Abstract
Active braking control systems are vital for the safety of high-speed trains by leading the train operation at its maximum adhesion state. The train adhesion is a nonlinear function of the slip ratio and varies with the uncertain wheel-rail contact conditions. A nonlinear active braking control with rapid and accurate tracking performance is highly required for train braking systems. This paper proposes a novel prescribed performance active braking control with reference adaptation to obtain the maximum adhesion force. The developed feedback linearization controller employs a prescribed performance function that specifies the convergence rate, steady-state error, and maximum overshoot to ensure the transient and steady-state control performance. Furthermore, in the designed control approach, a continuous-time unscented Kalman filter is introduced to estimate the uncertainty of wheel-rail adhesion. The estimation is utilized to represent uncertainty and compensate for the prescribed performance control law. Finally, based on the estimated wheel-rail adhesion, an on-line optimal slip ratio generation algorithm is proposed for the adaptation of the reference wheel slip. The stability of the system is provided, and experiment results validate the effectiveness of the proposed method.
Highlights
Accepted: 24 November 2021Active braking control is essential for high-speed trains to enhance safe and reliable train operation [1]
An advanced active braking control with a rapid and accurate tracking performance is highly required for train braking systems, where a reliable optimal slip ratio generation should be provided
This paper introduces a continuous-time unscented Kalman filter (CTUKF) algorithm to estimate the uncertain adhesion force Fa using the measurements of braking torque and wheel speed
Summary
Active braking control is essential for high-speed trains to enhance safe and reliable train operation [1]. Compared with road vehicles with pneumatic tyres, the railway transportation systems are less energy loss and lower adhesion between the rails and wheels [30] This low friction brings a higher requirement of the transient control performance for a train braking system, especially for high-speed trains. Motivated by the above discussions, a novel-prescribed performance active braking control based on a feedback linearization technique together with uncertainty estimation is proposed to achieve the optimal adhesion control of high-speed trains. Benefiting from the estimated adhesion, an on-line reference slip ratio generation algorithm is designed by using a forgetting factor recursive least squares Both the transient and steady-state control performance is strictly ensured by incorporating a prescribed performance function into this controller to enhance the braking safety.
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