Model-free robust control method and system for pantograph with external disturbance

Abstract

The invention discloses a model-free robust control method and system for a pantograph with external disturbance. Collecting dynamic data in the running process of the train pantograph; establishing a train pantograph data model with external disturbance; estimating external disturbance; optimizing and updating pseudo partial derivative information in the train pantograph data model; designing a model-free robust control scheme for the train pantograph with external disturbance; optimizing and updating an error control gain and a disturbance compensation control gain in the control scheme; a model-free robust control scheme is adopted to calculate and obtain a control input signal, and the train pantograph is controlled until a control task is finished; the control method and system provided by the invention are not only suitable for the train pantograph with external disturbance, solve the disturbance compensation problem, reduce the modeling difficulty and reduce the computing resource consumption, but also have the application prospect of being popularized to other single-input single-output systems.

Description

Technical Field

[0001] The present invention belongs to the field of train pantograph control, and in particular relates to a model-free robust control method and system for a pantograph in the presence of external disturbances. Background Art

[0002] The pantograph on the roof of the train is the only way for the train to obtain current from the contact network, and its current collection quality is directly related to the operational safety of high-speed railways. Contact force is an important indicator for measuring the current collection quality. When the contact force between the pantograph and the contact network is too large, it will cause excessive wear of the contact wire and the pantograph; when the contact force is too small, it may cause an offline arc between the pantograph and the contact network, and even affect the safety of train operation.

[0003] Active pantograph control is one of the effective means to solve the problem of stable contact force. With the advancement of data acquisition technology, data-driven active pantograph control methods have become a research hotspot. Patents CN115635854A and CN116577991A propose adaptive contact force control methods based on machine learning. It should be noted that machine learning requires a lot of computing resources and time for offline training, which may be limited by the computing power of the controller on the pantograph. In addition, the pantograph has been operating outdoors for a long time, and its contact performance with the contact network is easily affected by external disturbances, which not only directly affects the current collection quality, but also threatens driving safety. The existing technology has not fully solved this problem. Therefore, there is an urgent need for a data-driven online control method that can achieve high-precision control of the pantograph under external disturbances, while reducing computing resource consumption to improve the safety and reliability of the train and reduce maintenance costs. Summary of the invention

[0004] In order to solve the problems existing in the background technology, the object of the present invention is to provide a model-free robust control method for a pantograph in the presence of external disturbances, the method comprising the following steps: Step (1): Collect dynamic data of the train pantograph operation process; Step (2): establishing a train pantograph data model with external disturbances, wherein the data model includes pseudo partial derivative information of the train pantograph; Step (3): Design an estimation algorithm to estimate the unknown external disturbance; Step (4): constructing a cost function and solving the cost function using a function extremum method, optimizing and updating the pseudo partial derivative information of the train pantograph in step (2); Step (5): designing a model-free robust control scheme for a train pantograph in the presence of external disturbances, wherein the control scheme includes an error control gain and a disturbance compensation control gain; Step (6): constructing a performance optimization objective function and solving the objective function using a gradient descent method, optimizing and updating the error control gain and the disturbance compensation control gain in step (5); Step (7): Based on the error control gain and the disturbance compensation control gain optimized and updated in step (6), the train pantograph is controlled using the control input signal calculated by the model-free robust control scheme in step (5); Repeat the above steps (1) to (7) until the control task is completed.

[0005] According to the model-free robust control method for pantographs in the presence of external disturbances provided by the present invention, the dynamic data of the pantograph operation process of the train is collected in step (1), and the dynamic data at least includes a set value of the contact force between the pantograph and the contact network, and a real-time value of the contact force between the pantograph and the contact network.

[0006] According to the model-free robust control method for pantographs with external disturbances provided by the present invention, in step (2), a train pantograph data model with external disturbances is established, and the data model is established as follows: ; in, is the sampling time, for The real-time value of the contact force between the pantograph and the contact network at the sampling moment, ; for The control input signal of the train pantograph at the sampling moment, ; for The estimated value of the external disturbance at the unknown sampling time, ; , for Pseudo partial derivative information of the train pantograph at the sampling moment.

[0007] According to the model-free robust control method for pantographs with external disturbances provided by the present invention, in step (3), an estimation algorithm is designed to estimate the unknown external disturbances, and the estimation algorithm is: ; in, is the sampling time, for The estimated value of the external disturbance at the unknown sampling time, ; is an adjustable factor; is the limiting factor; , for Pseudo partial derivative information of train pantograph at sampling time; for The real-time value of the contact force between the pantograph and the contact network at the sampling moment, ; for The control input signal of the train pantograph at the sampling moment, .

[0008] According to the model-free robust control method for pantographs in the presence of external disturbances provided by the present invention, the cost function is constructed in step (4) and the cost function is solved by using the function extremum method, and the pseudo partial derivative information of the train pantograph in step (2) is optimized and updated, including the following steps: Step (4.1): Pseudo partial derivative information Construct the cost function: ; in, is the sampling time, Represents a function; , for Pseudo partial derivative information of train pantograph at sampling time; for The real-time value of the contact force between the pantograph and the contact network at the sampling moment, ; for The control input signal of the train pantograph at the sampling moment, ; for The estimated value of the external disturbance of the train pantograph at the sampling time, ; is the first weight coefficient; ; Step (4.2): Use the function extreme value method to solve the cost function in step (4.1), and substitute the estimated value of the external disturbance obtained in step (3) to obtain the pseudo partial derivative information of the train pantograph. The update law of: ; in, is the first step length coefficient; Step (4.3): Pseudo partial derivative information Construct the cost function: ; in, is the second weight coefficient; ; Step (4.4): Use the function extreme value method to solve the cost function in step (4.3), and substitute the estimated value of the external disturbance obtained in step (3) to obtain the pseudo partial derivative information of the train pantograph. The update law of: ; in, is the second step length coefficient.

[0009] According to the model-free robust control method for pantographs in the presence of external disturbances provided by the present invention, the design of a model-free robust control scheme for train pantographs in the presence of external disturbances in step (5) is performed, and the mathematical expression of the control scheme is: ; in, is the sampling time, for The control input signal of the train pantograph at the sampling moment; for The error control gain at the sampling time, for The disturbance compensation control gain at the sampling time; for The contact force error between the pantograph and the contact network at the sampling time, , for The contact force setting value between the pantograph and the overhead line at the sampling time, for Real-time value of contact force between pantograph and catenary at sampling time; ; for The estimated value of the external disturbance at the unknown sampling time; ; , is the controller pseudo order, is an integer.

[0010] According to the model-free robust control method for pantographs with external disturbances provided by the present invention, the step (6) of constructing a performance optimization objective function and solving the objective function using a gradient descent method, and optimizing and updating the error control gain and the disturbance compensation control gain in the step (5) include the following steps: Step (6.1): Construct performance optimization objective function: ; in, is the sampling time; for The contact force setting value between the pantograph and the overhead line at the sampling moment; for Real-time value of contact force between pantograph and catenary at sampling time; for The control input signal of the train pantograph at the sampling moment; is the penalty factor; Step (6.2): ​​Solve the objective function described in step (6.1) and optimize the updated error control gain : ; in, for Error control gain at the sampling moment; is the first learning rate; for Pseudo partial derivative information of train pantograph at sampling time; ; Step (6.3): Solve the objective function described in step (6.1) and optimize and update the disturbance compensation control gain : ; in, for The disturbance compensation gain matrix at the sampling time; is the second learning rate; .

[0011] The present invention also provides a model-free robust control system for a pantograph in the presence of external disturbances, comprising: Data acquisition module, used to collect dynamic data of the train pantograph operation process; A controller module, including a data model building submodule, a disturbance estimation submodule, a pseudo partial derivative updating submodule, a control scheme calculation submodule, and a control scheme updating submodule; The data model establishment submodule is used to establish a train pantograph data model with external disturbances; The disturbance estimation submodule is used to design an estimation algorithm to estimate unknown external disturbances; The pseudo partial derivative updating submodule is used to construct a cost function and solve the cost function using a function extremum method, so as to optimize and update the pseudo partial derivative information of the train pantograph; The control scheme calculation submodule is used to design a model-free robust control scheme for train pantographs with external disturbances, wherein the control scheme includes an error control gain and a disturbance compensation control gain; The control scheme updating submodule is used to construct a performance optimization objective function and solve the objective function using a gradient descent method, and optimize and update the error control gain and disturbance compensation control gain of the control scheme calculation module; Actuator module, including air supply source, precision pressure regulating valve, and air bag; The air supply source is used to provide air pressure to the airbag; The precision pressure regulating valve is connected to the air supply source and the airbag, and is used to execute the control input signal calculated by the controller module, regulate the gas from the air supply source entering the airbag, and then regulate the air pressure of the airbag; The airbag is used to raise and lower the train pantograph according to the different air pressures of the airbag; The controlled object module includes a train pantograph, which is used to receive control input signals from the actuator module.

[0012] Furthermore, the present invention adopts the following technical solutions: A non-transitory computer-readable storage medium stores a computer program, which, when executed by a processor, implements the above-mentioned model-free robust control method for pantographs in the presence of external disturbances.

[0013] Furthermore, the present invention adopts the following technical solutions: An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for model-free robust control of a pantograph in the presence of external disturbances as described above is implemented.

[0014] The beneficial technical effects of the present invention are: (1) Solving the pantograph control problem in the presence of external disturbances: The present invention can effectively compensate for external disturbances, achieve high-precision pantograph control in complex environments, and greatly improve the reliability of the pantograph system; (2) Reduce modeling difficulty: Adopting a pure data-driven control method, there is no need to establish an accurate dynamic model, which simplifies the control system design and reduces R&D costs; (3) Reduce computing resource consumption: It adopts fully online computing, which has lower computing resource consumption and is easier to apply in practice. It is especially suitable for scenarios where the computing power of the pantograph controller is limited. (4) Broadening the scope of application: The control method and system proposed in the present invention are not only applicable to train pantographs with external disturbances, but can also be extended to other single-input single-output control systems with external disturbances, and have broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is the calculated mass model of the train pantograph; Figure 2 A schematic flow chart of a model-free robust control method for a pantograph in the presence of external disturbances provided by the present invention; Figure 3A schematic diagram of the connection modules of the pantograph model-free robust control system in the presence of external disturbances provided by the present invention. DETAILED DESCRIPTION

[0016] The present invention discloses a model-free robust control method and system for pantographs with external disturbances; the method includes collecting dynamic data of the pantograph operation process; establishing a pantograph data model with external disturbances; estimating external disturbances; optimizing and updating pseudo partial derivative information in the pantograph data model; designing a model-free robust control scheme for pantographs with external disturbances; optimizing and updating the error control gain and disturbance compensation control gain in the control scheme; using the model-free robust control scheme to calculate the control input signal, and controlling the pantograph until the control task is completed. The control method and system provided by the present invention are not only applicable to pantographs with external disturbances, solve the disturbance compensation problem, reduce the difficulty of modeling, and reduce the consumption of computing resources, but also have the application prospect of being extended to other single-input and single-output systems.

[0017] The following is a further clear and complete description of the pantograph model-free robust control method and system for the presence of external disturbances provided by the present invention in conjunction with the accompanying drawings: Figure 1 The calculated mass model of the train pantograph is given. The train pantograph includes the pantograph head, upper frame and lower frame. m 1. m 2. m 3 are the masses of the pantograph head, upper frame and lower frame respectively; k 1. k 2. k 3 are the stiffness of the pantograph head, upper frame and lower frame respectively; c 1. c 2. c 3 are the damping of the pantograph head, upper frame and lower frame respectively. Figure 2 A schematic flow chart of a model-free robust control method for a pantograph in the presence of external disturbances provided by the present invention is given; the present invention provides a model-free robust control method for a pantograph in the presence of external disturbances, the method comprising the following steps: Step (1): Collect dynamic data of the train pantograph operation process; Step (2): establishing a train pantograph data model with external disturbances, wherein the data model includes pseudo partial derivative information of the train pantograph; Step (3): Design an estimation algorithm to estimate the unknown external disturbance; Step (4): constructing a cost function and solving the cost function using a function extremum method, optimizing and updating the pseudo partial derivative information of the train pantograph in step (2); Step (5): designing a model-free robust control scheme for a train pantograph in the presence of external disturbances, wherein the control scheme includes an error control gain and a disturbance compensation control gain; Step (6): constructing a performance optimization objective function and solving the objective function using a gradient descent method, optimizing and updating the error control gain and the disturbance compensation control gain in step (5); Step (7): Based on the error control gain and the disturbance compensation control gain optimized and updated in step (6), the train pantograph is controlled using the control input signal calculated by the model-free robust control scheme in step (5); Repeat the above steps (1) to (7) until the control task is completed.

[0018] According to the model-free robust control method for pantographs in the presence of external disturbances provided by the present invention, the dynamic data of the pantograph operation process of the train is collected in step (1), and the dynamic data at least includes a set value of the contact force between the pantograph and the contact network, and a real-time value of the contact force between the pantograph and the contact network.

[0019] According to the model-free robust control method for pantographs with external disturbances provided by the present invention, in step (2), a train pantograph data model with external disturbances is established, and the data model is established as follows: ; in, is the sampling time, for The real-time value of the contact force between the pantograph and the contact network at the sampling moment, ; for The control input signal of the train pantograph at the sampling moment, ; for The estimated value of the external disturbance at the unknown sampling time, ; , for Pseudo partial derivative information of the train pantograph at the sampling moment.

[0020] According to the model-free robust control method for pantographs with external disturbances provided by the present invention, in step (3), an estimation algorithm is designed to estimate the unknown external disturbances, and the estimation algorithm is: ; in, is the sampling time, for The estimated value of the external disturbance at the unknown sampling time, ; is an adjustable factor; is the limiting factor; , for Pseudo partial derivative information of train pantograph at sampling time; for The real-time value of the contact force between the pantograph and the contact network at the sampling moment, ; for The control input signal of the train pantograph at the sampling moment, .

[0021] According to the model-free robust control method for pantographs in the presence of external disturbances provided by the present invention, the cost function is constructed in step (4) and the cost function is solved by using the function extremum method, and the pseudo partial derivative information of the train pantograph in step (2) is optimized and updated, including the following steps: Step (4.1): Pseudo partial derivative information Construct the cost function: ; in, is the sampling time, Represents a function; , for Pseudo partial derivative information of train pantograph at sampling time; for The real-time value of the contact force between the pantograph and the contact network at the sampling moment, ; for The control input signal of the train pantograph at the sampling moment, ; for The estimated value of the external disturbance of the train pantograph at the sampling time, ; is the first weight coefficient; ; Step (4.2): Use the function extreme value method to solve the cost function in step (4.1), and substitute the estimated value of the external disturbance obtained in step (3) to obtain the pseudo partial derivative information of the train pantograph. The update law of: ; in, is the first step length coefficient; Step (4.3): Pseudo partial derivative information Construct the cost function: ; in, is the second weight coefficient; ; Step (4.4): Use the function extreme value method to solve the cost function in step (4.3), and substitute the estimated value of the external disturbance obtained in step (3) to obtain the pseudo partial derivative information of the train pantograph. The update law of: ; in, is the second step length coefficient.

[0022] According to the model-free robust control method for pantographs in the presence of external disturbances provided by the present invention, the design of a model-free robust control scheme for train pantographs in the presence of external disturbances in step (5) is performed, and the mathematical expression of the control scheme is: ; in, is the sampling time, for The control input signal of the train pantograph at the sampling moment; for The error control gain at the sampling time, for The disturbance compensation control gain at the sampling time; for The contact force error between the pantograph and the contact network at the sampling time, , for The contact force setting value between the pantograph and the overhead line at the sampling time, for Real-time value of contact force between pantograph and catenary at sampling time; ; for The estimated value of the external disturbance at the unknown sampling time; ; , is the controller pseudo order, is an integer; specifically,

[0023] According to the model-free robust control method for pantographs with external disturbances provided by the present invention, the step (6) of constructing a performance optimization objective function and solving the objective function using a gradient descent method, and optimizing and updating the error control gain and the disturbance compensation control gain in the step (5) include the following steps: Step (6.1): Construct performance optimization objective function: ; in, is the sampling time; for The contact force setting value between the pantograph and the overhead line at the sampling moment; for Real-time value of contact force between pantograph and catenary at sampling time; for The control input signal of the train pantograph at the sampling moment; is the penalty factor; Step (6.2): ​​Solve the objective function described in step (6.1) and optimize the updated error control gain : ; in, for Error control gain at the sampling moment; is the first learning rate; for Pseudo partial derivative information of train pantograph at sampling time; ; Step (6.3): Solve the objective function described in step (6.1) and optimize and update the disturbance compensation control gain : ; in, for The disturbance compensation gain matrix at the sampling time; is the second learning rate; .

[0024] The present invention also provides a model-free robust control system for a pantograph in the presence of external disturbances, comprising: Data acquisition module, used to collect dynamic data of the train pantograph operation process; A controller module, including a data model building submodule, a disturbance estimation submodule, a pseudo partial derivative updating submodule, a control scheme calculation submodule, and a control scheme updating submodule; The data model establishment submodule is used to establish a train pantograph data model with external disturbances; The disturbance estimation submodule is used to design an estimation algorithm to estimate unknown external disturbances; The pseudo partial derivative updating submodule is used to construct a cost function and solve the cost function using a function extremum method, so as to optimize and update the pseudo partial derivative information of the train pantograph; The control scheme calculation submodule is used to design a model-free robust control scheme for train pantographs with external disturbances, wherein the control scheme includes an error control gain and a disturbance compensation control gain; The control scheme updating submodule is used to construct a performance optimization objective function and solve the objective function using a gradient descent method, and optimize and update the error control gain and disturbance compensation control gain of the control scheme calculation module; Actuator module, including air supply source, precision pressure regulating valve, and air bag; The air supply source is used to provide air pressure to the airbag; The precision pressure regulating valve is connected to the air supply source and the airbag, and is used to execute the control input signal calculated by the controller module, regulate the gas from the air supply source entering the airbag, and then regulate the air pressure of the airbag; The airbag is used to raise and lower the train pantograph according to the different air pressures of the airbag; The controlled object module includes a train pantograph, which is used to receive control input signals from the actuator module.

[0025] Furthermore, the present invention adopts the following technical solutions: A non-transitory computer-readable storage medium stores a computer program, which, when executed by a processor, implements the above-mentioned model-free robust control method for pantographs in the presence of external disturbances.

[0026] Furthermore, the present invention adopts the following technical solutions: An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for model-free robust control of a pantograph in the presence of external disturbances as described above is implemented.

[0027] Through the description of the above embodiments, it can be clearly understood by those skilled in the art that the facilities of the present invention can be implemented by means of software plus the necessary general hardware platform. The embodiments of the present invention can be implemented using an existing processor, or by a dedicated processor used for this purpose or other purposes for an appropriate system, or by a hard-wired system. The embodiments of the present invention also include non-transitory computer-readable storage media, which include machine-readable media for carrying or having machine-executable instructions or data structures stored thereon; such machine-readable media can be any available medium that can be accessed by a general or special-purpose computer or other machine with a processor. For example, such machine-readable media can include RAM, ROM, EPROM, EEPROM, CD-ROM or other optical disk storage, disk storage or other magnetic storage devices, or any other medium that can be used to carry or store the required program code in the form of machine-executable instructions or data structures, and can be accessed by a general or special-purpose computer or other machine with a processor. When information is transmitted or provided to a machine via a network or other communication connection (hard-wired, or wireless, or a combination of hard-wired and wireless), the connection is also considered a machine-readable medium.

[0028] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A model-free robust control method for pantographs with external disturbances, characterized in that: The method comprises the following steps: Step (1): Collect dynamic data of the train pantograph operation process; Step (2): establishing a train pantograph data model with external disturbances, wherein the data model includes pseudo partial derivative information of the train pantograph; Step (3): Design an estimation algorithm to estimate the unknown external disturbance; Step (4): constructing a cost function and solving the cost function using a function extremum method, optimizing and updating the pseudo partial derivative information of the train pantograph in step (2); Step (5): designing a model-free robust control scheme for a train pantograph in the presence of external disturbances, wherein the control scheme includes an error control gain and a disturbance compensation control gain; Step (6): constructing a performance optimization objective function and solving the objective function using a gradient descent method, optimizing and updating the error control gain and the disturbance compensation control gain in step (5); Step (7): Based on the error control gain and the disturbance compensation control gain optimized and updated in step (6), the train pantograph is controlled using the control input signal calculated by the model-free robust control scheme in step (5); Repeat the above steps (1) to (7) until the control task is completed.

2. The pantograph model-free robust control method for external disturbances according to claim 1, characterized in that: The step (1) collects dynamic data of the pantograph operation process of the train, and the dynamic data at least includes a set value of the contact force between the pantograph and the contact network and a real-time value of the contact force between the pantograph and the contact network.

3. The model-free robust control method for pantographs in the presence of external disturbances according to claim 1, characterized in that: In step (2), a train pantograph data model with external disturbance is established, and the data model is established as follows: ； in, is the sampling time, for The real-time value of the contact force between the pantograph and the contact network at the sampling moment, ; for The control input signal of the train pantograph at the sampling moment, ; for The estimated value of the external disturbance at the unknown sampling time, ; , for Pseudo partial derivative information of the train pantograph at the sampling moment.

4. The model-free robust control method for pantographs in the presence of external disturbances according to claim 1, characterized in that: In step (3), an estimation algorithm is designed to estimate the unknown external disturbance. The estimation algorithm is: ； in, is the sampling time, for The estimated value of the external disturbance at the unknown sampling time, ; is an adjustable factor; is the limiting factor; , for Pseudo partial derivative information of train pantograph at sampling time; for The real-time value of the contact force between the pantograph and the contact network at the sampling moment, ; for The control input signal of the train pantograph at the sampling moment, .

5. The pantograph model-free robust control method for external disturbances according to claim 4, characterized in that: The cost function is constructed in step (4) and the cost function is solved by using the function extreme value method to optimize and update the pseudo partial derivative information of the train pantograph in step (2), including the following steps: Step (4.1): Pseudo partial derivative information Construct the cost function: ； in, is the sampling time, Represents a function; , for Pseudo partial derivative information of train pantograph at sampling time; for The real-time value of the contact force between the pantograph and the contact network at the sampling moment, ; for The control input signal of the train pantograph at the sampling moment, ; for The estimated value of the external disturbance of the train pantograph at the sampling time, ; is the first weight coefficient; ; Step (4.2): Use the function extreme value method to solve the cost function in step (4.1), and substitute the estimated value of the external disturbance obtained in step (3) to obtain the pseudo partial derivative information of the train pantograph. The update law of: ； in, is the first step length coefficient; Step (4.3): Pseudo partial derivative information Construct the cost function: ； in, is the second weight coefficient; ; Step (4.4): Use the function extreme value method to solve the cost function in step (4.3), and substitute the estimated value of the external disturbance obtained in step (3) to obtain the pseudo partial derivative information of the train pantograph. The update law of: ； in, is the second step length coefficient.

6. The pantograph model-free robust control method for external disturbances according to claim 1, characterized in that: The design described in step (5) is a model-free robust control scheme for train pantographs in the presence of external disturbances. The mathematical expression of the control scheme is: ； in, is the sampling time, for The control input signal of the train pantograph at the sampling moment; for The error control gain at the sampling time, for The disturbance compensation control gain at the sampling time; for The contact force error between the pantograph and the contact network at the sampling time, , for The contact force setting value between the pantograph and the overhead line at the sampling time, for Real-time value of contact force between pantograph and catenary at sampling time; ; for The estimated value of the external disturbance at the unknown sampling time; ; , is the controller pseudo order, is an integer.

7. The pantograph model-free robust control method for external disturbances according to claim 6, characterized in that: The step (6) of constructing a performance optimization objective function and solving the objective function using a gradient descent method, and optimizing and updating the error control gain and the disturbance compensation control gain in the step (5), comprises the following steps: Step (6.1): Construct performance optimization objective function: ； in, is the sampling time; for The contact force setting value between the pantograph and the overhead line at the sampling moment; for Real-time value of contact force between pantograph and catenary at sampling time; for The control input signal of the train pantograph at the sampling moment; is the penalty factor; Step (6.2): ​​Solve the objective function described in step (6.1) and optimize the updated error control gain : ； in, for Error control gain at the sampling moment; is the first learning rate; for Pseudo partial derivative information of train pantograph at sampling time; ; Step (6.3): Solve the objective function described in step (6.1) and optimize and update the disturbance compensation control gain : ； in, for The disturbance compensation gain matrix at the sampling time; is the second learning rate; .

8. A model-free robust control system for pantographs with external disturbances, characterized in that: include: Data acquisition module, used to collect dynamic data of the train pantograph operation process; A controller module, including a data model building submodule, a disturbance estimation submodule, a pseudo partial derivative updating submodule, a control scheme calculation submodule, and a control scheme updating submodule; The data model establishment submodule is used to establish a train pantograph data model with external disturbances; The disturbance estimation submodule is used to design an estimation algorithm to estimate unknown external disturbances; The pseudo partial derivative updating submodule is used to construct a cost function and solve the cost function using a function extremum method, so as to optimize and update the pseudo partial derivative information of the train pantograph; The control scheme calculation submodule is used to design a model-free robust control scheme for train pantographs with external disturbances, wherein the control scheme includes an error control gain and a disturbance compensation control gain; The control scheme updating submodule is used to construct a performance optimization objective function and solve the objective function using a gradient descent method, and optimize and update the error control gain and disturbance compensation control gain of the control scheme calculation module; Actuator module, including air supply source, precision pressure regulating valve, and air bag; The air supply source is used to provide air pressure to the airbag; The precision pressure regulating valve is connected to the air supply source and the airbag, and is used to execute the control input signal calculated by the controller module, regulate the gas from the air supply source entering the airbag, and then regulate the air pressure of the airbag; The airbag is used to raise and lower the train pantograph according to the different air pressures of the airbag; The controlled object module includes a train pantograph, which is used to receive control input signals from the actuator module.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for model-free robust control of a pantograph in the presence of external disturbances as described in any one of claims 1 to 7 is implemented.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the model-free robust control method for pantographs in the presence of external disturbances is implemented as described in any one of claims 1 to 7.

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