CAJ | 학술논문

停车精度高、舒适平稳、响应速度快是衡量列车自动驾驶系统控制性能的重要指标。本文针对城市轨道列车模型具体参数未知，因设备老化及环境变化造成的列车性能变化，及存在外界干扰等问题，设计了基于曲线跟踪的滑模P ID组合控制器。基于滑模控制技术，该控制器能驱动列车运行状态，使其达到事先指定的滑动超平面，使得列车能够跟踪理想目标运行曲线，完成站间运行并精确停车。系统仿真研究及实际应用表明，滑模P ID组合控制渐近稳定，且对列车系统参数不确定性和外界干扰具有较强的鲁棒性。
정차정도고、서괄평은、향응속도쾌시형량열차자동가사계통공제성능적중요지표。본문침대성시궤도열차모형구체삼수미지，인설비노화급배경변화조성적열차성능변화，급존재외계간우등문제，설계료기우곡선근종적활모P ID조합공제기。기우활모공제기술，해공제기능구동열차운행상태，사기체도사선지정적활동초평면，사득열차능구근종이상목표운행곡선，완성참간운행병정학정차。계통방진연구급실제응용표명，활모P ID조합공제점근은정，차대열차계통삼수불학정성화외계간우구유교강적로봉성。
High stopping accuracy , comfort and fast response are important performance indices of the ATO (automatic train operation) system . The compound controller of sliding mode control and PID control was de-signed to deal with variations of model parameters and environmental disturbances . On the basis of the sliding mode control technique , the designed controller could drive the running states of train to the pre-specified slid-ing hyper-plane to obtain the desired dynamic performance , and the train could track the kinematics curve of target accurately . Numerical simulations and practical applications show that the proposed control algorithm is of stabilizing control and of strong robustness to the inertia matrix uncertainty and external disturbances .