- ISSN 0258-2724
- CN 51-1277/U
- EI Compendex
- Scopus
- Indexed by Core Journals of China, Chinese S&T Journal Citation Reports
- Chinese S&T Journal Citation Reports
- Chinese Science Citation Database
| Citation: | LI Zhongqi, YU Jianfeng, ZHOU Liang. Sliding Mode Active Disturbance Rejection Control Method for Heavy-Haul Trains During Operation[J]. Journal of Southwest Jiaotong University, 2026, 61(1): 197-206, 242. doi: 10.3969/j.issn.0258-2724.20240120
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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.
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