Development of anti-slip re-adhesion control based on estimated tangential force feedback for safe and comfortable next generation electric commuter train

一般情况下，切向力是由电动列车重量和钢轨与驱动轮间粘着力系数的函数来确定的。钢轨与驱动轮之间的粘着力系数受钢轨上的水分、灰尘、油污等条件的影响很大，当钢轨与驱动轮之间的粘着力系数降低时，电动列车会出现打滑现象。打滑现象对电动列车的乘客来说是不舒适的，并且消耗轨道和驱动轮。因此，要求电动列车的驱动系统具有良好的防滑和防滑重粘控制系统。为了克服这一问题，提出了一种防滑控制方法。我们已经提出了一个基于干扰观测器的防滑再附着控制系统。近年来，为了改善极低的分辨率，采用无速度传感器矢量控制来构成再附着控制系统 ...更多信息 n旋转编码器。通过数值仿真和试验仿真验证了该方法的有效性。自2002年起，我们开始应用于实际的电动通勤列车，即东日本旅客铁道公司的205-5000系列。通常，实际的电动通勤列车在超过约50[km/h]的高速范围内使用电制动和空气制动。为了实现精细的再附着控制，本文提出了一种新的考虑空气制动的防滑再附着控制，实现了电制动和空气制动的协同控制，并且为了抑制打滑现象，我们已经提出了基于干扰观测器的防滑再附着控制系统，我们已经证实该系统以高的附着力利用率驱动列车。然而，该系统没有考虑实际电动通勤列车转向架动力学的振动现象，切向力估计受到转向架振动的影响。因此，驱动控制系统不能确定适当的电动机转矩基准，并且有时降低粘附力利用率。本文提出了一种新的基于干扰观测器的转向架系统抗滑移重粘控制系统，该系统考虑了转向架系统的一阶共振频率。少

Generally, the tangential force is defined by the function of both the weights of electric train and the adhesion force coefficient between rail and driving wheel. The adhesion force coefficient is strongly affected by the conditions between rails and driving wheels, such as moisture, dust, oil on the rails and so on. When the adhesion force coefficient between rail and driving wheel decreases, the electric train has a slip phenomenon. A slip phenomenon is uncomfortable for the passengers of electric train, and consumes both the rails and the driving wheels. Therefore, the drive system of electric train is requested to have a fine anti-slip and anti-skid re-adhesion control system. In order to overcome this problem, an and-slip control method has been proposed. We have already proposed an and-slip re-adhesion control system based on disturbance observer. Recently, the re-adhesion control system is constituted with sensor-less vector control in order to improve the extreme low-resolutio … More n rotary encoder. This proposed method has been confirmed by the numerical simulation and the experimental simulation using the tested bogie system of electric commuter train. Since 2002, we started to apply to the actual electric commuter train, which is Series 205-5000 of East Japan Railway Company. Generally, actual electric commuter train uses both electric brake and air brake in the high-speed range over about 50[km/h]. In order to realize a fine re-adhesion control, this report proposes a new anti-skid re-adhesion control considering the air brake, which carries out the cooperation control of electric brake and air brake.Moreover, in order to suppress slip phenomenon, we have already proposed anti-slip re-adhesion control system based on disturbance observer, and we have confirmed that this system drives the train with high adhesion force utilization ratio. However, this system does not consider the vibration phenomenon of actual bogie dynamics of electric commuter train, tangential force estimation is affected by bogie vibration. Hence, the drive control system cannot determine the appropriate motor torque reference, and sometimes reduces the adhesion force utilization ratio. This report proposes a new anti-slip re-adhesion control system based on the disturbance observer considering the first resonant frequency of bogie system. Less