一种组合趋近律准滑模控制的列车停车算法

摘要

In view of the complexity of external unknown disturbance and variation of parameters between operation cycles, the sliding mode controller was designed based on the combination of reaching laws. Combination reaching law control combined the advantages of general reaching law and variable reaching law control. It requires no additional secondary controller to eliminate the chattering and its structure is simple. The stopping control process was completed through tracking the ideal curve. The simulation results show that the quasi-sliding mode control based on combination reaching law can not only stop precisely, but also have a fast response and good robust to disturbance and uncertainty simultaneously.%针对城轨列车运行过程外界未知干扰及运行周期中参数变动造成停车不准确的问题,设计准滑模变结构控制器和基于组合趋近律的控制算法,来实现停车控制.组合趋近律滑模控制是结合常规指数趋近律和变速趋近律2种趋近方式的优点,无需外加辅助控制器来消除抖振,结构简单.通过跟踪理想运动目标曲线,完成停车过程.研究结果表明:基于组合趋近律准滑模控制器在实现精确停车的同时,系统响应快,对外界干扰和不确定性具有较强的鲁棒性.