The invention discloses a subway active anti-skid control method, a controller and a control device, and the method comprises the steps: S1, calculating a plurality of sliding speeds of a subway during the operation under a current wheel-rail relation, and calculating an adhesion coefficient corresponding to each sliding speed through a motion equation of a subway train; S2, calculating to-be-estimated parameters in the wheel-rail relationship mathematical model by using the plurality of groups of slip speeds and adhesion coefficients obtained in the step S1 and adopting a least square method,so as to obtain a determined subway current wheel-rail relationship mathematical expression; S3, according to the mathematical expression of the current wheel-rail relationship obtained in the step S2, obtaining the optimal slip speed corresponding to the maximum adhesion coefficient; and S4, determining real-time control output of the subway according to the optimal sliding speed of the subway under the current wheel-rail relationship. According to the method, the control transient response is good, the anti-interference capability is strong, and the buffeting phenomenon in a steady state isavoided.
本发明公开了一种地铁主动防滑控制方法、控制器及控制装置,其中方法为:步骤S1,计算地铁在当前轮轨关系下运行时的若干个滑移速度,并利用地铁列车的运动方程计算与每个滑移速度对应的粘着系数;步骤S2,利用步骤S1得到的若干组滑移速度与粘着系数,采用最小二乘法计算轮轨关系数学模型中的待估计参数,可得到确定的地铁当前轮轨关系数学表达式;步骤S3,根据步骤S2得到的当前轮轨关系数学表达式,获取最大粘着系数对应的最佳滑移速度;步骤S4,根据地铁在当前轮轨关系下的最佳滑移速度,确定地铁的实时控制输出。本发明的控制瞬态响应好,抗干扰能力强,避免稳态出现抖震现象。
Subway active anti-skid control method, controller and control device
一种地铁主动防滑控制方法、控制器及控制装置
2020-06-05
Patent
Electronic Resource
Chinese
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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