Adaptive Terminal Sliding Mode Control for High-Speed EMU: A MIMO Data-Driven Approach

In this study, a novel data-driven discrete-time sliding mode control (DSMC) approach is designed for an electric multiple unit (EMU) velocity tracking control system. First, the input/output (I/O) data of the EMU are equivalently modeled as a full-format dynamic linearized (FFDL) data model to facilitate the generation of a data-driven control scheme. Subsequently, a discrete terminal sliding mode function and a new hyperbolic reaching-law are introduced to simultaneously achieve fast convergence and alleviate chattering. Based on the designed sliding mode function and reaching-law, an improved discrete-time terminal sliding mode control (iDTSMC) approach is derived using the FFDL model. The proposed approach considers the error feedback, parameter estimation errors, and total uncertainties for compensation, to achieve better control performance. The key advantages of this approach include its sole utilization of input-output data from the EMU system, low controller order, robust parameter adaptability, and anti-interference capabilities. After providing the stability analysis of the proposed method, the iDTSMC scheme is compared and tested on a simulated CRH380A high-speed train experimental platform in a laboratory. The simulation results show that the velocity tracking errors of each power unit of the EMU under the proposed control scheme are within
$-$
0.112 km/h, 0.118 km/h, and the control forces and accelerations are within
$-$
51 kN, 43 kN and
$-$
0.952 m/s
$^2$
, 0.827 m/s
$^2$
, respectively, with stable fluctuations. Comparative experimental results demonstrate the effectiveness and superiority of the proposed strategy, which remains robust in the presence of disturbances.
Note to Practitioners
—This study is inspired by the problem of EMU operation control, however, it is also applicable to other systems with trajectory tracking characteristics. Existing automatic train driving control methods are usually based on a dynamics model of the train, which is easily affected by the external environment. In this study, a new data-driven control method is proposed. A discrete terminal sliding mode control function and a new hyperbolic reaching-law were designed based on a dynamic linearized data model equivalent to the EMU operation process. In contrast to similar existing works, the control scheme does not require an accurate EMU dynamic model and is easy to implement. Preliminary simulation experiments show that the method is feasible, however, it has not been incorporated into the train’s physical system, nor has it been tested in production. In future research, we plan to promote a combination of control theory and manufacturing practices.