Fault-tolerant Control of High-speed Trains with Uncertain Parameters and Actuator Failures Using Control Reallocation and Adaptive Control

Abstract

Because of increased requirements on the reliability, maneuverability and survivability of modern highspeed trains, more and more advanced control theory is applied against actuator failures. The control reallocation and adaptive control have long been attracting research interest in the field of fault-tolerant control, which is reflected in the design and development of powerful and complex control systems against actuator failures. In this paper we investigate the velocity tracking control problem of high-speed trains with multiple vehicles connected through couplers in the case of actuator failures. First, the multiple point-mass model is built and the common actuator failures of the train operation control system are divided into two types: stuck in a fixed value and loss of effectiveness. When plant inputs are stuck in a fixed value, a novel approach based on the control reallocation theory is implemented to ensure the system stability and performance. Meanwhile when the loss of the actuator effectiveness occurs, a robust adaptive fault-tolerant control method is applied. Then, the effectiveness of the proposed approach is also confirmed through numerical simulations based on a train similar to China Railways High-speed 5 (CRH5).