回日期: 2024-09-24
- 网络出版日期: 2025-07-30

Sliding Mode Active Disturbance Rejection Control Method for Heavy-Haul Trains during Operation

LI Zhongqi^{1, 2
,},
YU Jianfeng^{1, 2},
ZHOU Liang^{1, 2}

1.
School of Electrical and Automation Engineering, East China Jiaotong University, Nanchang 330013, China
2.
State Key Laboratory of Performance Monitoring and Protecting of Rail Transit Infrastructure, East China Jiaotong University, Nanchang 330013, China

摘要

摘要:
为解决重载列车在复杂环境中运行时易因司机经验不足而导致控车难的问题，基于大秦线Locotrol同步控制原理，建立多机牵引的重载列车多质点动力学模型；针对主控机车设计控制器，将主控机车受到的车钩力、运行阻力及外界干扰等时变量的总和视为总未知量，同时，将总未知量的加速度作为扩张状态设计扩张状态观测器，对其进行实时估计与补偿；引入快速终端滑模控制对自抗扰控制中的非线性误差反馈控制率进行改进，并利用改进的自适应趋近率调节滑模趋近运动的动态品质；以编组形式为“1 + 105 + 1 + 105 + 可控列尾”的重载列车为例，结合大秦线的实际线路数据和金牌司机的驾驶经验进行仿真分析并与传统方法进行比较. 仿真结果表明：与传统滑模自抗扰控制方法相比，所提控制方法主从控机车的控制力抖振现象降低23.7%，跟踪精度提升19%，跟踪误差可被限定在（−0.7，0.7） km/h.
- 快速终端滑模自抗扰控制 /
- 重载列车 /
- 速度跟踪 /
- 自适应趋近率 /
- 大秦线
Abstract:
To resolve the difficulty in controlling heavy-haul trains operating in complex environments caused by insufficient driver experience, a multi-mass dynamic model for multi-locomotive traction was established based on the Locotrol synchronous control principle of the Datong–Qinhuangdao Railway. A controller was designed for the main locomotive, where the total time-varying unknowns, including coupler forces, running resistance, and external disturbances, were regarded as aggregated uncertainties. The acceleration of these uncertainties was further treated as an extended state, enabling real-time estimation and compensation via an extended state observer. Moreover, the fast terminal sliding mode control was introduced to improve the nonlinear error feedback control law in active disturbance rejection control, and an improved adaptive reaching law was employed to refine the dynamic quality of the sliding mode reaching motion. Simulations were conducted on a heavy-haul train with the formation of “1 + 105 + 1 + 105 + controllable end” by incorporating actual line data from Datong–Qinhuangdao Railway and expert driver experience, and compared with traditional methods. The simulation results demonstrate that, compared to conventional sliding mode active disturbance rejection control, the proposed method reduces control force chattering in master-slave locomotives by 23.7%, improves tracking accuracy by 19%, and confines tracking errors within ±0.7 km/h.
- fast terminal sliding mode active disturbance rejection control /
- heavy-haul train /
- speed tracking /
- adaptive reaching law /
- Datong–Qinhuangdao Railway

HTML全文

图 1 多机牵引的万吨重载列车纵向受力示意

Figure 1. Schematic diagram of longitudinal forces on a 10 000-ton heavy-haul train with multi-locomotive traction

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图 2 QKX100弹性胶泥缓冲器特性曲线

Figure 2. Characteristic curves of QKX100 elastic rubber buffer

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图 3 重载列车快速终端滑模自抗扰控制系统结构框图

Figure 3. Block diagram of fast terminal sliding mode active disturbance rejection control system for heavy-haul train

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图 4 空气制动控制逻辑流程

Figure 4. Logic flowchart of air brake control

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图 5 实验区段的线路信息

Figure 5. Line information of experimental section

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图 6 金牌司机的驾驶速度曲线

Figure 6. Driving speed curves of expert driver

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图 7 ESO和BESO的观测结果

Figure 7. Observation results of ESO and BESO

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图 8 ESO和BESO的观测误差

Figure 8. Observation error of ESO and BESO

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图 9 主控机车的控制力

Figure 9. Control force of main locomotive

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图 10 最大车钩力

Figure 10. Maximum coupler force

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图 11 全程车钩力

Figure 11. Coupler force along entire route

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图 12 速度跟踪误差对比

Figure 12. Comparison of speed tracking errors

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表 1 整列货运列车基本参数

Table 1. Basic parameters of whole freight train

参数名称	数值
列车车厢数量/节	210
单节机车质量/t	184
敞车满载质量/t	100
机车长度/m	35.222
货车长度/m	12.0
机车启动牵引力/kN	760
机车最大电制动力/kN	461

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表 2 制动参数

Table 2. Braking parameters

参数名称	HXD1	C80
制动缸直径/mm	225	254
制动缸压力/kPa	450	430
制动传动效率	0.95	0.9
制动缸个数/个	16	1
闸片/瓦个数/个	32	8
机车车轮半径/mm	1250	/
制动盘半径/mm	448	/

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表 3 性能指标对比

Table 3. Performance index comparison

控制方法	M_SE/×10⁻³	I_AFV
SMADRC-ESO	3.36	12.65
SMADRC-BESO	3.21	10.42
TSMADRC-BESO	2.72	9.65

下载: 导出CSV

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重载列车运行过程的滑模自抗扰控制方法

doi: 10.3969/j.issn.0258-2724.20240120

作者简介: 李中奇（1975—），男，教授，研究方向为列车运行过程建模与控制，E-mail：lzq0828@163.com

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出版历程

Sliding Mode Active Disturbance Rejection Control Method for Heavy-Haul Trains during Operation

计量

出版历程

目录

作者简介:
李中奇（1975—），男，教授，研究方向为列车运行过程建模与控制，E-mail：lzq0828@163.com