[1]薛振洲.具有齿隙输入的电力机车轮对自适应滑模控制[J].工业仪表与自动化装置,2018,(02):130-132.[doi:1000-0682（2018）02-0000-00]
　XUE Zhenzhou.Adaptive sliding mode control of wheel set on locomotive with backlash input[J].Industrial Instrumentation & Automation,2018,(02):130-132.[doi:1000-0682（2018）02-0000-00]
点击复制

具有齿隙输入的电力机车轮对自适应滑模控制

《工业仪表与自动化装置》[ISSN:1000-0682/CN:61-1121/TH]

Title:: Adaptive sliding mode control of wheel set on locomotive with backlash input

Author(s):: XUE Zhenzhou; Department of Railway Power Traction, Xi’an Railway Vocational and Technical Institute, Xi’an 710014,China

Keywords:: wheel set backlash; intermittent switching of driving direction; Nussbaum-type function; adaptive integral sliding mode control

摘要:: 为研究电力机车轮对受行车线路载荷冲击影响时的位置控制精度，考虑实际工况中齿隙传动的非线性以及外界干扰，建立了齿隙传动伺服系统的数学模型；针对具有齿隙输入和未知时变参数的非线性系统，结合齿轮传动方向间歇切换的实际工况，引入Nussbaum类型函数；基于滑模控制器收敛快速、鲁棒性强的优点，设计了自适应积分滑模控制器。理论分析和仿真结果表明，齿隙伺服系统闭环输出有界，滑模面抖振较小且收敛迅速，滑模面与跟踪误差一致有界并收敛于0。具有齿隙输入的伺服系统可实现在线路上存在载荷冲击及参数存在摄动的工况下对位置指令输入的近似无偏跟踪。

Abstract:: For the study of?position control precision of locomotive wheel sets impacted by track irregularity and interference, a mathematical model of backlash drive servo system was established after considering the driving nonlinearity and external disturbance. Nussbaum-type function was brought in to deal with intermittent switching of gear driving direction pertaining to the nonlinear system boasting of backlash input and unknown time varying parameters. Adaptive integral sliding mode controller was designed in the light of its fast convergence and strong robustness. Theoretical analyses and simulation results demonstrate that the backlash servo system has closed loop bounded output with the integral sliding mode surface abating its buffeting with fast constringency and tracking error uniformly bounded and converged to 0.The backlash servo system, which boasts of approximately unbiased?tracking to input?position command under circumstances of fluctuation and parameter?perturbation, has ideal output response with different control direction.

[1] 崔晶,王冰.电力机车总体及走行部[M].北京:中国铁道出版社,2014:2-3.

[2] 马艳玲.含齿隙环节伺服系统的补偿控制[D].西安:西安电子科技大学,2008.

[3] 马艳玲,黄进,张丹.基于反步自适应控制的伺服系统齿隙补偿[J].控制理论与应用,2008,25(6):1090-1094.

[4] 杜仁慧,吴益飞,陈威,等.电液伺服系统的非线性鲁棒自适应控制[J].控制理论与应用,2013,30(02):254-260.

[5] 郭健,姚斌,吴益飞,等.具有输入齿隙的一类非线性不确定系统自适应鲁棒控制[J].控制与决策,2010,25(10): 1580-1584.

[6] 朱胜,孙明轩,何熊熊.输入具有齿隙非线性特性的周期系统的自适应控制[J].控制理论与应用,2012,29(04): 535-538.

备注/Memo:: 收稿日期：2017-12-20
基金项目：国家自然科学基金资助项目(61203113)
作者简介：薛振洲(1963)，男，陕西西安人，实验师，硕士，主要从事电力机车控制技术研究。

更新日期/Last Update: 2018-04-15