CN103895529B - A kind of railcar and motor torque restoration methods, system and application system thereof - Google Patents

A kind of railcar and motor torque restoration methods, system and application system thereof Download PDF

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CN103895529B
CN103895529B CN201410142260.2A CN201410142260A CN103895529B CN 103895529 B CN103895529 B CN 103895529B CN 201410142260 A CN201410142260 A CN 201410142260A CN 103895529 B CN103895529 B CN 103895529B
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moment
recovery
current
discharging quantity
motor torque
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CN103895529A (en
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彭辉水
许峻峰
李江红
李科
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CRRC Zhuzhou Institute Co Ltd
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CSR Zhuzou Institute Co Ltd
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Abstract

This application provides a kind of motor torque restoration methods of railcar, first idling slide detected, wait end to be unloaded, and record maximum torque discharging quantity; Unloading terminates namely to start to recover motor torque, and in recovery, the current moment amount of recovery in per moment calculates according to current discharging quantity and default equation; Stop when the current moment of motor is more than or equal to given moment recovering motor torque.There is no wait time, and calculate according to current discharging quantity and default equation during the moment amount of recovery in per moment in rejuvenation, and non-rectilinear recovers, moment rejuvenation is level and smooth, thus can solve railcar stationarity that existing motor torque restoration methods causes and the poor problem of travelling comfort.

Description

A kind of railcar and motor torque restoration methods, system and application system thereof
Technical field
The application relates to railcar technical field, more particularly, relates to a kind of railcar and motor torque restoration methods, system and application system thereof.
Background technology
The wheel of railcar operates on rail three state, as follows respectively:
(1) pure rolling state, this state is a kind of perfect condition, now between wheel and rail without relative sliding, the friction between wheel and rail is static friction, and namely static friction is now to have given play to maximum traction/braking force square;
(2) tacky state, wheel and rail have a little distortion under very high pressure effect, contact portion between wheel track forms elliptical-shaped contact district, it not pure static friction state between running surface of wheeltrack, but a kind of tacky state, tacky state is a kind of state between pure rolling state and idling slide state, and it has facilitation to the performance of traction/braking force.Creep speed V srefer to wheel velocity V wheelwith body speed of vehicle V vehiclebetween difference, V s=V wheel-V vehicle.When creep speed is less, is in tacky state between wheel track, and when creep speed is larger, between wheel track, enters idling slide state;
(3) idling slide state, when creep speed exceedes best adhesion speed, idling slide state is just entered between wheel track, when dallying/sliding appears in wheel on rail, kinetic force of friction is formed between them, now traction/braking force will reduce greatly, and wheel can cause wheel tread flat during idling slide on rail, and therefore this situation must be avoided.
Occur for preventing idling slide state, need to detect idling slide state, when systems axiol-ogy occurs to idling slide state, need to unload motor torque according to control policy, avoid continuing idling slide, when idling slide state then needs to recover motor torque, realize tacky state again.
Existing motor torque restoration methods mainly keeps+linear restoring strategy.Keep referring to and not recover immediately after moment has unloaded, but keep current discharging quantity a period of time, to guarantee to have exited idling slide state between wheel track; The moment recovery rate of linear restoring is constant, and as shown in Figure 1, some changes in recovery final stage recovers slope, as shown in Figure 2, rejuvenation is slowed down slowly.Fig. 3 is progressive unloading schematic diagram.From Fig. 1, Fig. 2 and Fig. 3, after moment has unloaded, more unsmooth when moment of adhering is recovered, especially when there is progressive unloading situation, output torque can continuous shake, cause the stationarity of vehicle and travelling comfort lower.
Summary of the invention
In view of this, the application provides a kind of motor torque restoration methods of railcar, system and application system thereof, to solve railcar stationarity that existing motor torque restoration methods causes and the lower problem of travelling comfort.
To achieve these goals, the existing scheme proposed is as follows:
A motor torque restoration methods for railcar, comprises the steps:
When idling slide being detected, wait to be unloaded completing, and maximum torque discharging quantity when record has unloaded;
Start to recover motor torque, according to the difference of the current moment of the motor in per moment and given moment and current discharging quantity in rejuvenation, and recover according to the current moment amount of recovery that the default equation that described maximum torque discharging quantity obtains calculates;
When the current moment of described motor is more than or equal to described given moment, stop recovering motor torque.
Preferably, described maximum torque discharging quantity is:
When unloading completes, the difference of the current moment of described motor and described given moment.
Preferably, described in rejuvenation according to the difference of the current moment of the motor in per moment and given moment and current discharging quantity, and to recover according to the current moment amount of recovery that the default equation that described maximum torque discharging quantity obtains calculates, comprising:
According to formula a=k.x 0calculate recovery coefficient a, x 0for described maximum torque discharging quantity, k is constant coefficient;
According to formula y=f (x; A) calculate the perunit value y of current moment amount of recovery, wherein x is the perunit value of current discharging quantity, current discharging quantity described in x=/maximum given moment;
Current moment amount of recovery=y.x according to formula 0obtain described current moment amount of recovery.
Preferably, described formula
Y=f (x; A) be specially:
y = f ( x ; a ) = 1 - ( a - x a ) 2 , y > K min K min , y < K min , Wherein: K minfor constant coefficient.
Preferably, described K minbe 0.02, described k is 1-5.
A motor torque recovery system for railcar, comprising:
Detecting device, for detecting idling slide, to be unloadedly to complete when idling slide occurs etc., and maximum torque discharging quantity when record has unloaded;
Computer device, according to the difference of the current moment of the motor in per moment and given moment and current discharging quantity in rejuvenation, and recovers according to the current moment amount of recovery that the default equation that described maximum torque discharging quantity obtains calculates;
Recovery device, recovers motor torque for starting when unloading completes according to described current moment amount of recovery.
Discriminator, for when the current moment of described motor is more than or equal to described given moment, controls described recovery device and stops recovering motor torque.
Preferably, described detecting device comprises:
Record cell, for when unloading completes, carries out record using the difference of current for described motor moment and described given moment as described maximum torque discharging quantity.
Preferably, described computer device comprises:
First calculating unit, for according to formula a=k.x 0calculate recovery coefficient a, x 0for described maximum torque discharging quantity, k is 1-5;
Second calculating unit, for according to formula y=f (x; A) calculate the perunit value y of current moment recovery value, wherein x is the perunit value of current discharging quantity, current discharging quantity described in x=/maximum given moment;
Wherein:
y = f ( x ; a ) = 1 - ( a - x a ) 2 , y > K min K min , y < K min , K min＝0.02；
3rd calculating unit, for moment amount of recovery=y.x current according to formula 0obtain current moment amount of recovery.
A skid control system for railcar, is provided with above-described motor torque recovery system.
A kind of railcar, is provided with above-described skid control system.
As can be seen from technique scheme, this application provides a kind of motor torque restoration methods of railcar, first idling slide detected, wait end to be unloaded, and record maximum torque discharging quantity; Unloading terminates namely to start to recover motor torque, and in recovery, the current moment amount of recovery in per moment calculates according to current discharging quantity and default equation; Stop when the current moment of motor is more than or equal to given moment recovering motor torque.There is no wait time, and calculate according to current discharging quantity and default equation during the moment amount of recovery in per moment in rejuvenation, and non-rectilinear recovers, moment rejuvenation is level and smooth, thus can solve railcar stationarity that existing motor torque restoration methods causes and the poor problem of travelling comfort.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the application, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The linear restoring schematic diagram of a kind of motor torque that Fig. 1 provides for the application;
The linear restoring schematic diagram of the another kind of motor torque that Fig. 2 provides for the application;
The linear restoring schematic diagram of another motor torque that Fig. 3 provides for the application;
The diagram of circuit of the motor torque restoration methods of a kind of railcar that Fig. 4 provides for the embodiment of the present application;
The diagram of circuit of the motor torque restoration methods of a kind of railcar that Fig. 5 provides for another embodiment of the application;
The moment recovery curve that another embodiment of Fig. 6 the application provides;
The constructional drawing of the motor torque recovery system of a kind of railcar that Fig. 7 provides for the another embodiment of the application.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present application, be clearly and completely described the technical scheme in the embodiment of the present application, obviously, described embodiment is only some embodiments of the present application, instead of whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the application's protection.
Embodiment one
The diagram of circuit of the motor torque restoration methods of a kind of railcar that Fig. 4 provides for the embodiment of the present application.
As shown in Figure 4, the motor torque restoration methods of railcar that the present embodiment provides comprises the steps:
S101: idling slide detected, waits end to be unloaded;
When idling slide being detected, wait end to be unloaded, and record the maximum torque discharging quantity in this moment, so-called maximum torque discharging quantity refers to and unloads the current moment of motor after terminating and the difference between given moment.
S102: start to recover motor torque;
When unloading terminates namely to start to recover motor torque, recover according to the current discharging quantity in per moment with according to the current moment amount of recovery that default equation calculates in rejuvenation.So-called current discharging quantity is the difference of the current moment of motor and given moment, and default equation obtains according to maximum torque discharging quantity.
Namely the current moment amount of recovery in each moment is different, and time calculates according to the current discharging quantity in this moment and default equation.
S103: terminate to recover motor torque.
When the current moment of motor is more than or equal to given moment, stop recovering motor torque, represent and recover to complete.
As can be seen from technique scheme, present embodiments provide a kind of motor torque restoration methods of railcar, first idling slide detected, wait end to be unloaded, and record maximum torque discharging quantity; Unloading terminates namely to start to recover motor torque, and in recovery, the current moment amount of recovery in per moment calculates according to current discharging quantity and default equation; Stop when the current moment of motor is more than or equal to given moment recovering motor torque.There is no wait time, and calculate according to current discharging quantity and default equation during the moment amount of recovery in per moment in rejuvenation, and non-rectilinear recovers, moment rejuvenation is level and smooth, thus can solve railcar stationarity that existing motor torque restoration methods causes and the poor problem of travelling comfort.
Embodiment two
The diagram of circuit of the motor torque restoration methods of a kind of railcar that Fig. 5 provides for another embodiment of the application.
As shown in Figure 5, the motor torque restoration methods of railcar that the present embodiment provides comprises the steps:
S201: idling slide detected;
S202: detect unloading and whether terminate;
If terminated, carrying out next step, as do not terminated, continuing to wait for.
S203: record maximum torque discharging quantity x 0;
S204: calculate off-loading coefficient a;
According to formula a=k.x 0; Wherein k is constant coefficient, and preferable range is 1-5.
S205: the perunit value y calculating current moment amount of recovery;
According to formula y = f ( x ; a ) = 1 - ( a - x a ) 2 , y > K min K min , y < K min Calculate the perunit value y of current moment amount of recovery, i.e. the current amount of recovery/x of y= 0, y ∈ [0,1]; X is the perunit value of current discharging quantity, i.e. x=current discharging quantity/maximum torque discharging quantity, x ∈ [0,1]; A>0 and a is relevant to the maximum torque discharging quantity in this uninstall process; K minbe a constant coefficient, preferably 0.02, when discharging quantity is very little, moment recovery rate remains unchanged.Under different a value, the set of curves of this function as shown in Figure 6.
S206: calculate current moment amount of recovery x;
According to the current moment amount of recovery=y.x of formula 0obtain current moment amount of recovery.
S207: motor torque is recovered with current moment amount of recovery x;
S208: detect motor torque and whether be more than or equal to given moment;
If motor torque is less than given moment, then return S207, if motor torque is not less than given moment, then perform next step.
S209: stop recovering motor torque.
Embodiment three
The constructional drawing of the motor torque recovery system of a kind of railcar that Fig. 7 provides for the another embodiment of the application.
As shown in Figure 7, the motor torque recovery system that the present embodiment provides comprises detecting device 10, computer device 20, recovery device 30 and discriminator 40.
Detecting device, for detecting idling slide, to be unloadedly to complete when idling slide occurs etc., and maximum torque discharging quantity when record has unloaded.
Computer device 20 in rejuvenation according to the difference of the current moment of the motor in per moment and given moment and current discharging quantity, and to recover according to the current moment amount of recovery that the default equation that described maximum torque discharging quantity obtains calculates.
Recovery device 30 recovers motor torque for starting when unloading completes according to described current moment amount of recovery.
Discriminator 40, for when the current moment of described motor is more than or equal to described given moment, controls described recovery device and stops recovering motor torque.
As can be seen from technique scheme, present embodiments provide a kind of motor torque recovery system of railcar, comprise detecting device, computer device, recovery device and discriminator, first idling slide detected, etc. end to be unloaded, and record maximum torque discharging quantity; Unloading terminates namely to start to recover motor torque, and in recovery, the current moment amount of recovery in per moment calculates according to current discharging quantity and default equation; Stop when the current moment of motor is more than or equal to given moment recovering motor torque.There is no wait time, and calculate according to current discharging quantity and default equation during the moment amount of recovery in per moment in rejuvenation, and non-rectilinear recovers, moment rejuvenation is level and smooth, thus can solve railcar stationarity that existing motor torque restoration methods causes and the poor problem of travelling comfort.
Wherein detecting device also comprises record cell.
Computer device comprises the first calculating unit for calculating recovery coefficient, for calculating the second calculating unit of the perunit value of current moment amount of recovery and the 3rd calculating unit for calculating current moment amount of recovery.
Embodiment four
The present embodiment provides a kind of railcar skid control system, comprises the motor torque recovery system that an embodiment provides.
Embodiment five
The present embodiment provides a kind of railcar, is provided with the railcar skid control system that an embodiment provides.
Finally, also it should be noted that, in this article, the such as relational terms of first and second grades and so on is only used for an entity or operation to separate with another entity or operational zone, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
In this specification sheets, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the application.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein when not departing from the spirit or scope of the application, can realize in other embodiments.Therefore, the application can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.

Claims (10)

1. a motor torque restoration methods for railcar, is characterized in that, comprise the steps:
When idling slide being detected, wait to be unloaded completing, and maximum torque discharging quantity when record has unloaded;
Start to recover motor torque, according to the difference of the current moment of the motor in per moment and given moment and current discharging quantity in rejuvenation, and recover according to the current moment amount of recovery that the default equation that described maximum torque discharging quantity obtains calculates;
When the current moment of described motor is more than or equal to described given moment, stop recovering motor torque.
2. motor torque restoration methods as claimed in claim 1, it is characterized in that, described maximum torque discharging quantity is:
When unloading completes, the difference of the current moment of described motor and described given moment.
3. motor torque restoration methods as claimed in claim 1, it is characterized in that, described in rejuvenation according to the difference of the current moment of the motor in per moment and given moment and current discharging quantity, recover with the current moment amount of recovery that the default equation obtained according to described maximum torque discharging quantity calculates, comprising:
According to formula a=k.x 0calculate recovery coefficient a, x 0for described maximum torque discharging quantity, k is constant coefficient;
According to formula y=f(x; A) calculate the perunit value y of current moment amount of recovery, wherein x is the perunit value of current discharging quantity, current discharging quantity described in x=/maximum given moment;
Current moment amount of recovery=y.x according to formula 0obtain described current moment amount of recovery.
4. motor torque restoration methods as claimed in claim 3, is characterized in that, described formula
Y=f(x; A) be specially:
y = f ( x ; a ) = { 1 - ( a - x a ) 2 , y > K min K min , y > K min , Wherein: K minfor constant coefficient.
5. motor torque restoration methods as claimed in claim 4, is characterized in that, described K minbe 0.02, described k is 1-5.
6. a motor torque recovery system for railcar, is characterized in that, comprising:
Detecting device, for detecting idling slide, to be unloadedly to complete when idling slide occurs etc., and maximum torque discharging quantity when record has unloaded;
Computer device, according to the difference of the current moment of the motor in per moment and given moment and current discharging quantity in rejuvenation, and recovers according to the current moment amount of recovery that the default equation that described maximum torque discharging quantity obtains calculates;
Recovery device, recovers motor torque for starting when unloading completes according to described current moment amount of recovery;
Discriminator, for when the current moment of described motor is more than or equal to described given moment, controls described recovery device and stops recovering motor torque.
7. motor torque recovery system as claimed in claim 6, it is characterized in that, described detecting device comprises:
Record cell, for when unloading completes, carries out record using the difference of current for described motor moment and described given moment as described maximum torque discharging quantity.
8. motor torque restoration methods as claimed in claim 1, it is characterized in that, described computer device comprises:
First calculating unit, for according to formula a=k.x 0calculate recovery coefficient a, x 0for described maximum torque discharging quantity, k is 1-5;
Second calculating unit, for according to formula y=f(x; A) calculate the perunit value y of current moment recovery value, wherein x is the perunit value of current discharging quantity, current discharging quantity described in x=/maximum given moment;
Wherein:
y = f ( x ; a ) = { 1 - ( a - x a ) 2 , y > K min K min , y > K min , K min=0.02；
3rd calculating unit, for moment amount of recovery=y.x current according to formula 0obtain described current moment amount of recovery.
9. a skid control system for railcar, is characterized in that, is provided with the motor torque recovery system as described in any one of claim 6-8.
10. a railcar, is characterized in that, comprises skid control system as claimed in claim 9.
CN201410142260.2A 2014-04-10 2014-04-10 A kind of railcar and motor torque restoration methods, system and application system thereof Active CN103895529B (en)

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CN105128872B (en) * 2015-07-21 2017-12-26 株洲南车时代电气股份有限公司 The adhesion control method of EMUs
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CN103204160A (en) * 2012-01-11 2013-07-17 福特全球技术公司 Electronic Stability Control System For Electric Drive Vehicle

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CN103204160A (en) * 2012-01-11 2013-07-17 福特全球技术公司 Electronic Stability Control System For Electric Drive Vehicle

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