Research On High Performance Braking Method Of EMUs Based On Sliding Mode Control And Consensus Algorithm

High-speed train is the mainstream carrier of China's passenger railway,which puts forward higher requirements for the operation control technology of EMUs(electric multiple units).Braking control algorithm is the key technology of operation control system of train,which determines many operation indicators of the train.Therefore,the brake algorithm of the EMU has become a hot research topic.EMUs has complex distributed structure characteristics,and there is input delay effect in braking process,impulse effect between adjacent carriages and unknown disturbance caused by changes in operating environment.All these disturbances greatly affect the tracking of target braking curve of the EMUs.In this paper,a brake controller with high tracking accuracy and strong robustness is designed,which is based on sliding mode variable structure control theory and consensus algorithm.Specific research contents are given as follows:Aiming at the problem of input delay and external disturbance in the braking process of the train,an Back-Stepping sliding mode control algorithm based on extended disturbance observer is proposed.Firstly,the mathematical model of braking system with input delay is constructed,and the non-singular linear transformation is introduced to transform the system into a controllable standard without delay.Secondly,the Back-Stepping sliding mode technology is used to design the braking controller,and the extended disturbance observer is introduced to deal with the mismatched uncertain disturbances to improve the anti-interference ability of the system.Finally,in order to verify the correctness of the algorithm,numerical simulation is carried out by using MATLAB simulation software.This paper investigates the coordinated braking strategy integrated with sliding mode control for multiple high-speed-train,to solve the problem of nonlinear couplers between trains and uncertainty during braking process.Firstly,a multi-agent model with coupling between adjective carriages and uncertain disturbance is established,and then a sliding mode consensus braking controller is designed.The consensus algorithm guarantees the consensus convergence of the speed of each carriage.The upper and lower bounds of sliding mode control technology are used to deal with the complex disturbances.Finally,it is demonstrated by simulation experiment that,the algorithm can well deal with compound disturbance term,and high accuracy is obtained during parking process.Consensus braking controller of EMU has weak anti-interference ability and the dynamic distances between adjacent carriages is difficult to control.A consensus cooperative braking algorithm with sliding mode observer is proposed.Firstly,distributed observers are designed to estimate the complex disturbance terms consisting of coupling forces and uncertainties,and feedback them to the controller.Secondly,a consensus control algorithm with artificial potential field is proposed to achieve consensus velocity tracking of each carriage on the target braking curve,and the artificial potential field function in the algorithm ensures that the adjacent distances are always kept in a safe range.Finally,the numerical simulation is carried out by using MATLAB simulation software,and the experiment is carried out based on RT-Lab hardware-in-the-loop platform to verify the effectiveness and correctness of the algorithm.