Chen Bin, Huang Zhiwu, Zhang Rui, Jiang Fu, Liu Weirong, Li Heng, Wang Jing, Peng Jun
School of Automation, Central South University, Changsha 410083, China.
School of Computer Science and Engineering, Central South University, Changsha 410083, China.
ISA Trans. 2021 Jun;112:302-314. doi: 10.1016/j.isatra.2020.11.027. Epub 2020 Dec 2.
Active braking control systems in high-speed trains are vital to ensure safety and are intended to reduce brake distances and prevent the wheels from locking. The slip ratio, which represents the relative difference between the wheel speed and vehicle velocity, is crucial to the design and successful implementation of active braking control systems. Slip ratio estimation and active braking control are challenging owing to the uncertainties of wheel-rail adhesion and system nonlinearities. Therefore, this paper proposes a novel adaptive slip ratio estimation approach for the active braking control based on an improved extended state observer. The extended state observer is developed through the augmentation of the system state-space to estimate the unmeasured train states as well as the model uncertainty. The accurate slip ratio is estimated using the observed extended states. Furthermore, the adaptability of the observer is improved by introducing the beetle antennae search algorithm to determine the optimal observer parameters. Finally, a feedback linearization braking control law is established to stabilize the closed-loop system due to its potential in coping with nonlinearities, which benefits the proven theoretical bounded stability. Experimental results validate the effectiveness of the proposed method.
高速列车的主动制动控制系统对于确保安全至关重要，旨在缩短制动距离并防止车轮抱死。滑移率表示车轮速度与车辆速度之间的相对差异，对于主动制动控制系统的设计和成功实施至关重要。由于轮轨黏着的不确定性和系统非线性，滑移率估计和主动制动控制具有挑战性。因此，本文提出了一种基于改进扩展状态观测器的主动制动控制新型自适应滑移率估计方法。通过扩充系统状态空间来开发扩展状态观测器，以估计未测量的列车状态以及模型不确定性。利用观测到的扩展状态估计准确的滑移率。此外，通过引入甲虫触角搜索算法来确定最优观测器参数，提高了观测器的适应性。最后，建立了反馈线性化制动控制律以稳定闭环系统，因为它具有应对非线性的潜力，这有利于已证明的理论有界稳定性。实验结果验证了所提方法的有效性。
