Modeling And Control Of Subway Screen Door Dynamics System

As an important part of supporting facilities subway basis,platform screen door system not only can provide safe,quiet travel environment for passengers,to reduce the energy consumption of air conditioning and other facilities,the stable and efficient control to extend the service life of metro platform screen door system,to ensure metro safety and reliability has very important significance.It is of great engineering significance for the shielded door enterprises to study the modeling and control strategy of the dynamic system of the shielded door,realize the related functions of the subway shielded door and improve the stability of the operation of the shielded door.In this thesis,the metro shielding door control system research,to build the dynamic model of metro platform screen door system,verify the validity of the model,focusing on the singular perturbation method and constraint following control method of shielding door control strategy for research,based on the system,system uncertainty range known known,system uncertainty range unknown design of the controller,The effectiveness and superiority of the control strategy are verified by Matlab dynamic simulation.The main research contents of this thesis are as follows:(1)Based on the composition analysis of subway shield door system,the dynamics models of motor,synchronous belt,sliding door were established respectively,and the complete system dynamics model was obtained and simplified.The motion data acquisition scheme of the shield door was designed,and the input and output of the actual system were collected.Based on the comparison of Fourier filtering and wavelet filtering,the data preprocessing method based on wavelet filtering was determined.Summarize and classify data into training data and test data.Then,the model parameters were identified based on training data and genetic algorithm,and the validity of the model was verified by comparing test data with simulation data.(2)Analyze the control demand of subway shield door system,and transform the control demand into function optimization problem under constraint conditions.For the objective function and constraint are not convex functions,the intelligent particle swarm optimization algorithm is introduced to design parameters of the set S-shaped speed curve,and a better trajectory curve is obtained.Considering that the shield door system is flexible and underactuated,singular perturbation method is introduced to reduce the order of the model,and two fully actuated subsystems,slow system and fast system,are obtained.The constrained following control method is introduced to design the controllers of the two subsystems to meet the control requirements,and the Lyapunov stability verification is given.Based on Matlab dynamics simulation,compared with the traditional PID control method,the sliding door trajectory and input voltage are analyzed,and the effectiveness and superiority of the controller based on singular perturbation and constraint follow are verified.The effectiveness of the fast system controller in suppressing flexible oscillation is verified by comparing the control conditions under different flexible conditions.(3)The subway shield door system cannot obtain accurate dynamic model due to the size change of parts,inconsistent quality of sliding doors and unreasonable installation.This problem is classified as a control problem with known uncertainty range.Aiming at the uncertainty problem,the uncertain dynamics model of subway screen door system was established,and a robust controller was introduced to make the influence of uncertainty bounded,so as to control the constraint following error to meet the control requirements.A robust controller based on constraint following method is designed and lyapunov stability is verified.Based on Matlab dynamics simulation,the effectiveness and superiority of the robust controller were verified by comparing the non-robust controller,the synovial controller and the single slow system controller.For 10 groups of randomly generated parameters within 20%of the standard value,the robust controller can meet the control requirements.(4)For the further study of the uncertainty of subway screen door system,the adaptive method is introduced to linearly decompose the uncertain boundary under the unknown uncertainty range,and two adaptive controllers are designed.robust controller+adaptive method,update method of uncertain boundary based on adaptive robust controller;The adaptive controller compensates the uncertainty based on the adaptive method,and introduces the least square method to identify the uncertain parameters and initialize the adaptive parameters to reduce the adaptive time in view of the long adaptive time of the adaptive controller and the reciprocating motion characteristics of the subway shield door system.Dynamics simulation analysis based on Matlab verifies the effectiveness and superiority of adaptive controller compared with fuzzy PID,robust controller with known uncertainty range and robust controller+adaptive method.For 10 groups of randomly generated parameters within 40%of the standard value,the adaptive controller can meet the control requirements.The work done in this thesis has important theoretical significance to promote the optimization of subway screen door system control and the development of intelligent operation and maintenance of subway screen door system.