基于状态估计的高速受电弓鲁棒预测控制

doi:10.19595/j.cnki.1000-6753.tces.200047

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摘要受电弓-接触网系统在高速列车获取电能的过程中起着至关重要的作用,受电弓与接触网之间连续、平稳的接触状态是保证高速列车高质量获取电能的关键因素。随着列车运行速度提高,弓网之间的振动更加剧烈,受流质量变差。为减小弓网振动,提高受流质量,提出一种基于状态估计的受电弓鲁棒预测控制策略。首先,为获得复杂电磁环境下的受电弓状态,给出一种基于鲁棒卡尔曼滤波器的受电弓状态估计方法;然后,将接触力跟踪误差的积分增广至受电弓-接触网系统状态空间方程中,并在考虑控制变量和输出变量约束的基础上,设计鲁棒预测控制器;最后在非线性受电弓-接触网模型中,验证控制器在不同工况下的有效性和鲁棒性。仿真结果表明,所提的状态估计方法能精确获得受电弓状态,控制器能在受电弓参数摄动的情况下,减小受电弓-接触网接触力的标准差,提高高速列车受电弓-接触网受流质量。

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关键词 ：高速受电弓, 量测数据丢失, 状态估计, 鲁棒预测控制

Abstract：Pantograph-catenary system plays an important role in the process of obtaining electric energy for high-speed trains. The continuous and stable contact state between pantograph and catenary is the key factor to ensure high-quality power acquisition for high-speed trains. With the increase of train speed, the vibration between pantograph and catenary becomes more severe, and the current collection quality becomes worse. In order to reduce the vibration of pantograph and improve the current collection quality, a robust predictive control strategy based on state estimation was proposed. Firstly, in order to obtain the pantograph state in complex electromagnetic environment, a method of state estimation of pantograph based on robust Kalman filter was proposed. Then, The integral of contact force tracking error was extended to the state space equation of pantograph catenary system, and a robust predictive controller was designed based on the control variables and output variables constraints. Finally, in the nonlinear pantograph catenary model, the effectiveness and robustness of the controller under different working conditions were verified. The simulation results show that the proposed state estimation method can accurately obtain the pantograph state, and the controller can reduce the standard deviation of pantograph catenary contact force and improve the pantograph catenary current collection quality of high-speed trains when the pantograph parameters are perturbed.

Key words： High-speed pantograph missing measurement state estimation robust predictive control

收稿日期: 2020-01-15

PACS:

TM571

基金资助:国家自然科学基金资助项目（U1734202, 51405401）

通讯作者: 张静,女,1979年生,副教授,硕士生导师,研究方向为高速铁路受电弓主动控制,高速弓网受流特性。E-mail：sdzj2006@126.com

作者简介: 宋宝林,男,1996年生,硕士,研究方向为高速铁路受电弓主动控制。E-mail：18382264898@163.com

引用本文:

张静, 宋宝林, 谢松霖, 张翰涛, 刘志刚. 基于状态估计的高速受电弓鲁棒预测控制[J]. 电工技术学报, 2021, 36(5): 1075-1083. Zhang Jing, Song Baolin, Xie Songlin, Zhang Hantao, Liu Zhigang. Robust Predictive Control of High-Speed Pantograph Based on State Estimation. Transactions of China Electrotechnical Society, 2021, 36(5): 1075-1083.

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