Disturbance Observer-Based Tracking Control of High-Speed Trains Under Adhesion Dynamics

Abstract

As the anti-skid control and speed tracking control of high-speed trains (HSTs) are interrelated and mutually constrained, it is very challenging to achieve simultaneous tracking of speed and slip ratio. In this paper, it is proposed for the first time that when the traction braking force has been limited to a reasonable range by the adhesion anti-skid condition, the high-precision tracking of the position and velocity curves of HSTs can be achieved, and the tracking error of the slip ratio is acceptable. Firstly, a novel modelling of the adhesion dynamics of HSTs under realistic gusts of wind disturbance is developed, and a model based on strict feedback is obtained by linearising the feedback for high-order non-linear systems. Then, this paper first presents the design scheme of fast terminal sliding mode controller based on disturbance observer for HSTs, which can ensure the anti-disturbance performance and accurate tracking of HSTs. Finally, an example is used to verify the validity of the results. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —The actual traction/braking force of HSTs is provided by adhesion, and the existing literature on slip ratio tracking essentially sacrifices the tracking performance of the traction/braking system to meet the anti-skid requirements, while considering velocity and position tracking alone may leave the train in an undesired condition such as “idling” or “skidding”. This paper seeks to achieve high accuracy tracking of velocity and position profiles of HSTs under restricting the slip ratio to a reasonable range, which is expected to be an effective method for train tracking controller design. To avoid discomfort to passengers, nonlinearities dynamics are considered and an anti-disturbance controller is designed to compensate the impact of natural wind disturbances. To enhance the practicality, feedback linearization is introduced to reduce the complexity of the controller implementation. The designed fast terminal sliding mode controller also avoids jitter and singularity problems and obtains finite time stability. The stability analysis and numerical simulation have confirmed the effectiveness of the proposed scheme, which still needs to be verified by experiments in the future.