CN106976462A - Heavy loading locomotive anti-skid control method based on asymmetric obstacle Li Yapu love functions - Google Patents
Heavy loading locomotive anti-skid control method based on asymmetric obstacle Li Yapu love functions Download PDFInfo
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- CN106976462A CN106976462A CN201710316657.2A CN201710316657A CN106976462A CN 106976462 A CN106976462 A CN 106976462A CN 201710316657 A CN201710316657 A CN 201710316657A CN 106976462 A CN106976462 A CN 106976462A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C15/00—Maintaining or augmenting the starting or braking power by auxiliary devices and measures; Preventing wheel slippage; Controlling distribution of tractive effort between driving wheels
- B61C15/14—Maintaining or augmenting the starting or braking power by auxiliary devices and measures; Preventing wheel slippage; Controlling distribution of tractive effort between driving wheels controlling distribution of tractive effort between driving wheels
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- 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
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Abstract
The invention discloses a kind of heavy loading locomotive anti-skid control method based on asymmetric obstacle Li Yapu love functions, it is controlled to heavy loading locomotive traction electric machine torque.Methods described, which includes level, includes adhesion coefficient sliding mode observer, asymmetric obstacle Li Yapu love anti-skid controllers；The asymmetric obstacle Li Yapu love anti-skid controllers, including creep condition discrimination unit, asymmetric obstacle Li Yapu love functions selecting unit, traction electric machine torque reference value computing unit realize the calculating of heavy loading locomotive traction electric machine torque reference value；The heavy loading locomotive anti-skid control method based on asymmetric obstacle Li Yapu love functions that the present invention is provided, can realize the accurate anti-sliding control of heavy loading locomotive under various complicated rail level change conditions.And by the design of the adhesion coefficient sliding mode observer based on sliding mode observer, realize the accurate measurement to adhesion coefficient, further improve sensitivity and the stability of heavy loading locomotive antiskid control system.
Description
Technical field
Asymmetric obstacle Li Yapuluo is based on the present invention relates to heavy loading locomotive anti-sliding control technical field, more particularly to one kind
The heavy loading locomotive anti-skid control method of husband's function, is a kind of side for being particularly suitable for use in heavy loading locomotive anti-sliding control under complex road condition
Method.
Background technology
As railway freight demand grows at top speed, Heavy-haul Freight is heavy by the emphasis as railway construction after high speed passenger transportation
Carrying electric locomotive turns into the mainstream development direction that freight railway traffic is equipped due to huge traction power.
In heavy loading locomotive running, the tractive force of traction electric machine is converted into locomotive in the form of wheel-rail adhesion and moved
Power driving train advances.According to the adhesiveness curve of heavy loading locomotive, the adhesion strength between wheel track is present to be limited in optimal adhesion strength
About.Heavy loading locomotive only makes full use of optimal adhesion strength, could effectively play the power of traction electric machine.
However, the optimal sticky point of heavy loading locomotive be actually it is a kind of between stable operation with will dally it is critical
State, common locomotive antiskid control system is typically detected by the creep speed to locomotive, once detect idle running letter
Number, it is rapid to cut down traction electric machine torque, vehicle wheel rotational speed is reduced, locomotive is reentered steady operational status.This control of adhering again
The drawbacks of method processed, is wheel pair idling or slides phenomenon to be completely avoided, it is difficult to effectively play heavy loading locomotive traction work(
Rate.
The content of the invention
The present invention provides a kind of heavy loading locomotive anti-skid control method based on asymmetric obstacle Li Yapu love functions, comes real
Show the anti-skidding technical problem of the optimal sticky point of heavy duty electric locomotive.
One aspect of the present invention provides a kind of heavy loading locomotive anti-sliding control side based on asymmetric obstacle Li Yapu love functions
Method, it is characterised in that including：
Step 1, using rotor angular speed as state variable, heavy loading locomotive traction electric machine mathematical modeling is set up
In formula, x=[ωm vs]T, u=Tm, A=[0 0]T,
TmFor traction electric machine output torque, TLFor traction motor load torque, JmFor traction electric machine rotary inertia, RgFor gearbox drive
Than r is wheel pair radius, vtFor body speed of vehicle；
Step 2, state variable x is chosen1, design sliding mode observerTo realize pair
Electronics rotor positionLoad torqueAnd adhesion coefficientObservation
In formula,A1=0,η1＞ 0, For rotor angular speed
Observation,For the observation of traction motor load torque, Wg is Locomotive Axle Load,For adhesion coefficient observation；
Step 3, state variable x is chosen2,Choose suitable asymmetric obstacle Liapunov
FunctionDesign asymmetric obstacle Li Yapu loves function control
Device control rateTo heavy loading locomotive traction electric machine
Output torque carry out it is anti-skidding constraint control, obtain anti-skidding torque instruction
In formula, x2=vs, A2=0, For optimal creep speed preset value, q
(e) it is switching function, k1＞ 0, k2＞ 0, ka＞ 0, kb＞ 0
Step 4, anti-skidding torque instruction is utilizedWith load torque observationTorque closed-loop control system is formed, is realized anti-
Sliding torque instructionAccurate tracking；
Further, the detailed process of step 2 is：
Step 2.1, according to locomotive wheel speed vdWith traction electric machine rotor velocity observationTo calculate electronics rotor position
Step 2.2, the deviation of observer is defined
Step 2.3, takeAfter system reaches sliding-mode surface, from sliding formwork principle of equivalence：
Step 2.4, according to traction electric machine stator dq shaft currents, computational load torque is carried out
Step 2.5, according to traction motor load torque observationTo calculate locomotive adhesion coefficient
Further, the detailed process of step 3 is：
Step 3.1, according to given optimal creep rate signalGES vt, wheel speed signal vdObtain creep state
Differentiate signal q (e)；
Step 3.2, according to creep condition discriminating signal q (e), asymmetric obstacle Li Yapu love function V (e) are selected；
Step 3.3, according to adhesion coefficient observationAsymmetric obstacle Li Yapu love function V (e) and the control of design
Rate u processed calculates anti-skidding torque instruction
The present invention provides a kind of heavy loading locomotive antiskid control system based on asymmetric obstacle Li Yapu love functions, and it is special
Levy and be, including：Adhesion coefficient sliding mode observer, asymmetric obstacle Li Yapu love anti-skid controllers；Adhesion coefficient sliding formwork is seen
The output end for surveying device is connected with the input of asymmetric obstacle Li Yapu love anti-skid controllers；
Wherein, adhesion coefficient sliding mode observer, according to traction electric machine control module dq axis current signals id、iq, extract obtain
Traction electric machine electromagnetic torque signal Tm, heavy loading locomotive wheel is to tach signal vd, to obtain traction electric machine rotor-position signal
Traction motor load dtc signalWith heavy loading locomotive adhesion coefficient signal
Asymmetric obstacle Li Yapu love anti-skid controllers, the adhesion coefficient exported according to adhesion coefficient sliding mode observer is believed
NumberHeavy loading locomotive body speed of vehicle signal vt, heavy loading locomotive wheel is to rate signal vdWith given optimal creep rate signalCome
Obtain traction electric machine torque reference value signal
Further, adhesion coefficient sliding mode observer includes sliding mode observer, traction electric machine spinner velocity and position extraction
Unit, traction electric machine electromagnetic torque extraction unit, anti-buffeting unit；The output end and sliding formwork of traction electric machine angular speed extraction unit
The input connection of observer, the output end of traction electric machine electromagnetic torque extraction unit and the input of sliding mode observer are connected,
The anti-output end for buffeting unit is connected with sliding mode observer；
Further, asymmetric obstacle Li Yapu loves anti-skid controller includes creep condition discrimination unit, asymmetric barrier
Hinder Li Yapu love functions selecting unit, traction electric machine torque reference value computing unit；The output end of creep condition discrimination unit
It is connected with the input of asymmetric obstacle Li Yapu loves function selecting unit, asymmetric obstacle Li Yapu loves function selection is single
The output end of member is connected with traction electric machine torque reference value computing unit.
The heavy loading locomotive anti-skid control method based on asymmetric obstacle Li Yapu love functions that the present embodiment is provided, can be
Under various complicated rail level change conditions, the accurate anti-sliding control of heavy loading locomotive is realized.And pass through the adhesion based on sliding mode observer
The design of coefficient sliding mode observer, realizes the accurate measurement to adhesion coefficient, further improves heavy loading locomotive anti-sliding control system
The sensitivity of system and stability.
Brief description of the drawings
The invention will be described in more detail below based on embodiments and refering to the accompanying drawings.
Fig. 1 is the anti-slip control of heavy loading locomotive based on asymmetric obstacle Li Yapu love functions according to the embodiment of the present invention one
The schematic flow sheet of method processed；
Fig. 2 is the overall structure diagram according to the embodiment of the present invention one；
Fig. 3 is the principle schematic of the heavy loading locomotive anti-sliding control module according to the embodiment of the present invention two；
In the accompanying drawings, identical part uses identical reference.Accompanying drawing is not drawn according to actual ratio.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
Embodiment one
Fig. 1 is the anti-slip control of heavy loading locomotive based on asymmetric obstacle Li Yapu love functions according to the embodiment of the present invention one
The schematic flow sheet of method processed.As shown in figure 1, the flow chart includes following several steps, including：
Step 1, using rotor angular speed as state variable, heavy loading locomotive traction electric machine mathematical modeling is set up
In formula, x=[ωm vs]T, u=Tm, A=[0 0]T, Tm
For traction electric machine output torque, TLFor traction motor load torque, JmFor traction electric machine rotary inertia, RgFor gear box ratio,
R is wheel pair radius, vtFor body speed of vehicle；
Step 2, state variable x is chosen1, design sliding mode observerTo realize pair
Electronics rotor positionLoad torqueAnd adhesion coefficientObservation
In formula,A1=0,η1＞ 0, For rotor angle of electric machine speed
The observation of degree,For the observation of traction motor load torque, Wg is Locomotive Axle Load,For adhesion coefficient observation；
Step 3, state variable x is chosen2,Choose suitable asymmetric obstacle Liapunov
FunctionDesign asymmetric obstacle Li Yapu loves function control
Device control rateTo heavy loading locomotive traction electric machine
Output torque carry out it is anti-skidding constraint control, obtain anti-skidding torque instruction
In formula, x2=vs, A2=0, For optimal creep speed preset value, q
(e) it is switching function, k1＞ 0, k2＞ 0, ka＞ 0, kb＞ 0
Step 4, anti-skidding torque instruction is utilizedWith load torque observationTorque closed-loop control system is formed, is realized anti-
Sliding torque instructionAccurate tracking；
Further, the detailed process of step 2 is：
Step 2.1, according to locomotive wheel speed vdWith traction electric machine rotor velocity observationTo calculate electronics rotor position
Step 2.2, the deviation of observer is defined
Step 2.3, takeAfter system reaches sliding-mode surface, from sliding formwork principle of equivalence：
Step 2.4, according to traction electric machine stator dq shaft currents, computational load torque is carried out
Step 2.5, according to traction motor load torque observationTo calculate locomotive adhesion coefficient
Further, the detailed process of step 3 is：
Step 3.1, according to given optimal creep rate signalGES vt, wheel speed signal vdObtain creep state
Differentiate signal q (e)；
Step 3.2, according to creep condition discriminating signal q (e), asymmetric obstacle Li Yapu love function V (e) are selected；
Step 3.3, according to adhesion coefficient observationAsymmetric obstacle Li Yapu love function V (e) and the control of design
Rate u processed calculates anti-skidding torque instruction
Embodiment two
Fig. 2 is the overall structure diagram according to the embodiment of the present invention one, as shown in figure 1, the present embodiment provides a kind of base
In the heavy loading locomotive anti-skid control method of asymmetric obstacle Li Yapu love functions, methods described includes：Three-phase bridge type inverse electricity
Road 1, current signal collecting unit 2, heavy loading locomotive traction electric machine 3, speed wheel velocity signal capturing unit 4, coordinate transformation module 5,
Heavy loading locomotive anti-sliding control module 6, DSP control unit 7, optimal creep speed preset unit 8；Three-phase inverter bridge circuit 1
Input is connected DSP control unit 7, current signal collecting unit 2, the output of current signal collecting unit 2 with output end respectively
End is connected with heavy loading locomotive traction electric machine 3, coordinate transformation module 5, the input and output end of speed wheel velocity signal capturing unit 4
Heavy loading locomotive traction electric machine 3, heavy loading locomotive anti-sliding control module 6, the output end of coordinate transformation module 5 and heavily loaded machine are connected respectively
Car anti-sliding control module 6, control unit 7 are connected, the output end of heavy loading locomotive anti-sliding control module 6 and control unit 7, optimal compacted
Sliding speed preset unit 8 is connected.
Specifically, three-phase inverter bridge circuit 1, the PWM waveform for being exported according to control unit 7 controls three-phase bridge
The conducting of formula inverter circuit switch, exports abc three-phase voltages, so as to realize the control to heavy loading locomotive traction electric machine；Electric current is believed
Number collecting unit 2 extracts low current data signal from the high voltage, high current signal of three-phase inverter bridge circuit；Test the speed wheel speed
Signal gathering unit from heavy loading locomotive to carrying velocity sensor and trailer-mounted radar acquisition wheel speed signal vd, GES vt；Coordinate
Conversion module 5 is used for the current signal i gathered according to current signal collecting unit 2a、ib, obtain dq axis current signals id、iq；Weight
Carrier aircraft car anti-sliding control module is according to dq axis current signals id、iq, wheel speed GES vd、vtWith optimal creep speed preset list
The given optimal creep rate signal of the output of member 8Obtain traction electric machine torque reference valueElectric motor load torque signal
Traction electric machine rotor-position signalDSP control unit 7 is used for according to dq axis current signals id、iq, traction electric machine rotor-position
SignalWith traction electric machine torque reference valueWith electric motor load torque signalDifference signal, to obtain three-phase bridge type inverse
The PWM waveform signal of the bridge inverter main circuit of circuit 1；Optimal creep speed preset unit 8, for exporting optimal creep speed
Spend signal
Embodiment three
The present embodiment is the supplementary notes carried out on the basis of embodiment one.
Fig. 3 is the principle schematic of the heavy loading locomotive anti-sliding control module according to the embodiment of the present invention two, the heavily loaded machine
Car anti-sliding control module 6 includes：Adhesion coefficient sliding mode observer 61, asymmetric obstacle Li Yapu loves anti-skid controller 62；It is viscous
The output end for coefficient sliding mode observer 61 is connected with the input of asymmetric obstacle Li Yapu loves anti-skid controller 62.
Described adhesion coefficient sliding mode observer 61 includes traction electric machine electromagnetic torque extraction unit, traction electric machine rotor speed
Degree and position extraction unit, sliding mode observer, anti-buffeting unit；, the output end and cunning of traction electric machine electromagnetic torque extraction unit
The input connection of mould observer, the output end of traction electric machine angular speed extraction unit and the input of sliding mode observer are connected,
The anti-output end for buffeting list is connected with sliding mode observer.
Described asymmetric obstacle Li Yapu loves anti-skid controller 62 includes creep condition discrimination unit, asymmetric obstacle
Li Yapu love functions selecting unit, traction electric machine torque reference value computing unit；The output end of creep condition discrimination unit with
The input connection of asymmetric obstacle Li Yapu loves function selecting unit, asymmetric obstacle Li Yapu loves function selecting unit
622 output end is connected with traction electric machine torque reference value computing unit.
Fig. 2 understands, heavy loading locomotive anti-sliding control module 6 to implement step as follows：
1st, the wheel speed signal v for first exporting wheel speed GES collecting unit 4dThe electricity exported with coordinate transformation module 5
Flow signal id、iqIt is input in traction electric machine electromagnetic torque extraction unit and traction electric machine spinner velocity and position extraction unit；
2nd, traction electric machine electromagnetic torque extraction unit obtains traction electric machine electromagnetic torque signal Tm, traction electric machine spinner velocity
With position extraction unit to traction electric machine rotor velocity signal ωmWith traction electric machine rotor-position signalExtracted；
3rd, obtained dtc signal T is extractedm, tach signal ωmSliding mode observer is inputed to, sliding mode observer will be calculated
Adhesion coefficient signalWith electric motor load torque signalWherein anti-buffeting unit is connected with sliding mode observer, weakens observer
Chattering phenomenon；
4th, the signal v for exporting wheel speed GES collecting unit 4t、vdExported with optimal creep speed preset unit 8
Optimal creep rate signalIt is input in creep condition discrimination unit, obtains creep condition discriminating signal q (e)；
5th, creep condition discriminating signal q (e) is inputed into asymmetric obstacle Li Yapu loves function selecting unit, obtains non-
Symmetrical obstacle Liapunov function signal V (e)；
6th, by asymmetric obstacle Liapunov function signal V (e) and adhesion coefficient signalInput to traction electric machine torque
Set-point computing unit, obtains traction electric machine torque reference value
7th, by rotor-position signalElectric motor load torque signalTraction electric machine torque reference valueInput to control
Complete heavy loading locomotive antiskid control system is formed in unit 7.
The heavy loading locomotive anti-skid control method based on asymmetric obstacle Li Yapu love functions that the present embodiment is provided, can be
Under various complicated rail level change conditions, the accurate anti-sliding control of heavy loading locomotive is realized.And pass through the adhesion based on sliding mode observer
The design of coefficient sliding mode observer, realizes the accurate measurement to adhesion coefficient, further improves heavy loading locomotive anti-sliding control system
The sensitivity of system and stability.Although by reference to preferred embodiment, invention has been described, is not departing from the model of invention
In the case of enclosing, various improvement can be carried out to it and part therein can be replaced with equivalent.The present invention does not limit to
In specific embodiment disclosed herein, but all technical schemes including falling within the scope of the appended claims.
Claims (6)
1. the heavy loading locomotive anti-skid control method based on asymmetric obstacle Li Yapu love functions, it is characterised in that including following
Step：
Step 1, using rotor angular speed as state variable, heavy loading locomotive traction electric machine mathematical modeling is set up
In formula, x=[ωm vs]T, u=Tm, A=[0 0]T,
TmFor traction electric machine output torque, TLFor traction motor load torque, JmFor traction electric machine rotary inertia, RgFor gearbox drive
Than r is wheel pair radius, vtFor body speed of vehicle；
Step 2, state variable x is chosen1, design sliding mode observerTo realize to electronics
Rotor-positionLoad torqueAnd adhesion coefficientObservation
In formula,A1=0,η1＞ 0, For rotor angular speed
Observation,For the observation of traction motor load torque, Wg is Locomotive Axle Load,For adhesion coefficient observation；
Step 3, state variable x is chosen2,Choose suitable asymmetric obstacle Liapunov functionDesign asymmetric obstacle Li Yapu loves function controller control
Rate processedOutput to heavy loading locomotive traction electric machine
Torque carries out anti-skidding constraint control, obtains anti-skidding torque instruction
In formula, x2=vs, A2=0, For optimal creep speed preset value, q (e) is
Switching function, k1＞ 0, k2＞ 0, ka＞ 0, kb＞ 0
Step 4, anti-skidding torque instruction is utilizedWith load torque observationTorque closed-loop control system is formed, antislip is realized
Square is instructedAccurate tracking.
2. a kind of heavy loading locomotive anti-sliding control side based on asymmetric obstacle Li Yapu love functions according to claim 1
Method, it is characterised in that the detailed process of the step 2 is：
Step 2.1, according to locomotive wheel speed vdWith traction electric machine rotor velocity observationTo calculate electronics rotor position
Step 2.2, the deviation of observer is defined
Step 2.3, takeAfter system reaches sliding-mode surface, from sliding formwork principle of equivalence：
Step 2.4, according to traction electric machine stator dq shaft currents, computational load torque is carried out
Step 2.5, according to traction motor load torque observationTo calculate locomotive adhesion coefficient 。
3. a kind of heavy loading locomotive anti-sliding control side based on asymmetric obstacle Li Yapu love functions according to claim 1
Method, it is characterised in that the detailed process of the step 3 is：
Step 3.1, according to given optimal creep rate signalGES vt, wheel speed signal vdObtain creep condition discrimination letter
Number q (e)；
Step 3.2, according to creep condition discriminating signal q (e), asymmetric obstacle Li Yapu love function V (e) are selected；
Step 3.3, according to adhesion coefficient observationThe control rate u of asymmetric obstacle Li Yapu love function V (e) and design comes
Calculate anti-skidding torque instruction。
4. the heavy loading locomotive anti-skid control method based on asymmetric obstacle Li Yapu love functions, it is characterised in that including：Adhesion
Coefficient sliding mode observer, asymmetric obstacle Li Yapu love anti-skid controllers；The output end of adhesion coefficient sliding mode observer with it is non-
The input connection of symmetrical obstacle Li Yapu love anti-skid controllers；
Wherein, adhesion coefficient sliding mode observer, according to traction electric machine control module dq axis current signals id、iq, extract obtain lead
Draw motor electromagnetic dtc signal Tm, heavy loading locomotive wheel is to tach signal vd, to obtain traction electric machine rotor-position signalTraction
Electric motor load torque signalWith heavy loading locomotive adhesion coefficient signal
Asymmetric obstacle Li Yapu love anti-skid controllers, the adhesion coefficient signal exported according to adhesion coefficient sliding mode observer
Heavy loading locomotive body speed of vehicle signal vt, heavy loading locomotive wheel is to rate signal vdWith given creep rate signalTo obtain traction electricity
Machine torque reference value signal。
5. a kind of heavy loading locomotive anti-sliding control side based on asymmetric obstacle Li Yapu love functions according to claim 1
Method, it is characterised in that described adhesion coefficient sliding mode observer is carried including sliding mode observer, traction electric machine spinner velocity and position
Take unit, traction electric machine electromagnetic torque extraction unit, anti-buffeting unit；The output end of traction electric machine speed and position extraction unit
It is connected with the input of sliding mode observer, the output end of traction electric machine electromagnetic torque extraction unit and the input of sliding mode observer
Connection, the anti-output end for buffeting unit is connected with sliding mode observer.
6. a kind of heavy loading locomotive anti-sliding control side based on asymmetric obstacle Li Yapu love functions according to claim 1
Method, it is characterised in that described asymmetric obstacle Li Yapu loves anti-skid controller includes creep condition discrimination unit, asymmetric
Obstacle Li Yapu love functions selecting unit, traction electric machine torque reference value computing unit；The output of creep condition discrimination unit
End is connected with the input of asymmetric obstacle Li Yapu loves function selecting unit, asymmetric obstacle Li Yapu loves function selection
The output end of unit is connected with traction electric machine torque reference value computing unit.
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| CN108791324A (en) * | 2018-07-16 | 2018-11-13 | 湖南工业大学 | A kind of consistent system of heavy loading locomotive gross load hauled and control distribution method |
| CN109693653A (en) * | 2018-11-30 | 2019-04-30 | 西安翔迅科技有限责任公司 | A kind of anti-skidding protection control method of locomotive axle |
| CN110095979A (en) * | 2018-01-29 | 2019-08-06 | 湖南工业大学 | One kind is based on asymmetric Barrier Lyapunov function bullet train adhesion anti-skid control method |
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| CN107359837A (en) * | 2017-09-06 | 2017-11-17 | 湖南工业大学 | Torsion control system of synchronization generator with everlasting magnetic and method based on sliding mode observer and Active Disturbance Rejection Control |
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| CN110095979A (en) * | 2018-01-29 | 2019-08-06 | 湖南工业大学 | One kind is based on asymmetric Barrier Lyapunov function bullet train adhesion anti-skid control method |
| CN110095979B (en) * | 2018-01-29 | 2022-08-30 | 湖南工业大学 | High-speed train adhesion anti-skid control method based on asymmetric Barrier Lyapunov function |
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| CN108791324B (en) * | 2018-07-16 | 2023-06-20 | 湖南工业大学 | Heavy-duty locomotive traction total amount consistency system and control distribution method |
| CN109693653A (en) * | 2018-11-30 | 2019-04-30 | 西安翔迅科技有限责任公司 | A kind of anti-skidding protection control method of locomotive axle |
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