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Heavy haul train sliding mode tracking control method with input saturation

A heavy-duty train, tracking control technology, applied in the direction of transportation and packaging, transportation center control system, electric vehicles, etc., can solve the problems of engineering application defects, large boundaries, and less research on compensation signal boundaries, so as to make up for defects, The effect of narrowing the boundaries and facilitating engineering applicability

Active Publication Date: 2020-04-17
HUNAN UNIV OF TECH
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AI Technical Summary

Benefits of technology

This innovative device helps reduce the amount of power needed by an electric railway vehicle's main drive motor when starting or stopping movements without losing accuracy due to overheating caused by excessive heat generated during operation. Additionally, this device can improve trackability and prevent damage from external factors such as rainwater hitting its wheels causing them to lose traction with other vehicles. Overall, these improvements help increase efficiency and safety within the rail network while reducing costs associated therewith.

Problems solved by technology

The technical problem addressed in this patents relates to improving the performance of control systems used in high-speed railways such as automatic train stop equipment (ASO). Current methods have limitations when trying to maintain steady track operations over long distances or operating within specific constraints like road sectioning. This can lead to instabilities and errors in the movement of vehicles along rails.

Method used

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  • Heavy haul train sliding mode tracking control method with input saturation
  • Heavy haul train sliding mode tracking control method with input saturation
  • Heavy haul train sliding mode tracking control method with input saturation

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Embodiment Construction

[0039] The present invention will be further described below in combination with specific embodiments.

[0040] A sliding mode tracking control method for heavy-haul trains with input saturation, such as figure 1 shown; includes the following steps:

[0041] S1. Analyze the stress situation of the longitudinal motion of the heavy-duty train, establish the longitudinal motion dynamics equation aiming at the input saturation of the heavy-duty train, and obtain the train dynamics model; figure 2 as shown,

[0042] The dynamic equation of longitudinal motion is:

[0043]

[0044]

[0045]

[0046] Where, i=2,3···n-1, m i is the mass of the i-th carriage, x i and v i represent the displacement and velocity of the i-th car respectively, k i and h i are the elastic coefficient and damping coefficient of the i-th carriage, respectively.

[0047] The train dynamics model is:

[0048]

[0049] Among them, i=2,3···n-1, H i =1 / m i , d i =k i Δx i -k i-1 Δx i-1...

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Abstract

The invention discloses a heavy haul train sliding mode tracking control method with input saturation. The method comprises the following steps that S1, a longitudinal motion stress condition of a heavy haul train is analyzed, a longitudinal motion kinetic equation for input saturation of the heavy haul train is established, and a train kinetic model is obtained; S2, under the condition of considering input saturation, a novel dynamic auxiliary compensator is designed; S3, the stability of the dynamic auxiliary compensator is verified, and the boundary of a compensation signal is acquired andS4, under the condition of input saturation, an anti-saturation sliding mode controller is designed;S5, the stability of the system is provided to ensure that each carriage of the train stably tracksthe target curve. According to the invention, each carriage has good displacement and speed tracking precision, andthe dynamic auxiliary compensator is designed, so that the range of compensation signals is reduced, and the engineering applicability is enhanced.

Description

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Claims

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Application Information

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Owner HUNAN UNIV OF TECH
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