Abstract
In the coordinated control of multiple motors for heavy-haul locomotives, the input value for a motor often exceeds its maximum allowable input value, resulting in the saturation problem. A traction total-amount coordinated tracking control (TACTC) strategy is proposed to address the input saturation of heavy-haul locomotives driven by multiple motors. This strategy reduces control input and suppresses input saturation. First, a multimotor traction model with uncertain parameter perturbations and external disturbances was established. Next, a sliding-mode disturbance observer (SMDO) was designed to reduce the sliding-mode switching gain, thereby decreasing the control input. An auxiliary anti-windup (AW) system was used to weaken the effect of input saturation on tracking performance. Then, the observed value and auxiliary state were fed back to the sliding-mode controller to design a TACTC protocol and ensure that the total amount of traction torque follows the desired traction characteristic curve. Finally, the Matlab/Simulink simulation and RT-Lab semiphysical experiment results show that the proposed strategy can effectively suppress the input saturation problem of multimotor coordinated control.
Highlights
Multiple motors together providing traction torque is a common traction-drive method used in heavy-haul locomotives. e complex and changeable running environment of locomotives often causes the loss of traction performance of the motors. e traction system can be safely and smoothly operated only when the total amount of traction torque provided by the multiple motors is consistent with the desired total amount [1, 2]. is condition implies the maximum utilization of the efficiency for multiple motors [3]
Input saturation problems are common in the coordinated control of multiple motors based on the theory of total traction torque consistency. ese problems seriously affect the overall traction performance of the locomotive and cause motor failure in severe cases. e word “saturation” originates from the integrator in proportional-integral control [6]
In [23], the disturbance was cancelled by increasing the sliding-mode switching gain; this process reduces the complexity of the system, it increases the control input and may cause input saturation. Us, it appears that the literature contains no reports on the input saturation of consistent total traction torque-oriented multimotor coordination. erefore, based on an actual system of heavy-haul locomotives, a total-amount coordinated tracking control framework was constructed in this study. is framework addresses the input saturation, considering the sliding-mode disturbance observer (SMDO) and auxiliary AW system
Summary
Multiple motors together providing traction torque is a common traction-drive method used in heavy-haul locomotives. e complex and changeable running environment of locomotives often causes the loss of traction performance of the motors. e traction system can be safely and smoothly operated only when the total amount of traction torque provided by the multiple motors is consistent with the desired total amount [1, 2]. is condition implies the maximum utilization of the efficiency for multiple motors [3]. Multiple motors together providing traction torque is a common traction-drive method used in heavy-haul locomotives. Input saturation problems are common in the coordinated control of multiple motors based on the theory of total traction torque consistency. Erefore, based on an actual system of heavy-haul locomotives, a total-amount coordinated tracking control framework was constructed in this study. Is work presents great improvement over the previous works: the problem of input saturation in coordinated control of multiple motors is solved, and the theory of totalamount consistency is improved. E state of the auxiliary system was introduced into the design of the controller to effectively suppress the influence of input saturation on the overall traction performance of multiple motors.
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