A Robust Adaptive Cooperative Control Method for Actuation Wheelsets of High-Speed Train

Under the long-term operation of trains, the difference of actuators between driving motors and brake units may lead to severe uneven wear or fatigue damage of some wheelsets, thus shortening the service life of high-speed trains and endangering the safety of train operation. So using the control method to eliminate the nonuniform rolling wear/fatigue damage of actuation wheelsets is a very interesting and challenging issue. In this paper, robust adaptive observers are developed to identify uncertain dynamics of the train body and actuation wheelsets, based on which a uniform rolling-wear-based traction/braking control scheme is established. It is shown that with this controller, not only the common objective of traction/braking operation is achieved, but also actuator differences are completely compensated such that the same slip velocity is ensured for all actuation wheelsets during long-term operation. Both theoretical analysis and numerical simulations validate the effectiveness of the proposed control method.