Volume 23 Issue 2
Apr.  2023
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LI Zhong-qi, HUANG Lin-jing, ZHOU Liang, YANG Hui, TANG Bo-wei. Sliding mode active disturbance rejection adhesion control method of high-speed train[J]. Journal of Traffic and Transportation Engineering, 2023, 23(2): 251-263. doi: 10.19818/j.cnki.1671-1637.2023.02.018
Citation: LI Zhong-qi, HUANG Lin-jing, ZHOU Liang, YANG Hui, TANG Bo-wei. Sliding mode active disturbance rejection adhesion control method of high-speed train[J]. Journal of Traffic and Transportation Engineering, 2023, 23(2): 251-263. doi: 10.19818/j.cnki.1671-1637.2023.02.018
shu

Sliding mode active disturbance rejection adhesion control method of high-speed train

doi: 10.19818/j.cnki.1671-1637.2023.02.018
  • 1.

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

  • 2.

    State Key Laboratory of Performance Monitoring and Protecting of Rail Transit Infrastructure, East China Jiaotong University, Nanchang 330013, Jiangxi, China

Funds:

National Key Research and Development Program of China 2020YFB1713703

National Natural Science Foundation of China 52162048

National Natural Science Foundation of China 61991404

National Natural Science Foundation of China U2034211

Jiangxi Provincial Program for Academic and Technical Leaders Training of Major Disciplines 20213BCJ22002

More Information
  • Author Bio:

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

    ZHOU Liang(1997-), male, doctoral student, zl971125@163.com.

  • Received Date: 2022-10-21
  • Publish Date: 2023-04-25
    Abstract
  • In order to solve the problems of idling or sliding due to the change of rail surface during the operation of high-speed train so that train did not reach the maximum adhesive utilization, a sliding mode active disturbance rejection controller (SM-ADRC) of adhesion based on the maximum adhesion coefficient was designed. Considering the complex, time-varying and nonlinear characteristics of wheel-rail adhesion, a mechanical model of wheel-rail traction system was established based on the analysis of adhesion mechanism. The maximum likelihood estimation (MLE) method was used to identify the relevant parameters of different rail surfaces, and the maximum adhesion coefficient of the current rail surface was calculated to ensure that the train could always achieve the maximum adhesion utilization. The nonlinear error feedback control law in the active disturbance rejection control (ADRC) was improved by introducing the sliding mode algorithm, a SM-ADRC algorithm of adhesion was designed, the Levant tracking differentiator was used to reduce the initial tracking error, and the extended state observer (ESO) was used to estimate and compensate the total external disturbance of the system. The robustness of the system was improved by the sliding mode control. The CRH380A high-speed train was simulated by the MATLAB software. When the rail surface condition changed, the SM-ADRC of adhesion controlled the train to track the set speed, and was compared with the proportional-integral-differential (PID) controller, sliding mode controller and ADRC in the simulation results. Simulation results show that the maximum adhesion coefficient of the dry rail surface is 0.160, and the true value is identified at 16 s. The maximum adhesion coefficient of the wet rail surface is 0.106, and the true value is identified at 18 s. The speed tracking error range of the ADRC is within ±1 km·h-1, and the speed tracking error fluctuates greatly after the rail surface changes. The speed tracking error range of the SM-ADRC of adhesion is within ±0.4 km·h-1. After the rail surface changes, the speed tracking error fluctuates less, and the speed is more smooth and stable. The speed control tracking accuracy is higher than PID and sliding mode control methods. It can be seen that the proposed SM-ADRC of adhesion can realize the fast adhesion control of the train and achieve the maximum adhesion utilization.

     

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