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LI Zhong-qi, XU Jian. High-speed EMU parking method based on improved fuzzy PID-Smith controller[J]. Journal of Traffic and Transportation Engineering, 2020, 20(4): 145-154. doi: 10.19818/j.cnki.1671-1637.2020.04.011
Citation: LI Zhong-qi, XU Jian. High-speed EMU parking method based on improved fuzzy PID-Smith controller[J]. Journal of Traffic and Transportation Engineering, 2020, 20(4): 145-154. doi: 10.19818/j.cnki.1671-1637.2020.04.011
shu

High-speed EMU parking method based on improved fuzzy PID-Smith controller

doi: 10.19818/j.cnki.1671-1637.2020.04.011
  • 1.

    Key Laboratory of Advanced Control and Optimization of Jiangxi Province, East China Jiaotong University, Nanchang 330013, Jiangxi, China

  • 2.

    School of Electrical and Automation Engineering, East China Jiaotong University, Nanchang 330013, Jiangxi, China

Funds:

National Natural Science Foundation of China 51565012

National Natural Science Foundation of China 61673172

National Natural Science Foundation of China 61991404

Natural Science Foundation of Jiangxi Province 20192BAB207026

More Information
  • Author Bio:

    LI Zhong-qi(1975-), male, professor, PhD, lzq0828@163.com

  • Received Date: 2020-04-12
  • Publish Date: 2020-04-25
    Abstract
  • To solve the problems of control model parameter change when the electric brake and air brake were switched in the EMU braking process and the large delay of air brake system, and improve the parking accuracy of EMU, an improved fuzzy PID-Smith controller was proposed. A second-order pure delay transfer function with respect to the running speed and braking force was established by analyzing the mechanical model of a single carriage in the braking process of EMU and considering the characteristics of braking process of trains. The discretized second-order pure delay transfer function was combined with the mechanical model of a single carriage to establish the multi-particle control model of EMU, and the characteristics of this control model were analyzed. An improved fuzzy PID-Smith controller was proposed. The Smith predicting controller was introduced to solve the large delay problem of air brake system during the braking process of EMU. The recursive least square method was used to identify the model parameters online to solve the problem of model parameter change when the electric brake switching to the air brake during the braking process of EMU. The fuzzy PID controller was used to replace the PID part of Smith predicting controller to solve the problems of PID parameter tuning difficulty and poor robustness. The software MATLAB was used to simulate the CRH380 A high-speed EMU. The controller was used to control the EMU to track the set speed under the conditions of different inbound speeds, different decelerations and different degrees of interferences, and the results were compared with those of fuzzy PID controller. Simulation result shows that the errors between the power unit speed and the set speed obtained by the improved fuzzy PID-Smith controller and fuzzy PID controller are within 0.4 and 1.0 km·h-1, respectively. The parking error obtained by the proposed controller and fuzzy PID controller are within 0.3 and 1.5 m, respectively. Therefore, the proposed controller satisfies the requirement that the parking error during the operation of high-speed EMU should be less than 0.3 m.

     

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