引用本文:张昌琪,曾喆昭,曾 鹏.高速列车的ACPI速度控制策略研究[J].控制理论与应用,2025,42(9):1783~1788.[点击复制]
ZHANG Chang-qi,ZENG Zhe-zhao,ZENG Peng.Research on ACPI speed control strategy of high-speed train[J].Control Theory & Applications,2025,42(9):1783~1788.[点击复制]
高速列车的ACPI速度控制策略研究
Research on ACPI speed control strategy of high-speed train
摘要点击 2013  全文点击 158  投稿时间：2023-04-27  修订日期：2024-07-23
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DOI编号  10.7641/CTA.2024.30278
  2025,42(9):1783-1788
中文关键词  高速列车  ACPI  总扰动  鲁棒稳定性  抗扰动鲁棒性
英文关键词  high speed train  ACPI  total disturbance  robust stability  robustness against disturbance
基金项目  湖南省教育厅重点项目(21A0183)资助.
作者单位E-mail
张昌琪 长沙理工大学电气与信息工程学院 1350022636@qq.com 
曾喆昭* 长沙理工大学电气与信息工程学院  
曾 鹏 长沙理工大学电气与信息工程学院  
中文摘要
      针对高速列车运行时的速度跟踪控制问题,提出了一种应用自耦PI(ACPI)控制的速度跟踪控制方法.该方 法将列车所受阻力和外部扰动等一切扰动定义为总扰动,进而将高速列车非线性模型映射为一个等价的线性扰动 系统模型,据此建立了一个受控误差系统,并根据ACPI控制理论设计了高速列车速度控制器.通过理论证明了控制 系统的鲁棒稳定性和抗扰动鲁棒性.仿真结果表明:在直线路线上行驶时,使用自抗扰控制器的速度跟踪最大跟踪 误差是自ACPI控制器的1.5倍;在有弯道、斜坡、隧道等特殊路线上行驶时,使用滑模控制的速度跟踪控制器跟踪误 差是ACPI控制器的105倍,仿真实验验证了本文控制方法的有效性和优越性.相比于基于滑模控制和自抗扰控制的 速度跟踪控制器,本文控制方法具有控制器结构简单、参数少等突出优点.
英文摘要
      Aiming at the speed tracking control problem of high-speed train operation, a speed tracking control method based on auto-coupling proportional (ACPI) control is proposed. In this method, all disturbances such as the resistance and external disturbance of the train are defined as the total disturbance, and then the nonlinear model of the high-speed train is mapped into an equivalent linear disturbance system model. Based on this, a controlled error system is established, and the high-speed train speed controller is designed according to the ACPI control theory. The robust stability and anti-disturbance robustness of the control system are proved theoretically. The simulation results show that the maximum tracking error of the speed tracking using the active disturbance rejection controller is 1.5 times that of the self-ACPI controller when driving on a straight line. When driving on special routes such as curves, slopes, and tunnels, the tracking error of the speed tracking controller using sliding mode control is 10^5 times that of the ACPI controller. Simulation experiments verify the effectiveness and superiority of the control method in this paper. Compared with the speed tracking controller based on sliding mode control and active disturbance rejection control, the control method in this paper has the outstanding advantages of simple controller structure and few parameters.