Train speed control method based on fractional order sliding mode and Kalman filtering

The invention discloses a train speed control method based on a fractional order sliding mode and Kalman filtering, and belongs to the technical field of train control, the adopted Kalman filtering not only can eliminate measurement errors caused by system noise in the earlier stage, but also can reduce the buffeting phenomenon caused by sliding mode control, and the accuracy of train speed control is improved. Considering that a sliding mode of a sliding mode controller is irrelevant to parameters and disturbance of a system, proposing an improved Kalman filtering control algorithm based on sliding mode control, and introducing fractional calculus into a sliding mode switching function to further suppress a buffeting phenomenon; according to the method, the early-stage sensor data measurement error in a train speed control algorithm is effectively restrained, so that the actual control precision is improved, and meanwhile, the high response speed and the weak model dependence effect are kept. 本发明公开了一种基于分数阶滑模