Sliding mode control for the speed loop combined with adaptive coefficients for urban trains’ load variations of Nhon – Hanoi Station Metro line

Abstract

Electric trains are becoming increasingly popular due to their environmental protection and ability to transport a large number of passengers. Alongside this trend, traction motors for electric trains have become diverse thanks to the rapid development of power electronics. Among them, the permanent magnet synchronous motor (PMSM) stands out with advantages such as high efficiency, high torque-to-current ratio, and compactness compared to other motors of the same power, making it the top choice. However, PMSM motors are nonlinear objects, so the nonlinear control technique of sliding mode control has been applied to the speed loop in this paper. Additionally, electric trains' inertial torque and load torque vary due to changes in the number of passengers during peak and off-peak hours and weather conditions. Therefore, this paper introduces two adaptive coefficients to account for these variations. Simulation results show that the sliding mode control technique for the speed loop circuit provides a faster and more accurate speed response. Meanwhile, the two parameters also adapt to the inertial and load torque variations. This ensures the safety and efficiency of the electric train system, contributing to the advantages of this mode of transportation.