Robust control of pantograph‐catenary system: Comparison of 1‐DOF‐based and 2‐DOF‐based control systems
Robust control of pantograph‐catenary system: Comparison of 1‐DOF‐based and 2‐DOF‐based control systems
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DOI：
10.1049/cth2.12190
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发表时间：
2021-09
影响因子：
2.6
通讯作者：
Pan Yu;Kang‐Zhi Liu;Xiaoli Li;M. Yokoyama
中科院分区：
文献类型：
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作者：
Pan Yu;Kang‐Zhi Liu;Xiaoli Li;M. Yokoyama
与控制带宽相比，许多具有两个自由度（2-DOF）的方法可以很好地抑制低频不确定性或阶跃信号等干扰。由于鲁棒性的限制，在技术上更具挑战性的是中频的抑制，特别是对于带宽有限的系统。在这里，等效输入扰动（EID）方法被扩展到处理受电弓-接触网系统的主要中频振荡。首先，开发了一个通用的EID估计器，其中低频估计器作为特例。然后，进行公平的比较，以澄清传统的1-DOF-为基础的和开发的2-DOF-为基础的控制系统之间的本质区别。此外，一个鲁棒稳定性条件推导出的2自由度的闭环控制系统。设计算法与设计准则一起提供，在参数设计中利用的不确定性的频率特性。最后，进行仿真，以验证开发的2自由度为基础的方法在现实环境中的弓网系统。
Compared to control bandwidth, low‐frequency uncertainties or disturbances like step signals can be well rejected by many methods having two‐degree‐of‐freedom (2‐DOF). Due to robustness constraint, technically more challenging is the rejection of medium frequencies, especially for bandwidth‐limited systems. Here, the equivalent‐input‐disturbance (EID) approach is extended to deal with the main medium‐frequency oscillation of a pantograph‐catenary system. First, a general EID estimator is developed with a low‐frequency estimator as a special case. Then, a fair comparison is conducted to clarify the essential differences between the conventional 1‐DOF‐based and the developed 2‐DOF‐based control systems. Furthermore, a robust stability condition is derived for the 2‐DOF‐based closed‐loop control system. A design algorithm together with design guidelines is provided, where the frequency characteristics of the uncertainties are utilized in the parameter design. Finally, simulations are carried out to validate the developed 2‐DOF‐based method for the pantograph‐catenary system in realistic environment.