Train fault-tolerant control method

Abstract

The invention provides a train fault-tolerant control method which comprises the following steps: carrying out train longitudinal motion stress analysis on the basis of a multi-mass-point model, and establishing a train nonlinear state space expression under an actuator fault by taking the real-time displacement and the real-time speed of each compartment as state variables; constructing a T-S fuzzy rule, and establishing a train T-S fuzzy control system expression; designing a disturbance observer, compensating the influence of modeling disturbance on the train drivability, and establishing a disturbance error state space expression; constructing a candidate sub-Lyapunov function, and solving a gain coefficient of the disturbance observer by using a linear matrix inequality; defining a train operation displacement tracking error and a speed tracking error based on a train operation reference trajectory, and designing a train operation fault-tolerant control method based on T-S fuzzy logic and a separation principle; and constructing a candidate Lyapunov function of the total system to verify the stability of the system, solving a controller gain coefficient by using a linear matrix inequality, and ensuring that the train can still maintain expected performance and operate safely when an actuator of the train fails.

Description

technical field [0001] The invention belongs to the technical field of train driving, and in particular relates to a train fault-tolerant control method. Background technique [0002] In recent years, with the rapid development of my country's trains, especially high-speed trains, the improvement of train driving technology has attracted widespread attention from scholars at home and abroad. Model accuracy is one of the key factors affecting train drivability. Most of the existing studies focus on the train single-particle model or multi-particle model. Among them, the single-mass model studies the train as a whole, ignoring the force between adjacent cars, and has a simple structure; the multi-mass model studies each car in the train as a particle, and considers the interaction between adjacent cars. force, the structure is more complex. [0003] However, in these studies on single-particle or multi-particle models, the establishment of the model is relatively simple, an...

AI Technical Summary

Problems solved by technology

[0006] The invention provides a train fault-tolerant control method to solve the technical problems of actuator failure, basic running resistance, external interference, and force of adjacent carriages affecting train drivability

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