Design of distributed cooperative observer for heavy-haul train with unknown displacement

Wei-Rong Liu; Dong-Yang Wang; Kai Gao; Zhi-Wu Huang

Design of distributed cooperative observer for heavy-haul train with unknown displacement

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Author(s): Wei-Rong Liu ¹ ; Dong-Yang Wang ¹ ; Kai Gao ² ; Zhi-Wu Huang ¹
- Affiliations: 1: School of Information Science and Engineering, Central South University, Changsha, Hunan, People's Republic of China ;
  2: College of Automotive and Mechanical Engineering, Changsha University of Science & Technology, Changsha, Hunan, People's Republic of China
Source: Volume 11, Issue 4, May 2017, p. 239 – 247
DOI: 10.1049/iet-its.2016.0154 , Print ISSN 1751-956X, Online ISSN 1751-9578

Received 02/06/2016, Accepted 28/02/2017, Revised 23/01/2017, Published 03/03/2017

Acquiring the relative displacement of adjacent vehicles when designing a distributed controller for a heavy-haul train is a critical issue. As heavy-haul trains run in complex, varying environments, the relative displacement of adjacent vehicles may not be measured accurately. To address this issue, this study proposes a distributed cooperative observer to estimate the relative displacement among train vehicles. First, a mass-point elastic-coupled dynamic model is constructed to capture the relative displacement of a heavy-haul train, and the complex model is further decomposed into a series of reduced double integrators. Then, a distributed cooperative dynamic observer is designed for each reduced double integrator. State information is shared via communication among neighbouring observers to accurately estimate the relative displacements of the vehicles under system noise. The convergence of the cooperative observer error is analysed using a Riccati equation. Finally, the performance of the closed-loop heavy-haul train control system combined with the cooperative observer is rigorously evaluated using real parameter settings of Shuohuang Railway in China.

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Design of distributed cooperative observer for heavy-haul train with unknown displacement

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