Slip rate control is important in improving vehicle stability and driving efficiency. In this paper, a robust slip rate control system is designed for distributed drive electric vehicles that consists of two slip rate estimators for multi-driving conditions, a vehicle speed estimator, and an anti-windup robust variable structure slip rate tracking controller. Because there is no driven wheel in a four-in-wheel-motor distributed drive electric vehicle, the estimators for small and large slip rates are designed based on dynamic and kinematic methods, respectively, which can switch according to the slip conditions. The convergence of the estimation error is discussed with the Lyapunov stability law and is less than 2% under the condition of acceleration on a low-friction road. The slip rate tracking controller is designed based on the sliding mode control law and the proportional-integral (PI) control method to handle model nonlinearity, modelling and estimation errors, and disturbances and to control the input chattering and saturation. The asymptotic stability of the tracking error is proven by Lyapunov theory. A joint control variable composed of the wheel angular acceleration and slip rate is designed to improve the robustness of the controller against the slip rate estimation error. Simulations and experiments under various conditions are performed to verify the proposed anti-slip control method. The results show that compared with a distributed drive vehicle without a slip rate controller, the controlled vehicle can prevent serious wheel skid on low-adhesion roads and improve the driving performance.

/pdf/robust-variable-structure-anti-slip-control-method-of-a-l4hbug0loh.pdf

Robust Variable Structure Anti-Slip Control Method of a Distributed Drive Electric Vehicle

The permanent magnet synchronous machine (1) has a stator (2) having a slot (5) and a rotor (3) having a permanent magnet (9) forming a magnetic pole (10). The synchronous machine according to the invention comprises a first suppression means in the form of a pole coating (x) smaller than 1 for the pole pitch (τ p ) of the permanent magnet (9) and the first stage of the permanent magnet of one pole. Second restraining means in the form of a first bevel or permanent magnet or a first bevel (α Sch1 ) of the slot (5) and a second of the permanent magnet (9) of one pole (10). With a third suppression means in the form of a stepped (α St2 ) or a second inclined (α Sch2 ) of the permanent magnet (9) or a second inclined of the slot, exhibiting very small torque ripple.

Permanent magnet synchronous machine

Particle swarm optimization based parametrization of adhesion and creep force models for simulation and modelling of railway vehicle systems with traction

Anti-slip control systems are essential for railway vehicle systems with traction. In order to propose an effective anti-slip control system, adhesion information between wheel and rail can be useful. However, direct measurement or observation of adhesion condition for a railway vehicle in operation is quite demanding. Therefore, a proportional–integral controller, which operates simultaneously with a recently proposed swarm intelligence-based adhesion estimation algorithm, is proposed in this study. This approach provides determination of the adhesion optimum on the adhesion-slip curve so that a reference slip value for the controller can be determined according to the adhesion conditions between wheel and rail. To validate the methodology, a tram wheel test stand with an independently rotating wheel, which is a model of some low floor trams produced in Czechia, is considered. Results reveal that this new approach is more effective than a conventional controller without adhesion condition estimation.

/pdf/a-novel-anti-slip-control-approach-for-railway-vehicles-with-wnmt8heeuo.pdf

A novel anti-slip control approach for railway vehicles with traction based on adhesion estimation with swarm intelligence

Wheel/rail dynamic interactions of heavy-haul locomotives are highly nonlinear and complicated due to large traction/braking loads, frequent anti-slip control and complex wheel/rail interface envir...

Non-Hertzian contact analysis of heavy-haul locomotive wheel/rail dynamic interactions under changeable friction conditions

Advanced antislip control methods are available these days. However, due to increasing requirements with regard to demand and emerging technologies in the field of railways, further research on ant...

An adaptive sliding mode control to stabilize wheel slip and improve traction performance

Železnicni doprava se stava celosvětově preferovanějsim dopravnim systemem. Vzhledem k poptavce a vznikajicim technologiim v železnicnim sektoru se vyraběji hnaci vozidla se stale vyssim výkonem. Nedavný vývoj výkonove kapacity vozidel umožňuje v kratkem case dosahnout vysokých tocivých momentů při rozjezdu. Na druhe straně je trakcni schopnost těchto vozidel omezena podminkami prostředi (tj. destěm, sněhem, listy a bahnem) a lidskými vlivy. Z uvedených důvodů se prokluzovani kol stava jednim z nejdůležitějsich faktorů ovlivňujicich bezpecnost, trakcni výkon a životnost kolejových vozidel. Tato prace se proto zabýva využitim metod protiskluzoveho řizeni pohonu kolejových vozidel. Nejprve jsou vysvětleny mechanismy adheze a skluzu. Dale jsou uvedeny metody detekce skluzu a metody regulace. Pro ověřeni platnosti schemat protiskluzove regulace byl pomoci editoru MATLAB vytvořen numerický model zkusebniho laboratorniho zařizeni tramvajoveho kola, který obsahuje take nelinearity. Uvedený model se sklada ze synchronniho motoru s permanentnimi magnety, asynchronniho motoru, tramvajoveho kola, kladky (rotujici kolejnice) a dvou hnacich hřideli. Jednu z nelinearit tvoři model mechanismu adheze. Zde je použit model Freibauera a Polacha. Pro detekci a řizeni skluzu je použito pět strategii (algoritmů): řizeni skluzu kol na zakladě jednoduche prahove hodnoty (WSCST), řizeni skluzu kol na zakladě vice prahových hodnot (WSCMT), řizeni prokluzu kol na zakladě uhloveho zrychleni kola (WSCAA), PI regulace skluzu kol (PI-WSC) a metoda Sliding Mode Control (SM-WSC). Kromě simulacnich výpoctů prace obsahuje experimentalni cast, kde jsou provedeny rozsahle experimenty na zkusebnim laboratornim zařizeni, kde byly uvedene protiskluzove algoritmy implementovany a testovany. Platnost vyvinuteho numerickeho modelu je prokazana porovnanim simulacnich a experimentalnich výsledků. Vyhodnoceny jsou vlivy různých parametrů a chovani systemu při těchto protiskluzových metodach.

Anti-slip control of traction motor of rail vehicles

This study deals with the validation of an anti-slip control method that is based on the acceleration of a wheel. The method uses the angular acceleration signal and a threshold value to prevent th...

Validation of an anti-slip control method based on the angular acceleration of a wheel on a roller rig:

Ucelem teto prace je představeni protiskluzove ochrany použivane v železnicnich vozidlech založene na literarnich zdrojich. K dosaženi vytyceneho cile jsou v prvni casti nasi prace shrnuty teoreticke zakladni informace o skluzu, přilnavosti, metodě detekce skluzu a kontrolni metodě skluzu. V druhe casti studie, mechanický popis jako model lokomotivy a model přilnavosti byly definovany pro simulaci. Jednoducha dvounapravova lokomotiva podobna CKD/CZ-LOCO s 10 stupni volnosti byla analyzovana analyticky a potřebne rovnice byly ziskane pro numericke výpocty. Potom model přilnavosti byl definovan použitim Freibauer/Polach na odvozeni rovnice adheznich sil v přednim a zadnim dvojkoli lokomotivy. Pro ucely elektromotoru je použit v simulaci přibližný model indukce. Pro výsledky dynamicke simulace byla použita metoda konecneho rozdilu. Třeti cast teto prace zahrnuje detekci skluzu a algoritmus kontrolni metody. Zde je popsaných pět algoritmů detekce skluzu: "Kontrolni metoda rychlostniho rozdilu", "Kontrola skluzu s referencnim dvojkolim", "Kontrola skluzu s uhlovou rychlosti dvojkoli", "Kontrola skluzu s referencnim generatorem skluzu" a "Metoda nejstrmějsiho stoupani s PI regulatorem". V posledni casti prace jsou hodnoceny výsledky simulace pěti kontrolnich algoritmů. Bylo provedeno porovnani mezi kontrolnimi systemy z hlediska výkonu a efektivity.

Abdulkadir Zirek

Papers

An adaptive sliding mode control to stabilize wheel slip and improve traction performance

A novel anti-slip control approach for railway vehicles with traction based on adhesion estimation with swarm intelligence

Anti-slip control of traction motor of rail vehicles

Validation of an anti-slip control method based on the angular acceleration of a wheel on a roller rig:

Anti-slip protection and control of the traction motor of a rail vehicle