High-Speed EMU Sliding Mode Control Without Complex Mechanical Models
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Solution Overview
Problem
High-speed electric multiple units (EMUs) face challenges in accurate control due to nonlinear and coupling effects, making it difficult to establish reliable mathematical models, especially with multi-mass systems, which increases computational load and design complexity.
Innovation Solution
A data-driven integral sliding mode control method is introduced, involving kinetic analysis to convert EMU operation data into a multi-input-multi-output (MIMO) discrete-time nonlinear system, constructing a full format dynamic linearization (FFDL) data model with generalized disturbance, and designing equivalent and switching control laws to establish a MIMO integral sliding mode control law.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If model-based control methods are used for EMU control, then control scheme can be designed based on Newtonian mechanics, but the mechanism model establishment becomes extremely complicated due to multi-variable, strong coupling and nonlinearity characteristics
Solution Approach 1:
The patent replaces the traditional mechanical model-based control approach with a data-driven dynamic linearization model. Instead of using Newtonian mechanics to establish complex multi-mass EMU models, the invention uses input-output data from the EMU system to construct a linearized dynamic model that captures the essential behavior without requiring detailed mechanical parameters, thereby reducing model complexity while maintaining control reliability
Solution Approach 2:
The patent transforms the complex nonlinear multi-mass EMU model into a simplified dynamic linearization model by changing the representation parameters from physical mechanical parameters to data-driven parameters. This parameter transformation allows the system to be described using input-output relationships rather than complex mechanical equations, reducing the complexity of model establishment
2Device complexity
If data-driven modeling methods are used to reduce nonlinear and coupling relationship, then model complexity is reduced, but the premise requires obtaining accurate model structure and handling numerous accidental input and output data
Solution Approach 1:
The patent extracts only the essential input-output relationships from the complex EMU system without requiring complete knowledge of the internal nonlinear structure. By taking out and focusing on the measurable input-output data rather than the complete system model, the invention simplifies the modeling process while still capturing the dominant dynamic behavior for control purposes
Solution Approach 2:
The patent creates a simplified dynamic linearization model that copies the essential input-output behavior of the complex nonlinear EMU system. This copied model does not replicate the full complexity of the original system but captures the critical dynamic characteristics needed for control, making data processing more manageable
3Ease of manufacture
If simplified multi-mass model is established, then modeling difficulty is reduced, but decoupling must be considered when designing controller which increases computational load and design difficulty
Solution Approach 1:
The patent merges the handling of coupled variables into a unified dynamic linearization framework. Instead of separately decoupling each variable in the multi-mass system, the invention combines all input-output relationships into a single linearized model that naturally handles the coupling, thereby reducing computational load and simplifying controller design while maintaining modeling ease
Data Source
AI summary
A data-driven integral sliding mode control method, system and device for a high-speed electric multiple unit (EMU) is provided, which relates to the field of operation control of EMUs. The method includes performing kinetic analysis on an operation process of a high-speed EMU to enable an input and output data set of the EMU to be equivalent to a multi-input-multi-output (MIMO) discrete-time nonlinear system; constructing an EMU full format dynamic linearization (FFDL) data model involving a generalized disturbance based on the MIMO discrete-time nonlinear system; designing an equivalent control law and a switching control law based on the FFDL data model; and establishing a MIMO EMU integral sliding mode control law, thus controlling the operation of the high-speed EMU. According to the present disclosure, the integral sliding mode control law is deduced based on the FFDL data model to conduct nonlinear control of the EMU.