CN106080266B - A kind of startup control method and device of rail vehicle - Google Patents
A kind of startup control method and device of rail vehicle Download PDFInfo
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- CN106080266B CN106080266B CN201610633892.8A CN201610633892A CN106080266B CN 106080266 B CN106080266 B CN 106080266B CN 201610633892 A CN201610633892 A CN 201610633892A CN 106080266 B CN106080266 B CN 106080266B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2072—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off
- B60L15/2081—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off for drive off on a slope
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The startup control method of rail vehicle provided by the invention, according to the relationship of the slip value for the velocity amplitude and motor slip that speed is slipped after rail vehicle, provide the startup control method under two kinds of different operating modes, when the velocity amplitude that speed is slipped after rail vehicle is more than the slip value of motor slip, motor is controlled to export electric braking torque corresponding with motor slip and identical with slipping direction after rail vehicle, make to slip speed after rail vehicle and constantly reduce, the velocity amplitude that speed is slipped after rail vehicle is less than the slip value of motor slip；When the velocity amplitude that speed is slipped after rail vehicle is less than the slip value of motor slip, motor is controlled to export pull-up torque corresponding with motor slip and opposite with slipping direction after rail vehicle, make to slip speed after rail vehicle and constantly reduce, slip after rail vehicle stopping and normally start.The present invention realizes the smooth starting that speed lower railway vehicle is slipped after difference.
Description
Technical field
The present invention relates to rail vehicle field more particularly to a kind of startup control method and device of rail vehicle.
Background technology
With the rapid development of China's economy and carrying forward vigorously for urbanization, the construction of rail traffic is all substantially increasing every year
Long, the running environment of rail vehicle is increasingly sophisticated, and often will appear rail vehicle, vehicle derailing is led in start-up course on ramp
Draw control, slipped after moving backward generation.Therefore, how to ensure normally to start as rail vehicle when rail vehicle slips after occurring
Start the research hotspot of control field.
In the prior art, rail vehicle keeps the side of braking and motor traction force cooperation when starting on ramp using air
Method if rail vehicle slips after occurring, can trigger emergency braking, air damping plays a role completely, while blocks traction inversion
Device causes rail vehicle that when slipping after occurring locomotive stopping must restarting, the locomotive slipped after having occurred and that can not be made normal
Start.
Invention content
In view of this, the application provides a kind of startup control method and device of rail vehicle, to solve in the prior art
Rail vehicle is slipped after occurring the problem of can not normally starting.Technical solution is as follows：
A kind of startup control method of rail vehicle, the method includes：
When being slipped after rail vehicle generation, speed and motor slip are slipped after obtaining presently described rail vehicle；
Judge whether the velocity amplitude that speed is slipped after the rail vehicle is more than the slip value of the motor slip；
If so, control motor output is corresponding with the motor slip and identical with slipping direction after the rail vehicle
Electric braking torque, makes to slip speed after the rail vehicle and constantly reduces, and the speed of speed is slipped after the rail vehicle
Value is less than the slip value of the motor slip；
If it is not, control motor output is corresponding with the motor slip and opposite with slipping direction after the rail vehicle
Pull-up torque, makes to slip speed after the rail vehicle and constantly reduces, and slips after rail vehicle stopping and normally starts.
Preferably, speed is slipped after the presently described rail vehicle of acquisition with motor slip to include：
The motor speed of motor speed sensor output is obtained, the motor speed is slips speed after the rail vehicle
Degree；
Motor slip S, the given motor torque and driver are calculated according to the given motor torque T1 of current orbit vehicle
Handle is corresponding, S=K1*T1, wherein, K1 is proportionality coefficient.
Preferably, the control motor output is corresponding with the motor slip and with slipping direction after the rail vehicle
Identical electric braking torque includes：
Electric braking the torque T2, T2=K2* identical with slipping direction after the rail vehicle are calculated according to the motor slip S
S, wherein K2 are proportionality coefficient；
Control the motor output electric braking torque identical with slipping direction after the rail vehicle.
Preferably, it is identical with the value of pull-up torque with the corresponding electric braking torque of same motor slip.
Preferably, the method further includes：
The phase relation of the two-way square-wave signal exported according to motor speed sensor judges the direction of rotation of motor, and root
Judge rail vehicle slips after whether occurring according to the direction of rotation of the motor.
A kind of control device of rail vehicle, described device include：
Acquisition module slips speed and electricity after presently described rail vehicle for when being slipped after rail vehicle occurs, obtaining
Machine slip；
First judgment module turns for judging whether the velocity amplitude that speed is slipped after the rail vehicle is more than the motor
The slip value of difference；
First control module slips the velocity amplitude of speed after the rail vehicle and is more than turning for the motor slip for working as
During difference, control motor exports electric braking corresponding with the motor slip and identical with slipping direction after the rail vehicle
Torque, makes to slip speed after the rail vehicle and constantly reduces, and the velocity amplitude that speed is slipped after the rail vehicle is less than
The slip value of the motor slip；
Second control module slips the velocity amplitude of speed after the rail vehicle and is less than turning for the motor slip for working as
During difference, control motor exports traction corresponding with the motor slip and opposite with slipping direction after the rail vehicle and turns
Square, makes to slip speed after the rail vehicle and constantly reduces, and slips after rail vehicle stopping and normally starts.
Preferably, the acquisition module includes：
Acquisition submodule, for obtaining the motor speed of motor speed sensor output, the motor speed is the rail
Speed is slipped after road vehicle；
First computational submodule, it is described for calculating motor slip S according to the given motor torque T1 of current orbit vehicle
Given motor torque is corresponding with driver's handle, S=K1*T1, wherein, K1 is proportionality coefficient.
Preferably, first control module includes：
Second computational submodule is identical with slipping direction after the rail vehicle for being calculated according to the motor slip S
Electric braking torque T2, T2=K2*S, wherein K2 is proportionality coefficient；
Control submodule, for the motor output electric braking identical with slipping direction after the rail vehicle to be controlled to turn
Square.
Preferably, it is identical with the value of pull-up torque with the corresponding electric braking torque of same motor slip.
Preferably, described device further includes：
Second judgment module, the phase relation of two-way square-wave signal for being exported according to motor speed sensor judge electricity
The direction of rotation of machine, and judge rail vehicle slips after whether occurring according to the direction of rotation of the motor.
The startup control method of rail vehicle provided by the invention, according to the velocity amplitude and electricity that speed is slipped after rail vehicle
The relationship of the slip value of machine slip provides the startup control method under two kinds of different operating modes, when rail vehicle after slip speed
Velocity amplitude when being more than the slip value of motor slip, control motor output is corresponding with motor slip and with being slipped after rail vehicle
The identical electric braking torque in direction, makes to slip speed after rail vehicle and constantly reduces, and the speed of speed is slipped after rail vehicle
Angle value is less than the slip value of motor slip；When the velocity amplitude that speed is slipped after rail vehicle is less than the slip value of motor slip,
Motor is controlled to export pull-up torque corresponding with motor slip and opposite with slipping direction after rail vehicle, makes rail vehicle
After slip speed and constantly reduce, slip after rail vehicle stopping and normally start.The present invention slips speed lower rail after realizing difference
The smooth starting of road vehicle.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of startup control method flow chart of rail vehicle disclosed by the invention；
Fig. 2 is a kind of another method flow diagram of startup control method of rail vehicle disclosed by the invention；
Fig. 3 is a kind of startup controling device structure diagram of rail vehicle disclosed by the invention；
Fig. 4 is the startup controling device structure diagram of another rail vehicle disclosed by the invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
It please participate in Fig. 1, startup control method flow charts of the Fig. 1 for a kind of rail vehicle disclosed by the invention, the method
Specifically include following steps：
Step S101：When being slipped after rail vehicle generation, speed and motor turn are slipped after obtaining presently described rail vehicle
Difference；
During startup control is carried out to rail vehicle, the direction of rotation of motor and rail vehicle controller handle are given tacit consent to
Direction be consistent, if rail vehicle slips after occurring when ramp starts, the direction of rotation of motor and controller hand at this time
The direction of handle is inconsistent, and the motor absolute direction when present invention slips after rail vehicle is occurred when ramp starts is determined as -1,
Motor absolute direction during by rail vehicle normally travel is determined as 1.
It is described there are certain calculated relationship between motor slip S, motor stator rotational speed of magnetic field V2 and motor speed V1
Motor speed is to slip speed after rail vehicle, slips speed by obtaining after the rail vehicle and may determine that with motor slip
It is larger still smaller that speed is slipped after the rail vehicle.
Step S102：Judge whether the velocity amplitude that speed is slipped after the rail vehicle is more than the slip of the motor slip
Value；If so, perform step S103；If it is not, perform step S104；
Specifically, the startup control method of rail vehicle disclosed by the invention, for slip after different speed to motor into
Whether the different control of row is more than the slip value of the motor slip according to the velocity amplitude that speed is slipped after the rail vehicle,
The startup of rail vehicle control is divided into two kinds of forms, when the rail vehicle after slip the velocity amplitude of speed and be more than the motor
During the slip value of slip, it is larger to slip speed after the rail vehicle, performs step S103 and is controlled, when the rail vehicle
After when slipping the velocity amplitude of speed and being less than the slip value of the motor slip, it is smaller to slip speed after the rail vehicle, performs
Step S104 is controlled.
Step S103：Control motor output corresponding with the motor slip and with slipping direction phase after the rail vehicle
With electric braking torque, make to slip speed after the rail vehicle and constantly reduce, speed is slipped after the rail vehicle
Velocity amplitude is less than the slip value of the motor slip；
Specifically, when slipped after the rail vehicle speed it is larger when, at this time motor absolute direction be -1, motor stator magnetic
Calculated relationship between rotating speed V2, motor slip S and motor speed is：V2=D*V1+S, wherein, D is motor absolute direction,
D is -1 at this time.
Therefore, stator field rotating speed V2=S-V1<0, control motor output with the motor slip it is corresponding and with institute
The identical electric braking torque in direction is slipped after stating rail vehicle, with the output of electric braking torque, speed is slipped after the rail vehicle
Degree continuously decreases, and the velocity amplitude that speed is slipped after the rail vehicle is less than the slip value of the motor slip, performs step
Rapid S104.
Step S104：Control motor output corresponding with the motor slip and with slipping direction phase after the rail vehicle
Anti- pull-up torque, makes to slip speed after the rail vehicle and constantly reduces, and is slipped after rail vehicle stopping and normal
Start.
Specifically, when slipped after the rail vehicle speed it is smaller when, at this time motor absolute direction be -1, stator field turn
Fast V2=S-V1>0, control motor output is corresponding with the motor slip and opposite with slipping direction after the rail vehicle
Pull-up torque slips speed after reducing the rail vehicle, slips after rail vehicle stopping and normally starts.
The startup control method of rail vehicle provided by the invention, according to the velocity amplitude and electricity that speed is slipped after rail vehicle
The relationship of the slip value of machine slip provides the startup control method under two kinds of different operating modes, when rail vehicle after slip speed
Velocity amplitude when being more than the slip value of motor slip, control motor output is corresponding with motor slip and with being slipped after rail vehicle
The identical electric braking torque in direction, makes to slip speed after rail vehicle and constantly reduces, and the speed of speed is slipped after rail vehicle
Angle value is less than the slip value of motor slip；When the velocity amplitude that speed is slipped after rail vehicle is less than the slip value of motor slip,
Motor is controlled to export pull-up torque corresponding with motor slip and opposite with slipping direction after rail vehicle, makes rail vehicle
After slip speed and constantly reduce, slip after rail vehicle stopping and normally start.The present invention slips speed lower rail after realizing difference
The smooth starting of road vehicle.
Referring to Fig. 2, the method further includes before step S101 is performed：
Step S105：The phase relation of the two-way square-wave signal exported according to motor speed sensor judges the rotation of motor
Direction, and judge rail vehicle slips after whether occurring according to the direction of rotation of the motor.
Specifically, motor speed sensor exports A, B two-way square-wave signal, if a-signal is ahead of B signal, motor is just
To rotation, motor absolute direction is 1, and the rail vehicle slips after not occurring；If B signal is ahead of a-signal, motor is reversed
Rotation, motor absolute direction are -1, and the rail vehicle slips after occurring.
Specifically, when being slipped after rail vehicle generation, rail vehicle can be realized by the way that motor is controlled to export actual torque
It is normal to start, when slipped after rail vehicle speed it is larger when, the actual torque of control motor output is and the motor slip phase
Corresponding and identical with slipping direction after rail vehicle electric braking torque, when slipped after rail vehicle speed it is smaller when, control
The actual torque of motor processed output is corresponding with the motor slip and with slipping that direction is opposite to lead after the rail vehicle
Draw torque.
The actual torque T2 of motor output is directly proportional to the motor slip S：T2=K2*S, wherein, K2 is proportionality coefficient,
So the same corresponding electric braking torque of motor slip is identical with the value of pull-up torque.
Speed is slipped after the acquisition rail vehicle with motor slip to include：
The motor speed of motor speed sensor output is obtained, the motor speed is slips speed after the rail vehicle
Degree；
Motor slip S, the given motor torque and driver are calculated according to the given motor torque T1 of current orbit vehicle
Handle is corresponding, S=K1*T1, wherein, K1 is proportionality coefficient.
Referring to Fig. 3, the startup control method based on rail vehicle a kind of disclosed in the invention described above, the present invention is corresponding public
A kind of startup control device of rail vehicle is opened, described device includes：
Acquisition module 101, for when being slipped after rail vehicle occurs, obtain slip after presently described rail vehicle speed with
Motor slip；
During startup control is carried out to rail vehicle, the direction of rotation of motor and rail vehicle controller handle are given tacit consent to
Direction be consistent, if rail vehicle slips after occurring when ramp starts, the direction of rotation of motor and controller hand at this time
The direction of handle is inconsistent, and the motor absolute direction when present invention slips after rail vehicle is occurred when ramp starts is determined as -1,
Motor absolute direction during by rail vehicle normally travel is determined as 1.
It is described there are certain calculated relationship between motor slip S, motor stator rotational speed of magnetic field V2 and motor speed V1
For motor speed to slip speed after rail vehicle, acquisition module 101 slips speed and motor slip after obtaining the rail vehicle,
It may determine that slip speed after the rail vehicle larger still smaller.
First judgment module 102, for judging whether the velocity amplitude that speed is slipped after the rail vehicle is more than the electricity
The slip value of machine slip；
Specifically, the startup control device of rail vehicle disclosed by the invention, for slip after different speed to motor into
Whether the different control of row is more than the slip value of the motor slip according to the velocity amplitude that speed is slipped after the rail vehicle,
Motor is controlled by the first control module 103 and the second control module 104 respectively, when the rail vehicle after slip speed
It is larger that speed is slipped when the velocity amplitude of degree is more than the slip value of the motor slip, after the rail vehicle, passes through the first control
Module 103 controls motor, when the rail vehicle after slip speed velocity amplitude be less than the motor slip slip
During value, it is smaller to slip speed after the rail vehicle, and motor is controlled by the second control module 104.
First control module 103 slips the velocity amplitude of speed after the rail vehicle and is more than the motor slip for working as
Slip value when, control motor exports corresponding with the motor slip and identical with slipping direction after rail vehicle electricity
Braking moment, makes to slip speed after the rail vehicle and constantly reduces, and the velocity amplitude of speed is slipped after the rail vehicle
Less than the slip value of the motor slip；
Specifically, when slipped after the rail vehicle speed it is larger when, at this time motor absolute direction be -1, motor stator magnetic
Calculated relationship between rotating speed V2, motor slip S and motor speed is：V2=D*V1+S, wherein, D is motor absolute direction,
D is -1 at this time.
Therefore, stator field rotating speed V2=S-V1<0, the first control module 103 control motor exports and the motor slip
Corresponding and identical with slipping direction after rail vehicle electric braking torque, with the output of electric braking torque, the rail
Speed is slipped after road vehicle to continuously decrease, the velocity amplitude that speed is slipped after the rail vehicle is less than the motor slip
Slip value triggers the second control module 104.
Second control module 104 slips the velocity amplitude of speed after the rail vehicle and is less than the motor slip for working as
Slip value when, control motor output is corresponding with the motor slip and with slipping that direction is opposite to lead after the rail vehicle
Draw torque, make to slip speed after the rail vehicle and constantly reduce, slip after rail vehicle stopping and normally start.
Specifically, when slipped after the rail vehicle speed it is smaller when, at this time motor absolute direction be -1, stator field turn
Fast V2=S-V1>0, the second control module 104 control motor output with the motor slip it is corresponding and with the railcar
The opposite pull-up torque in direction is slipped after, speed is slipped after reducing the rail vehicle, is slipped after rail vehicle stopping
And normally start.
The startup control device of rail vehicle provided by the invention, according to the velocity amplitude that speed is slipped after the rail vehicle
With the relationship of the slip value of motor slip, including slipping startup control module after be directed under two kinds of operating modes two, when the track
Slipped after vehicle speed velocity amplitude be more than the motor slip slip value when, the first control module 103 control motor output
Electric braking torque corresponding with the motor slip and identical with slipping direction after the rail vehicle, reduces the railcar
Speed is slipped after, the velocity amplitude that speed is slipped after the rail vehicle is less than the slip value of the motor slip；Work as institute
It states when the velocity amplitude of speed is slipped after rail vehicle being less than the slip value of the motor slip, the second control module 104 controls electricity
Machine exports pull-up torque corresponding with the motor slip and opposite with slipping direction after the rail vehicle, reduces the rail
Speed is slipped after road vehicle, slipped after rail vehicle stopping and is normally started.The present invention slips speed after realizing difference
The smooth starting of lower railway train, suitable for slipping startup after the track train under different ramps, different load-carrying operating modes.
Referring to Fig. 4, Fig. 4 is the startup control of another rail vehicle of the startup control device based on above-mentioned rail vehicle
Apparatus structure schematic diagram processed, relative to the startup control device of above-mentioned rail vehicle, the startup of the corresponding rail vehicles of Fig. 4 controls
Device further includes：
Second judgment module 105, the phase relation of two-way square-wave signal for being exported according to motor speed sensor are sentenced
The direction of rotation of power machine, and judge rail vehicle slips after whether occurring according to the direction of rotation of the motor.
Specifically, motor speed sensor exports A, B two-way square-wave signal, if a-signal is ahead of B signal, motor is just
To rotation, motor absolute direction is 1, and the rail vehicle slips after not occurring；If B signal is ahead of a-signal, motor is reversed
Rotation, motor absolute direction are -1, and the rail vehicle slips after occurring.
The acquisition module 101 includes：
Acquisition submodule 106, for obtaining the motor speed of motor speed sensor output, the motor speed is described
Speed is slipped after rail vehicle；
First computational submodule 107, for calculating motor slip S according to the given motor torque T1 of current orbit vehicle,
The given motor torque is corresponding with driver's handle, S=K1*T1, wherein, K1 is proportionality coefficient.
First control module includes：
Second computational submodule 108 is identical with slipping direction after the rail vehicle for being calculated according to the motor slip S
Electric braking torque T2, T2=K2*S, wherein K2 is proportionality coefficient；
Control submodule 109, for controlling the motor output electric braking identical with slipping direction after the rail vehicle
Torque.
Specifically, when being slipped after rail vehicle generation, rail vehicle can be realized by the way that motor is controlled to export actual torque
It is normal to start, when slipped after rail vehicle speed it is larger when, the actual torque of control motor output is and the motor slip phase
Corresponding and identical with slipping direction after rail vehicle electric braking torque, when slipped after rail vehicle speed it is smaller when, control
The actual torque of motor processed output is corresponding with the motor slip and with slipping that direction is opposite to lead after the rail vehicle
Draw torque.
The actual torque T2 of motor output is directly proportional to the motor slip S：T2=K2*S, wherein, K2 is proportionality coefficient,
So the same corresponding electric braking torque of motor slip is identical with the value of pull-up torque.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide range caused.
Claims (10)
1. a kind of startup control method of rail vehicle, including：When being slipped after rail vehicle generation, presently described railcar is obtained
Speed is slipped after, which is characterized in that the method further includes：
When being slipped after rail vehicle generation, the motor slip of presently described rail vehicle is obtained；
Judge whether the velocity amplitude that speed is slipped after the rail vehicle is more than the slip value of the motor slip；
If so, control motor exports electricity system corresponding with the motor slip and identical with slipping direction after the rail vehicle
Dynamic torque, makes to slip speed after the rail vehicle and constantly reduces, and the velocity amplitude that speed is slipped after the rail vehicle is small
In the slip value of the motor slip；
If it is not, control motor exports traction corresponding with the motor slip and opposite with slipping direction after the rail vehicle
Torque, makes to slip speed after the rail vehicle and constantly reduces, and slips after rail vehicle stopping and normally starts.
2. according to the method described in claim 1, it is characterized in that, it is described obtain slip after presently described rail vehicle speed with
Motor slip includes：
The motor speed of motor speed sensor output is obtained, the motor speed is slips speed after the rail vehicle；
Motor slip S, the given motor torque and driver's handle are calculated according to the given motor torque T1 of current orbit vehicle
It is corresponding, S=K1*T1, wherein, K1 is proportionality coefficient.
3. according to the method described in claim 1, it is characterized in that, the control motor output is corresponding with the motor slip
And the electric braking torque identical with slipping direction after the rail vehicle include：
Electric braking torque T2, the T2=K2*S identical with slipping direction after the rail vehicle are calculated according to the motor slip S,
Middle K2 is proportionality coefficient；
Control the motor output electric braking torque identical with slipping direction after the rail vehicle.
4. according to the method described in claim 1, it is characterized in that, with the corresponding electric braking torque of same motor slip with leading
The value for drawing torque is identical.
5. according to the method described in claim 1, it is characterized in that, the method further includes：
The phase relation of the two-way square-wave signal exported according to motor speed sensor judges the direction of rotation of motor, and according to institute
The direction of rotation for stating motor judges rail vehicle slips after whether occurring.
6. a kind of control device of rail vehicle, including：Acquisition module, it is current for when being slipped after rail vehicle occurs, obtaining
Speed is slipped after the rail vehicle, which is characterized in that
The acquisition module is additionally operable to, when slipping after rail vehicle occurs, obtain the motor slip of presently described rail vehicle；
Described device further includes：
First judgment module, for judging whether the velocity amplitude that speed is slipped after the rail vehicle is more than the motor slip
Slip value；
First control module slips the velocity amplitude of speed after the rail vehicle and is more than the slip value of the motor slip for working as
When, control motor exports electric braking corresponding with the motor slip and identical with slipping direction after the rail vehicle and turns
Square, makes to slip speed after the rail vehicle and constantly reduces, and the velocity amplitude that speed is slipped after the rail vehicle is less than institute
State the slip value of motor slip；
Second control module slips the velocity amplitude of speed after the rail vehicle and is less than the slip value of the motor slip for working as
When, control motor exports pull-up torque corresponding with the motor slip and opposite with slipping direction after the rail vehicle,
Make to slip speed after the rail vehicle and constantly reduce, slip after rail vehicle stopping and normally start.
7. device according to claim 6, which is characterized in that the acquisition module includes：
Acquisition submodule, for obtaining the motor speed of motor speed sensor output, the motor speed is the railcar
Speed is slipped after；
First computational submodule, it is described given for calculating motor slip S according to the given motor torque T1 of current orbit vehicle
Motor torque is corresponding with driver's handle, S=K1*T1, wherein, K1 is proportionality coefficient.
8. device according to claim 6, which is characterized in that first control module includes：
Second computational submodule is made for calculating the electricity identical with slipping direction after the rail vehicle according to the motor slip S
Dynamic torque T2, T2=K2*S, wherein K2 are proportionality coefficient；
Control submodule, for controlling the motor output electric braking torque identical with slipping direction after the rail vehicle.
9. device according to claim 6, which is characterized in that with the corresponding electric braking torque of same motor slip with leading
The value for drawing torque is identical.
10. device according to claim 6, which is characterized in that described device further includes：
Second judgment module, the phase relation of two-way square-wave signal for being exported according to motor speed sensor judge motor
Direction of rotation, and judge rail vehicle slips after whether occurring according to the direction of rotation of the motor.
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| CN201610633892.8A CN106080266B (en) | 2016-08-04 | 2016-08-04 | A kind of startup control method and device of rail vehicle |
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| CN201610633892.8A CN106080266B (en) | 2016-08-04 | 2016-08-04 | A kind of startup control method and device of rail vehicle |
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| CN108082004A (en) * | 2017-12-19 | 2018-05-29 | 中国铁路总公司 | For the traction control method and system of railway transportation equipment |
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| CN109968998B (en) * | 2019-04-26 | 2022-04-01 | 重庆交通大学 | Control system and control method for traction motor of motor car compartment |
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| CN106080266A (en) | 2016-11-09 |
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