Re-adhesion control for a railway single wheelset test rig based on the behaviour of the traction motor

Zhao, Yunshi; Liang, Bo

doi:10.1080/00423114.2013.788194

Cited by 28 publications

(21 citation statements)

References 16 publications

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“…x c locomotive body longitudinal displacement z c locomotive body vertical displacement θ c locomotive body pitch angle x b1, 2 locomotive front/rear bogie longitudinal displacement z b1, 2 locomotive front/rear bogie vertical displacement θ b1, 2 locomotive front/rear bogie pitch displacement z w1−6 wheelset 1-6 vertical displacement θ w1−6 wheelset 1-6 rotation angle M c M b M w mass of locomotive body, bogie and axle I c I b I w moment of inertia of locomotive body, bogie and axle along the pitch direction Q wheel load μ friction coefficient ε gradient of the tangential stress in the area of adhesion k A , k s reduction factor in the area of adhesion, reduction factor in the area of slip μ ∞ friction coefficient at infinity slip velocity half-axes of the contact ellipse c 11 coefficient from Kalker's linear theory F, G tractive force, Shear modulus T ti torque generated by electric drive i = 1-6 T li torque acting on axle i = 1-6 generated by the longitudinal contact force…”

Section: Nomenclaturementioning

confidence: 99%

“…[10] Zhao et al proposed an extended Kalman filter (EKF)-based re-adhesion controller. [11] All these methods are reported to be effective in creep/traction control; however, the implementation of these methods to the rail industry can be challenging or costly as these methods require for the reliable high-speed processors and/or high-accuracy sensors. While on the other hand, a PI/PID controller is one of the most widely used control methods in various industrial applications, comparing to methods such as fuzzy logic control, observerbased control, extended Kalman filter-based or torsional vibration-based control.…”

Section: Introductionmentioning

confidence: 99%

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Investigation of the impact of locomotive creep control on wear under changing contact conditions

Tian

Liu

Daniel

et al. 2015

Vehicle System Dynamics

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This paper presents the locomotive traction controller performance with respect to the track wear under different operation conditions. In particular, an investigation into the dynamic response of a locomotive under changing wheel-rail friction conditions is performed with an aim to determine the effect of controller setting on track wear. Simulation using a full-scale longitudinal-vertical locomotive dynamic model shows that the appropriately designed creep threshold, controller, settings can effectively maintain a high tractive effort while avoiding excessive rail damage due to wear, especially during acceleration under low speed.

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Section: Nomenclaturementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Investigation of the impact of locomotive creep control on wear under changing contact conditions

Tian

Liu

Daniel

et al. 2015

Vehicle System Dynamics

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“…k A is related to the area of the adhesion, k S is related to the area of slip, and the condition is defined as k S ⩽ k A ≤ 1 In this model, the traction coefficient relies on the slip velocity and friction coefficient, which is defined by the following equation. (Zhao and Liang, 2013). Since the lateral dynamics of the system are neglected in this work, the creepage terms contain only the longitudinal component.…”

Section: Extended Mathematical Model Of the Traction Motormentioning

confidence: 99%

“…The creep forces occurred at the contact patch have been investigated by using the roller test rig and a model to calculate the wheel-rail creep force has been proposed (Iwnicki, 2003). Among the alternative methods, there is an indirectly detection and estimation process of the slip-slide conditions based on measuring the voltage, current, and speed of the AC traction motor with using an EKF (Zhao and Liang, 2013). There is also another method were used to detect slip velocity based on the multi-rate EKF state identification by combining the multi-rate method and the EKF method to identify traction motor load torque.…”

Section: Introductionmentioning

confidence: 99%

Extended Kalman Filter Design for Railway Traction Motor

Uyulan

Gökaşan

2017

Scitech

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ABSTRACT:Monitoring the adhesion force between a railway wheel and a rail surface is very essential in maintaining high acceleration and braking performance of railway vehicles. Due to the difficulties encountered in direct measurement of friction coefficient, creepage and adhesion force; state observers are used as indirect estimation methods. This paper proposes an effective estimation method, which exploits railway traction motor behaviour to give an assistance for realizing wheel slip and adhesion control in order to be used in railway applications. This method plays an active role in optimizing the use of the existing adhesion and reducing wheel wear by decreasing high creep values. With this method, adhesion force can be indirectly estimated by measuring stator currents, and angular speed of the AC traction motor and using dynamic relationships based on the extended Kalman filter (EKF) simulation model. The re-adhesion controller can be designed to regulate the motor torque command according to the maximum available adhesion depending on the estimated results. To test the proposed method, simulations were performed under different friction coefficients. Key Words: Adhesion mode, Extended Kalman filter, Full state estimation, Railway traction. Demiryolu Cer Motorları için Genişletilmiş Kalman Filtresi TasarımıÖZ: Bir demiryolu tekerleği ile rayı arasında meydana gelen tutunma kuvvetinin izlenmesi, demiryolu araçlarının yüksek hızlanma ve frenleme performansının korunmasında oldukça önemlidir. Sürtünme katsayısı, kayma ve tutunma kuvvetinin doğrudan ölçülmesinde karşılaşılan zorluklardan dolayı, durum gözetleyicilerine dayalı dolaylı tahmin yöntemleri kullanılır. Bu makale, demiryolu uygulamalarında kullanılmak üzere tekerlek kayma ve yeniden tutunma kontrolünü gerçekleştirmek için demiryolu cer motor davranışını kullanan etkili bir tahmin yöntemi önermektedir. Bu yöntem, mevcut tutunmanın kullanımını iyileştirmede ve yüksek kayma değerlerini düşürerek tekerlek aşınmasının azaltılmasında etkin bir rol oynamaktadır. Bu yöntemle, stator akımları ve asenkron cer motorun açısal hızı ölçülerek, genişletilmiş Kalman filtresi (GKF) simülasyon modeline dayanan dinamik ilişkiler kullanılarak tutunma kuvveti dolaylı olarak tahmin edilebilir. Yeniden tutunma kontrolörü, tahmin sonuçlarına bağlı olan maksimum erişilebilir tutunma özelliklerine göre motor moment komutu düzenlenerek tasarlanabilir. Önerilen yöntemi test etmek için, farklı tekerlek-ray sürtünme katsayıları altında simülasyonlar gerçekleştirilmiştir.

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“…Among the alternative methods, there exists an indirect detection and estimation process of the slip/slide conditions by measuring the voltage, current and speed of the alternative current (AC) traction motor through an extended Kalman filter (EKF) [7]. Another method is to control the slip/slide states by evaluating the wheel speed information of different axles together.…”

Section: Introductionmentioning

confidence: 99%

Re-adhesion control strategy based on the optimal slip velocity seeking method

2018

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In the railway industry, re-adhesion control plays an important role in attenuating the slip occurrence due to the low adhesion condition in the wheel-rail interaction. Braking and traction forces depend on the normal force and adhesion coefficient at the wheel-rail contact area. Due to the restrictions on controlling normal force, the only way to increase the tractive or braking effect is to maximize the adhesion coefficient. Through efficient utilization of adhesion, it is also possible to avoid wheel-rail wear and minimize the energy consumption. The adhesion between wheel and rail is a highly nonlinear function of many parameters like environmental conditions, railway vehicle speed and slip velocity. To estimate these unknown parameters accurately is a very hard and competitive challenge. The robust adaptive control strategy presented in this paper is not only able to suppress the wheel slip in time, but also maximize the adhesion utilization performance after re-adhesion process even if the wheel-rail contact mechanism exhibits significant adhesion uncertainties and/or nonlinearities. Using an optimal slip velocity seeking algorithm, the proposed strategy provides a satisfactory slip velocity tracking ability, which was demonstrated able to realize the desired slip velocity without experiencing any instability problem. The control torque of the traction motor was regulated continuously to drive the railway vehicle in the neighborhood of the optimal adhesion point and guarantee the best traction capacity after re-adhesion process by making the railway vehicle operate away from the unstable region. The results obtained from the adaptive approach based on the secondorder sliding mode observer have been confirmed through theoretical analysis and numerical simulation conducted in MATLAB and Simulink with a full traction model under various wheel-rail conditions.

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Re-adhesion control for a railway single wheelset test rig based on the behaviour of the traction motor

Abstract: Provide short biographical notes on all contributors here if the journal requires them.

Cited by 28 publications

References 16 publications

Investigation of the impact of locomotive creep control on wear under changing contact conditions

Investigation of the impact of locomotive creep control on wear under changing contact conditions

Extended Kalman Filter Design for Railway Traction Motor

Re-adhesion control strategy based on the optimal slip velocity seeking method

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