Control of creep ratio constraint for heavy-haul trains based on finite time

To ensure the safe and smooth operation of heavy-haul trains and to prevent safety issues such as wheel slip/slide or derailment, a creep ratio controller with soft constraints is designed. The adhesive constraint controller adopts an obstacle Lyapunov function-based approach, considering the dynamics model of heavy-haul trains and taking into account the adhesion mechanism between the wheel and rail. It constructs creep ratio constraint conditions to enhance safety. However, the BLF (Barrier Lyapunov Function) controller suffers from issues such as reduced convergence time with increasing controller gains and increased overshoot. To address these issues, the Finite Time Asymmetric Barrier Lyapunov Function (FT-ABLF) controller is designed using finite time control theory, improving the controller's static accuracy and transient response performance. Simulations are conducted using the Simpack and MATLAB/Simulink platforms, and the simulation results validate the effectiveness of the proposed design approach.