Robust adaptive nonsingular terminal sliding-mode control method of automatic train operation

Abstract

The invention discloses a robust adaptive nonsingular terminal sliding-mode control method of automatic train operation. The method comprises that S1) the bearing condition of vertical movement of a train is analyzed, and a train vertical movement power equation including unknown parameters, uncertainty and external interference is established; S2) a nonsingular terminal sliding-mode surface is constructed; S3) an adaptive law of estimated values of the unknown parameters and a parameter equation of parameters of the sliding mode surface are designed; and S4) the nonsingular terminal sliding-mode surface, the adaptive law of estimated values of the unknown parameters and the parameter equation of parameters of the sliding mode surface are substituted into the train vertical movement power equation including the unknown parameters, uncertainty and external interference, a nonsingular terminal sliding-mode closed-loop control equation is obtained, and the nonsingular terminal sliding-mode closed-loop control equation is used to implement robust adaptive nonsingular terminal sliding-mode control of automatic train operation. Thus, position and speed tracking errors of an ATO system can reach the sliding surface within limited time and converged to 0 within limited time.

Description

A Robust Adaptive Nonsingular Terminal Sliding Mode Control Method for Automatic Train Operation technical field The invention relates to the technical field of train control. More specifically, it relates to a robust adaptive non-singular terminal sliding mode control method for automatic train operation. Background technique With the large demand and development of modern railway transportation system, the pursuit of train running speed is very urgent and inevitable. Therefore, it is necessary to improve the performance of the current automatic train control (ATC) system to achieve high efficiency, high safety and high precision. The ATC system mainly includes three subsystems, namely automatic train monitoring (ATS) system, automatic train protection (ATP) system and automatic train operation (ATO) system. Among the three subsystems mentioned above, the ATO system can control all stages of train operation, such as automatic departure, acceleration, cruise, braking, pr...

AI Technical Summary

Problems solved by technology

The purpose of the present invention is to provide a robust adaptive non-singular terminal sliding mode control method for automatic train operation to solve the problem of position and speed tracking control under the influence of unknown parameters, model uncertainty and external disturbances

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