Research Paper:
Cooperative Active Disturbance Rejection Control for Heavy-Haul Trains
Zongying Song*, Shuo Li**,, Xiaoquan Yu***, Yingze Yang***, and Xingzhong Wang*
*China Shenhua Energy Company Limited
A815, 22 West Binhe Road, Andingmen, Dongcheng District, Beijing 100011, China
**Changsha University of Science and Technology
No.960, Section 2, Wanjiali South Road, Tianxin District, Changsha, Hunan 410004, China
Corresponding author
***College of Railway, Central South University
22 Shaoshan South Road, Tianxin District, Changsha, Hunan 410075, China
Cooperative control of multiple heavy-haul trains can improve the safety and efficiency of heavy-haul railway transportation. However, the influence of internal and external unknown disturbances for multiple heavy-haul trains is a serious obstacle, which will lead to imprecise train operation control. To address this issue, a cooperative active disturbance rejection control for heavy-haul trains is proposed. First, a multi-mass point longitudinal dynamic model of heavy-haul trains is established to meet the actual operation. Second, a cooperative active disturbance rejection controller is designed to estimate and compensate for the disturbance caused by the interaction between the trains and environment. Moreover, the extended state observer is leverage to estimate the nonlinear disturbance online, which enhances the resistance of multiple heavy-haul trains to nonlinear time-varying disturbance and suppresses the overshoots of train velocities and inter-train distance. Finally, the performance of the proposed method is verified in two different simulation scenarios: acceleration and deceleration conditions. The simulation results show that the proposed method reduces the maximum relative displacement by 38.9% and the velocity error by 54.5%.
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