Precise stop control of high-speed trains based on refined adaptive terminal sliding mode control

This paper aims to realize precise stop control of high-speed trains with the air-electric combined characteristics under complex scenarios, including external disturbances and the time delay of the braking system. To describe the train braking process, a dynamic model and a braking system model which refine the air and electric braking methods as well as their three working modes are established. For better control performance, multiple disturbances and uncertainties during the actual stopping process of high-speed trains are analyzed and accurately modeled. Then, applying the principle of terminal sliding mode control, meanwhile, combining with parameter adaptive and fuzzy control methods, the refined adaptive terminal sliding mode controller (RATSMC) is designed. The simulation results show that the stopping precision of RATSMC is 0.14m, which is improved by 71%, and the passenger comfort is improved by 68% compared with the classic terminal sliding mode controller (TSMC).