Hierarchical multi-mode high-speed train speed controller based on H∞

To take advantage of the interference attenuation performance of H-infinity controller with the capability of high-speed train taken into account, a hierarchical multi-mode high-speed train speed controller is proposed. There are two modes in the controller. They are the H-infinity control mode and the uphill section mode. The H-infinity controller can keep track of the reference speed and position, but it will lose control of the train when it comes to the steep uphill sections due to the limit of train capacity. The uphill section mode uses full power of the train before the train arrives at the steep uphill sections and makes full use of the kinetic energy to pass them. But the train will be not on schedule because the position tracking error is enlarged in this mode. The tracking error correction eliminates the position error by adding a temporary increment on the reference speed. The upper controller detects the operation state of the train and decides when to change mode and make tracking error correction. The simulation proves that the controller not only has good speed tracking performance under gust interferences, but also keep the train arriving on time even if there are successive steep uphill sections in the line condition.