基于多智能体系统的动车组预设性能鲁棒一致性控制
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1.西南交通大学信息科学与技术学院,四川省列车运行控制技术工程研究中心;2.通号城市轨道交通技术有限公司

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TP273

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国家自然科学基金(62303383),四川省科技计划项目(2024ZHCG0001, 2024NSFSC1493),上海轨道交通无人驾驶工程技术研究中心课题 (SUTC-2024KT-02)


Prescribed performance robust consensus control of EMU based on multi-agent system
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National Natural Science Foundation of China under Grant (62303383), Sichuan Science and Technology under Grants (2024ZHCG0001, 2024NSFSC1493), Shanghai Engineering and Technology Research Centre for Unmanned Train Control System for Rail Transit (SUTC-2024KT-02)

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    摘要:

    针对动车组运行过程中存在的集总扰动(未知时变扰动、附加阻力、单元间耦合力和基本阻力)、输入饱和及有限缓冲器行程等多重约束问题,联合人工势函数提出了一种基于多智能体理论的分布式有限时间预设性能鲁棒一致性控制器.首先,根据缓冲器行程的不同区间,提出一种新的势场力作用判断机制,并构建了基于相对速度和距离的自适应斥力势函数和引力势函数.其次,结合余弦函数和指数函数,提出一种新型的有限时间预设性能函数,有效约束了各动力单元跟踪误差的收敛边界与稳定时间.此外,引入扰动观测器和基于滤波补偿方法来处理集总扰动和输入饱和的影响.相较于现有方案,本研究的主要优势在于动车组系统的控制性能可预先得到保障,还能兼顾实际有限时间稳定性、串稳定性与动力单元安全间距保持,并具备更强的鲁棒性.最后,以CRH380A型高速动车组为研究对象,从理论分析和数值仿真两个层面验证了所提控制器的有效性与可行性.

    Abstract:

    To address the multiple constraints faced during the operation of EMU, including aggregated disturbances (unknown time-varying disturbances, additional resistance, inter-unit coupling forces, and basic resistance), input saturation, and limited buffer stroke, a distributed finite-time prescribed performance robust consensus controller based on multi-agent theory is proposed in combination with artificial potential function.First, according to the different working ranges of the buffer stroke, a new judging mechanism of potential force is proposed, and an adaptive repulsive and attractive potential functions are constructed using logarithmic function.Second, combining cosine function and exponential function, a novel finite-time prescribed performance function is designed, which effectively constrains the convergence boundary and settling time of the tracking errors of each power unit, thus achieving a predefined dynamic performance evolution.In addition, a nonlinear disturbance observer and a filter-based compensation approach are introduced to handle the effects of aggregated disturbances and input saturation.Compared with existing methods, the main advantage of this paper is that the control performance of the EMU system can be guaranteed in advance, while simultaneously ensuring practical finite-time stability, string stability and safe inter-unit spacing, and providing stronger robustness. Finally, with the CRH380A high-speed EMU as the research object, both theoretical analysis and numerical simulations are conducted to verify the effectiveness and feasibility of the proposed control method.

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  • 收稿日期:2025-09-22
  • 最后修改日期:2026-03-04
  • 录用日期:2026-03-05
  • 在线发布日期: 2026-03-16
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