Speed Tracking Control Of Heavy Haul Train Based On Active Disturbance Rejection Control

The development of heavy haul transportation is an important part of the strategy of transportation power,which is directly related to the development of national economy.However,due to the complex structure of the heavy haul train itself and the changeable operating environment,the train system has internal uncertainties and unknown disturbances from the outside,which directly affects the safety,high efficiency,stability,energy saving and other performance indicators of the train operation.Therefore,it is very important to study the model and control method of heavy haul train,so that the train can maintain the robustness and stability of the system under the condition of unmodeled dynamics,internal uncertainties and external disturbances,and it is of great significance to guarantee the safety and efficiency of the train operation.In order to solve the above problems,specific research has been done as follows:1、 According to the characteristics of the heavy haul train and its running route,this paper establishes a multi-particle model which can clarify the interaction force between the train compartment and reflect the actual situation of the train operation.However,in order to reduce the complexity of the model and facilitate the calculation and analysis,the train multi-particle model is transformed into the multi-particle unit-shift model on the premise of retaining the advantages of the multi-particle model.2、 Based on the multi-particle unit movement model of heavy haul train,the ADRC is designed to control the running state of the train by using the characteristics that the controller does not depend on the exact train model,can observe the unmodeled train dynamics and unknown external disturbances,and compensate the total disturbances with uncertainties.The simulation verification and analysis are carried out.In the simulation,the target speed curve of the train was set,and the controller parameters were adjusted and optimized by the improved genetic algorithm,so that the train could track the target speed curve under the control of the active disturbance rejection controller,and the effectiveness of the controller was reflected by the speed tracking error.3、 In this paper,an ADRC based on robust adaptive control is designed to reduce the complexity of parameter setting in ADRC.At the same time,not only can some parameters of the controller be updated automatically,but also the stability and robustness of the heavy haul train system can be maintained continuously under the influence of disturbance and uncertainty factors,so as to achieve the control purpose of tracking the target speed curve accurately.Finally,the simulation results are compared with the PID controller and the general ADR controller.In this paper,by studying the running characteristics of heavy haul trains,the multi-particle unit-shift model of trains is established,and the active disturbance rejection controller and the active disturbance rejection controller based on robust self-adaptation are designed so that the train can accurately track the target velocity curve.The simulation results show the effectiveness and advantages of the proposed method.