Adhesion control strategy for trains with driven independently rotating wheels considering active guidance

Abstract

This article presents a torque distribution control strategy for electrical trains equipped with driven independently rotating wheels (DIRW) to realise the coordination of guidance control and adhesion control. For DIRW, active guidance control is required to restore self‐centring ability. Besides, the adhesion condition determines the wheel‐rail tangential force, affecting the realisation of the guidance function. A zero lateral displacement guidance control based on an active disturbance rejection controller and an adhesion control based on optimal adhesion coefficient utilisation are applied. According to the wheel‐rail adhesion state, several torque distribution rules are designed. The primary principle of rule design is to ensure the normal operation of trains, that is, to avoid the occurrence of train idling/sliding. Next, the self‐centring function should be achieved. Finally, the train traction/braking performance should be as close as possible to the requirements of the traction/braking characteristic curve determined by the driver handle instruction. The torque distribution strategy proposed can achieve the traction/braking and guidance function on the adhesion limit. The control performance is verified through MATLAB/Simulink‐SIMPACK co‐simulation.