铁道学报
鐵道學報
철도학보
2015年
8期
8-16
,共9页
列车制动%制动减速度%参数估计%自适应控制%鲁棒性
列車製動%製動減速度%參數估計%自適應控製%魯棒性
열차제동%제동감속도%삼수고계%자괄응공제%로봉성
train braking%braking deceleration%parameter estimation%adaptive control%robustness
针对列车制动实际减速度有重要影响的不确定参数,提出基于自适应参数估计的新型减速度控制模式。通过硬件在环半实物仿真试验平台进行试验验证。试验结果表明新型减速度控制算法有效提高了制动控制系统对列车运行不确定参数的鲁棒性。当实际闸瓦摩擦系数偏离制动控制系统预设值时,减速度控制器可以估计出闸瓦摩擦系数的实际值,提高了实际减速度对目标减速度的跟踪效果;当列车在坡度为±30‰的坡道上运行时,减速度控制器能估计出坡度值,减速度控制误差由传统非减速度控制模式的±0.3m/s2减小到了±0.1m/s2;在不使用空簧压力信息计算车辆制动质量的情况下,减速度控制器能估计出列车的实际制动质量,获得了类似于传统非减速度控制模式的控制效果,为简化制动系统硬件的气路设计提供了可能。
針對列車製動實際減速度有重要影響的不確定參數,提齣基于自適應參數估計的新型減速度控製模式。通過硬件在環半實物倣真試驗平檯進行試驗驗證。試驗結果錶明新型減速度控製算法有效提高瞭製動控製繫統對列車運行不確定參數的魯棒性。噹實際閘瓦摩抆繫數偏離製動控製繫統預設值時,減速度控製器可以估計齣閘瓦摩抆繫數的實際值,提高瞭實際減速度對目標減速度的跟蹤效果;噹列車在坡度為±30‰的坡道上運行時,減速度控製器能估計齣坡度值,減速度控製誤差由傳統非減速度控製模式的±0.3m/s2減小到瞭±0.1m/s2;在不使用空簧壓力信息計算車輛製動質量的情況下,減速度控製器能估計齣列車的實際製動質量,穫得瞭類似于傳統非減速度控製模式的控製效果,為簡化製動繫統硬件的氣路設計提供瞭可能。
침대열차제동실제감속도유중요영향적불학정삼수,제출기우자괄응삼수고계적신형감속도공제모식。통과경건재배반실물방진시험평태진행시험험증。시험결과표명신형감속도공제산법유효제고료제동공제계통대열차운행불학정삼수적로봉성。당실제갑와마찰계수편리제동공제계통예설치시,감속도공제기가이고계출갑와마찰계수적실제치,제고료실제감속도대목표감속도적근종효과;당열차재파도위±30‰적파도상운행시,감속도공제기능고계출파도치,감속도공제오차유전통비감속도공제모식적±0.3m/s2감소도료±0.1m/s2;재불사용공황압력신식계산차량제동질량적정황하,감속도공제기능고계출열차적실제제동질량,획득료유사우전통비감속도공제모식적공제효과,위간화제동계통경건적기로설계제공료가능。
Based on an adaptive parameter estimation method ,a novel deceleration feedback controller was devel‐oped to deal with the uncertain parameters during the braking process of a train ,which have significant influ‐ence on the actual braking deceleration .The novel deceleration feedback controller was verified via a hardware‐in‐the‐loop semi‐physical simulation test bench . Test results suggested that the novel deceleration feedback controller was able to effectively improve the robustness of the brake control system to the uncertain parame‐ters of the train operation .The deceleration feedback controller was able to calculate the actual value of the friction coefficient of a brake shoe w hen the actual friction coefficient of the brake shoe deviated from the preset value in the brake control system ,thereby improving the tracking performance of the actual braking decelera‐tion to target deceleration .When a train was running on a track with slope gradient between ± 30‰ ,the decel‐eration feedback controller calculated the gradient value correctly .Deceleration tracking error reduced from ± 0 .3 m/s2 to ± 0 .1 m/s2 compared with the conventional controllers .The deceleration feedback controller managed the braking performance of the conventional controllers without using the pressure information from the air spring to calculate the brake weight of a train ,which facilitated the redesign of the pneumatic hardware of the brake system .