1. Anti-saturation sliding mode tracking algorithm for heavy-haul trains when actuator saturation occurs
- Author
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Jing He, Yu Long, and Chang Fan Zhang
- Subjects
Mechanical engineering and machinery ,TJ1-1570 - Abstract
To solve the problem that it is difficult to track the desired control target of a heavy load train accurately under the input saturation constraint, an anti-windup compensated terminal sliding mode control algorithm for a heavy load train is proposed in this work. First, based on an analysis of the train coupling force and an uncertain disturbance force, a multi-particle dynamic model of a single train is established. Second, an improved unbounded anti-windup compensator is designed and the saturation deviation correction method is used to cause the compensation factor to converge to zero, which means that the compensation factor limit problem that occurs in traditional anti-saturation compensators is eliminated. Then, in combination with the terminal sliding mode control algorithm, an unbounded anti-windup terminal sliding mode controller is constructed. This control method attenuates the effect of input saturation on the tracking accuracy for each locomotive; at the same time, the stability of the closed-loop system is verified based on Lyapunov stability theory. Finally, the effectiveness of the proposed algorithm in terms of its tracking accuracy and anti-saturation performance is verified experimentally.
- Published
- 2024
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