摘要
为研究机车制动缸制动工况下其闸瓦受轮对椭圆形踏面挤压时的位置控制精度,考虑活塞与制动缸内壁非严格配合引起的压力漏损及轮瓦接触面作用力的时变非线性,建立了制动缸气动伺服系统的数学模型;基于非奇异终端滑模收敛快速、鲁棒性强的优点,提出了具有终端滑模面的自抗扰鲁棒控制器;采用引入加速度因子的细菌觅食算法对控制器参数进行寻优;引入模糊补偿因子对控制器中不可导点跳变和未建模动态进行抑制和补偿。仿真结果表明,非奇异终端滑模自抗扰控制器可实现在轮瓦接触面存在较大负载扰动及参数摄动工况下对位置输入指令的近似无偏跟踪,能够抑制控制量过零跳变,对参数慢时变漂移具有较强鲁棒性。
For the study of position control precision of brake shoe of locomotive brake cylinder,which was extruded by pressure from oval wheel tread while braking,a mathematical model of brake cylinder pneumatic servo system was established after considering time-varying nonlinearity of the force between wheel and tile and the pressure leakage caused by negatively strict coordination between piston and inner cylinder wall.ADRC robust controller was introduced with non-singular terminal sliding mode surface in the light of its fast convergence and strong robustness;bacterial foraging algorithm with acceleration factor was proposed to optimize the parameters of ADRC;fuzzy compensation factor was recruited to suppress and compensate the non-differentiable point jump and non-modeled dynamics.The simulation results demonstrate that ADRC with nonsingular terminal sliding mode,boasting of approximately unbiased tracking to input position command under circumstances of significant fluctuation on the surface of wheel tile and parameter perturbation in brake cylinder,has capacity of effective restraint to zero crossing jump of control signal and robustness to slow time-variation parameters.
作者
刘芳璇
谢程程
彭慧
王桂荣
LIU Fang-xuan;XIE Cheng-cheng;PENG Hui;WANG Gui-rong(Xi'an Railway Vocational and Technical Institute,Xi'an 710026,China;Department of Physics,Kashgar teachers' college,Kashgar 844000,China)
出处
《组合机床与自动化加工技术》
北大核心
2018年第12期70-73,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金资助项目(51505373
61640314)
陕西省教育厅自然科学研究项目:电力机车单元制动器系统建模及其控制技术研究(18JK1111)
关键词
机车制动缸
非奇异终端滑模
自抗扰鲁棒控制
加速度因子细菌觅食算法
模糊补偿因子
locomotive brake cylinder
non-singular terminal sliding mode
ADRC robust control
bacterial foraging algorithm with acceleration factor
fuzzy compensation factor
