CN108297737A - The hunting stability control system and method for rail vehicle independence driving wheel pair - Google Patents
The hunting stability control system and method for rail vehicle independence driving wheel pair Download PDFInfo
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- CN108297737A CN108297737A CN201810045436.0A CN201810045436A CN108297737A CN 108297737 A CN108297737 A CN 108297737A CN 201810045436 A CN201810045436 A CN 201810045436A CN 108297737 A CN108297737 A CN 108297737A
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- state
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- stability control
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F3/00—Types of bogies
-
- 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
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/429—Current
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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
- Y02T10/64—Electric machine technologies in electromobility
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of hunting stability control system of rail vehicle independence driving wheel pair and methods, wherein system includes：Independent driving wheel is to Mechanical ＆ Electrical Combination System；Acquisition module, for acquiring the rotating speed of motor output shaft and flowing through the electric current of armature；State observer, for obtaining the quantity of state of system with the electric current for flowing through armature according to the rotating speed of motor output shaft；Electric machine controller calculates the control voltage of driving motor according to the quantity of state of system, and control independent driving wheel to Mechanical ＆ Electrical Combination System by it, thus to independent driving wheel to carrying out hunting stability control when independent driving wheel is to occurring hunting.The system can control transverse movement of the independent driving wheel to Mechanical ＆ Electrical Combination System by driving motor, to, to carrying out hunting stability control, effectively improve the stability of system to independent driving wheel.
Description
Technical field
The present invention relates to technical field of vehicle, more particularly to a kind of hunting stability control of rail vehicle independence driving wheel pair
System and method processed.
Background technology
With the continuous expansion of city size, have the characteristics that large conveying quantity, quick, punctual city railway vehicle become city
Indispensable important component in city's traffic system.Traffic system is sufficiently complex in city, and road is crowded, and high buildings and large mansions are close
Collection, in order to allow rail vehicle to be applied even more extensively, needs have small radius during track is linear.
As shown in Figure 1, traditional consolidation wheel is due to left and right sides wheel to being connected, using tread conicity to left and right when turning
Side wheel linear differential compensates, and the range of compensation can be exceeded in minor-circle turn, makes wheel rim and Wheel Rail Contact, so not
Only increase running resistance, and it is serious when will produce derailment accident, therefore tradition consolidation wheel is poor to minor radius handling capacity.Such as figure
Shown in 2, independent wheelset is mainly characterized by both sides wheel and can independently rotate, this allows left and right sides wheel to have difference
Rotating speed, so as to better by sharp radius curve.But independent wheelset has broken traditional consolidation wheel to being based on longitudinal creep
The self- steering of torque travels mechanism so that its own does not have self-conductance tropism, lacks from centering ability yet.
The independent driving wheel pair independently driven based on left and right wheels is proposed in the related technology, carried out under straight-line travelling operating mode etc.
Rotating speed controls, and the desired speed for calculating both sides wheel under curve driving operating mode according to parameters such as orbit radius is poor, as target
To the method that the rotating speed of two vehicle wheels is controlled, at the same solve sharp radius curve by performance issue and independent wheelset from
Guiding problem.
Independent driving wheel under equal rotating speeds control is to theoretically having the driving performance close to tradition consolidation wheel pair, in longitudinal direction
Under the action of creep torque, to consolidation wheel pair lateral dynamics it is similar, will occur lateral displacement and shake the head angle replace it is past
The hunting of multiplex vibration, not only influence vehicle ride comfort, be more than certain critical speed when transverse movement can also unstability, lead
Wheel rim contact is caused, until derailing.
Invention content
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, an object of the present invention is to provide a kind of controls of the hunting stability of rail vehicle independence driving wheel pair
System can effectively improve the stability of independent driving wheel pair.
It is another object of the present invention to propose a kind of hunting stability controlling party of rail vehicle independence driving wheel pair
Method.
In order to achieve the above objectives, one aspect of the present invention embodiment proposes a kind of snake of rail vehicle independence driving wheel pair
Stabilitrak, including：Independent driving wheel is to Mechanical ＆ Electrical Combination System；Acquisition module, for acquiring turning for motor output shaft
Speed and the electric current for flowing through armature；State observer, for according to the rotating speed of the motor output shaft and described flowing through motor
The electric current of armature obtains the quantity of state of system；Electric machine controller, when independent driving wheel is to occurring hunting, according to the system
The quantity of state of system calculates the control voltage of driving motor, and controls independent driving wheel to electromechanics by the control voltage of the motor
Coupled system, with to independent driving wheel to carry out hunting stability control.
The hunting stability control system of the rail vehicle independence driving wheel pair of the embodiment of the present invention, can be defeated by motor
The rotating speed of shaft and the electric current for flowing through armature obtain the quantity of state of system, to calculate the control voltage of driving motor, to
Independent driving wheel is controlled to Mechanical ＆ Electrical Combination System, with steady to crawl to independent driving wheel by the control voltage of driving motor
Qualitative contrlol effectively improves the stability of system.
In addition, the hunting stability control system of rail vehicle independence driving wheel pair according to the above embodiment of the present invention is also
There can be following additional technical characteristic：
Further, in one embodiment of the invention, the electric machine controller is further used for：In the independent drive
When driving wheel with angle of shaking the head to replacing the state vibrated in lateral displacement, according to the quantity of state of the system, with lateral displacement mesh
Scale value is 0 or convergence target in order to control within a preset range, and the control voltage of the driving motor is calculated by control algolithm, and
The control voltage that the driving motor is exported by power circuit device, with to the driving wheel to carry out stability control.
Further, in one embodiment of the invention, the independent driving wheel includes to Mechanical ＆ Electrical Combination System：It is described
Independent driving wheel pair；Two driving motors and necessary transmission mechanism.
Further, in one embodiment of the invention, the acquisition module includes：Motor speed sensor and armature
Current sensor.
Further, in one embodiment of the invention, the quantity of state of the system includes the lateral displacement of wheel pair, shakes
The brilliance, lateral velocity and angular speed of shaking the head.
Further, in one embodiment of the invention, the state observer is further used for according to the motor
The rotating speed of output shaft and the electric current for flowing through armature estimate the quantity of state of the system according to state observer.
In order to achieve the above objectives, another aspect of the present invention embodiment proposes a kind of snake of rail vehicle independence driving wheel pair
Row stability control method, includes the following steps：It acquires the rotating speed of motor output shaft and flows through the electric current of armature；According to institute
The rotating speed and the electric current for flowing through armature for stating motor output shaft obtain the quantity of state of system；According to the state of the system
Amount calculates the control voltage of driving motor, and controls independent driving wheel to mechanical-electric coupling according to the control voltage of the driving motor
System, thus to independent driving wheel to carrying out hunting stability control.
The hunting stability control method of the rail vehicle independence driving wheel pair of the embodiment of the present invention, can be defeated by motor
The rotating speed of shaft and the electric current for flowing through armature obtain the quantity of state of system, to calculate the control voltage of driving motor, to
Independent driving wheel is controlled to Mechanical ＆ Electrical Combination System, with steady to crawl to independent driving wheel by the control voltage of driving motor
Qualitative contrlol effectively improves the stability of system.
In addition, the hunting stability control method of rail vehicle independence driving wheel pair according to the above embodiment of the present invention is also
There can be following additional technical characteristic：
Further, in one embodiment of the invention, in the independent driving wheel to being in lateral displacement and shaking the head
Angle alternately the state of vibration when, according to the quantity of state of the system, with lateral displacement desired value be 0 or convergence within a preset range
Target in order to control calculates the control voltage of the driving motor by control algolithm, and by described in the output of power circuit device
The control voltage of driving motor, with to the driving wheel to carry out stability control.
Further, in one embodiment of the invention, the quantity of state of the system includes the lateral displacement of wheel pair, shakes
The brilliance, lateral velocity and angular speed of shaking the head.
Further, in one embodiment of the invention, according to the rotating speed of the motor output shaft and described electricity is flowed through
The electric current of armature estimates the quantity of state of the system according to state observer.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, wherein：
Fig. 1 is the schematic diagram of tradition consolidation wheel pair；
Fig. 2 is the schematic diagram of independent wheelset；
Fig. 3 is the schematic diagram of independent driving wheel pair in the related technology；
Fig. 4 is the transverse movement curve synoptic diagram under independent driving wheel controls the rotating speeds such as both sides wheel；
Fig. 5 is the schematic diagram of serpentine locomotion qualitative analysis in the related technology；
Fig. 6 is the structure according to the hunting stability control system of the rail vehicle independence driving wheel pair of the embodiment of the present invention
Schematic diagram；
Fig. 7 is the structural schematic diagram according to the independent driving wheel of one embodiment of the invention to Mechatronic control system；
Fig. 8 is to be driven according to the independence under the lateral displacement PID control of the carrier state observer of one embodiment of the invention
Wheel is to simulation result schematic diagram；
Fig. 9 is according to the independent driving wheel pair under the STATE FEEDBACK CONTROL of the carrier state observer of one embodiment of the invention
Simulation result schematic diagram；
Figure 10 is the stream according to the hunting stability control method of the rail vehicle independence driving wheel pair of the embodiment of the present invention
Cheng Tu.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
The rail vehicle independence driving wheel pair for introducing the embodiment of the present invention hunting stability control system and method it
Before, the first hunting stability control of the rail vehicle independence driving wheel pair under simple introduction in the related technology.
As shown in figure 3, the relevant technologies, on the basis of independent wheelset, both sides are respectively arranged motor and necessary driver
Structure just becomes the Mechanical ＆ Electrical Combination System of an independent driving wheel pair, can be respectively that two wheels provide longitudinal driving or system
Kinetic moment, but independent driving wheel is to when straight-line travelling, it is still necessary to the same rotating speed of independent wheelset left and right sides wheel, if
Equal rotating speeds control is carried out to left and right sides wheel when straight-line travelling, has just reverted to the traveling situation of consolidation wheel pair, tradition consolidation again
Existing hunting stability problem when driving can still occur in the case of independent wheelset in wheel.
As shown in figure 4, under simulated environment, if independent driving wheel can control to level off to 0 to both sides speed discrepancy, that
Independent driving wheel is for consolidation wheel to there is identical hunting property；And as can be seen from Figure 4 hunting is one
The lateral displacement y of kind wheel pair replaces the self-excited vibration form of vibration with the angle ψ that shakes the head.
As shown in figure 5, hunting qualitative can provide its mechanism of production, consolidation is taken turns to advancing on straight track,
If laterally having slightly offset a distance toward side, the radius of gyration r of this single wheel just will increase, and other side vehicle
The radius of gyration of wheel will reduce.Since the two wheels are mounted on an axis, the torsion stiffness of this root axis is very big, can be with
Think that the revolution angular velocity omega of two wheels is the same, linear velocity v=ω r, so the single wheel that distance turning radius is big
Linear velocity it is also big.Therefore, if wheel keeps pure rolling, wheel is to can just return to the position among track again, and meeting is adjoint
The angle of shaking the head generated due to tread conicity.Due to the motional inertia of wheel pair, wheel is another to that will be biased to more than orbit centre
Side.Such process will be repeated, to produce hunting.
The present invention is based on the above problem, and a kind of hunting stability control of the rail vehicle independence driving wheel pair proposed
System and method processed.
The snake for describing the rail vehicle independence driving wheel pair proposed according to embodiments of the present invention with reference to the accompanying drawings is stablized
Property control system and method, describe the rail vehicle independence driving wheel pair proposed according to embodiments of the present invention with reference to the accompanying drawings first
Hunting stability control system.
Fig. 6 is the structural representation of the hunting stability control system of the rail vehicle independence driving wheel pair of the embodiment of the present invention
Figure.
As shown in fig. 6, the hunting stability control system 10 of the rail vehicle independence driving wheel pair includes：Independent driving wheel
To Mechanical ＆ Electrical Combination System 100, acquisition module 200, state observer 300 and electric machine controller 400.
Wherein, acquisition module 200 is for acquiring the rotating speed of motor output shaft and flowing through the electric current of armature.State observation
Device 300 is used for the rotating speed according to motor output shaft and flows through the quantity of state of the current estimation system of armature.Electric machine controller
400, when independent driving wheel is to occurring hunting, the control voltage of driving motor are calculated according to the quantity of state of system, and are passed through
The control voltage of driving motor controls independent driving wheel to Mechanical ＆ Electrical Combination System, thus to independent driving wheel to carrying out snake stabilization
Property control.The system 10 of the embodiment of the present invention can control independent driving wheel to mechanical-electric coupling according to the control voltage of driving motor
System, to carrying out hunting stability control, to effectively improve the stability of system to independent driving wheel.
Further, in one embodiment of the invention, electric machine controller 400 is further used for：In independent driving wheel
When state to replacing vibration with angle of shaking the head in lateral displacement, according to the quantity of state of system, with lateral displacement desired value be 0 or
Convergence target in order to control within a preset range, the control voltage of driving motor is calculated by control algolithm, and pass through power circuit
The control voltage of device output driving motor, with to independent driving wheel to carry out stability control.
Optionally, in one embodiment of the invention, independent driving wheel includes to Mechanical ＆ Electrical Combination System 100：It is independent to drive
Driving wheel is to, two driving motors and necessary transmission mechanism.
Optionally, in one embodiment of the invention, acquisition module 200 includes：Motor speed sensor and armature electricity
Flow sensor.
Wherein, in one embodiment of the invention, the quantity of state of system includes the lateral displacement of wheel pair and angle of shaking the head.
Further, in one embodiment of the invention, state observer 300 is further used for according to motor output shaft
Rotating speed and flow through the electric current of armature, the quantity of state of estimating system.
It is understood that as shown in fig. 7, independence of embodiment of the present invention driving wheel includes only to Mechanical ＆ Electrical Combination System 100
Necessary transmission mechanism of the vertical wheel between, two driving motors and independent wheelset, two driving motors, which is controlled
Object；Sensor, i.e. acquisition module 200, acquisition module 200 include motor speed sensor and armature supply sensor, acquisition
Module 200 is for acquiring the rotating speed of motor output shaft and flowing through the electric current of armature；State observer 300 can utilize acquisition
To motor output shaft rotating speed and flow through the electric current of armature, other in estimating system 10 can not physics measured directly
Amount, such as lateral displacement of wheel pair and angle of shaking the head, to realize feedback control.The common sensor for directly measuring displacement in industry
Mainly have a laser displacement sensor and linear potentiometer, but in rail vehicle can not practical application, can only adoption status see
It surveys this " soft sensing " technology of device and solves the problems, such as this.When independent driving wheel is to occurring hunting, wheel is to being in horizontal
Replace the state of vibration, the system physical amount estimated according to state observer, with lateral displacement mesh with angle of shaking the head to displacement
Scale value is 0, or convergence target in order to control within a preset range, and the driving motor for control is calculated with certain control algolithm
Voltage is controlled, and the control voltage is exported by power circuit device, realizes and the hunting stability of independent driving wheel pair is controlled.
Electric machine controller 400 can independent driving wheel to occur hunting when, the system estimated according to state observer
Physical quantity is calculated with the stability indicator target in order to control that lateral displacement desired value is 0 or other transverse movement with certain control
Method exports the control voltage, realization pair to calculate the control voltage of the driving motor for control by power circuit device
The hunting stability of independent driving wheel pair controls.
For example, in one embodiment of the invention, state observer 300 is adopted using imperial Burger observer, motor
With PID control, and it is 0.001m to initial traversing amount that wheel, which is arranged, and emulation speed is v=20/, and PID adjustment parameters are Kpy=-40,
Kiy=0, Kdy=18, the interference noise that a maximum amplitude is initial traversing amount 1% has been superimposed to system state amount.
As shown in figure 8, y is the lateral displacement of wheel pair, Ψ is the angle of shaking the head of wheel pair,For both sides motor speed difference half, i
For both sides armature current difference half.It can be seen that the control method has certain inhibiting effect to the hunting of wheel pair,
Initial lateral displacement gradually converges near 0, is mainly substantially laterally to be disturbed caused by interference noise after 3s.
In another embodiment of the present invention, for state observer 300 using imperial Burger observer, motor adoption status is anti-
Feedback control, setting wheel are 0.001m to initial traversing amount, and emulation speed is v=50/, and a maximum has been superimposed to system state amount
Amplitude is the interference noise of initial traversing amount 1%.The equation of STATE FEEDBACK CONTROL is u=-Kx, and wherein u is both sides armature
Voltage difference half, K are state feedback control law, and x is the state vector of system.Using sytem matrix, system pole configuration is carried out
It can obtain state feedback control law K.
As shown in figure 9, under the high speed situations of v=50/, the STATE FEEDBACK CONTROL of carrier state observer is to independent driving wheel
To hunting be to have relatively good inhibition.Initial lateral displacement gradually converges to 0, in addition to both sides armature
Half i of current difference can be seen that there is noise superposition amount, and other systems state variable, which is not almost seen, noise superposition amount.
The hunting stability control system of the rail vehicle independence driving wheel pair proposed according to embodiments of the present invention, Ke Yitong
The rotating speed for crossing motor output shaft and the electric current for flowing through armature obtain the quantity of state of system, to calculate the control electricity of driving motor
Pressure, to control independent driving wheel to Mechanical ＆ Electrical Combination System by the control voltage of driving motor, with to independent driving wheel into
Row hunting stability controls, and effectively improves the stability of system.
Referring next to the snake stabilization for the rail vehicle independence driving wheel pair that attached drawing description proposes according to embodiments of the present invention
Property control method.
Figure 10 is the flow chart of the hunting stability control method of the rail vehicle independence driving wheel pair of the embodiment of the present invention.
As shown in Figure 10, the hunting stability control method of the rail vehicle independence driving wheel pair includes the following steps：
In step sl, it acquires the rotating speed of motor output shaft and flows through the electric current of armature.
In step s 2, the quantity of state of system is obtained with the electric current for flowing through armature according to the rotating speed of motor output shaft.
In step s3, the control voltage of driving motor, and the control for passing through driving motor are calculated according to the quantity of state of system
Voltage processed controls independent driving wheel to Mechanical ＆ Electrical Combination System, with to independent driving wheel to carrying out hunting stability control.
Further, in one embodiment of the invention, in independent driving wheel to being in lateral displacement and angle friendship of shaking the head
For vibration state when, with lateral displacement desired value be 0 or convergence mesh in order to control within a preset range according to the quantity of state of system
Mark is calculated the control voltage of driving motor by control algolithm, and passes through the control of power circuit device output driving motor electricity
Pressure, with to independent driving wheel to carry out stability control.
Further, in one embodiment of the invention, the quantity of state of system includes the lateral displacement of wheel pair and shakes the head
Angle.
Further, in one embodiment of the invention, according to the rotating speed of motor output shaft and flowing through armature
Electric current, according to the quantity of state of state observer estimating system.
It should be noted that the solution of the aforementioned hunting stability control system embodiment to rail vehicle independence driving wheel pair
The hunting stability control method that explanation is also applied for the rail vehicle independence driving wheel pair of the embodiment is released, it is no longer superfluous herein
It states.
The hunting stability control method of the rail vehicle independence driving wheel pair proposed according to embodiments of the present invention, Ke Yitong
The rotating speed for crossing motor output shaft and the electric current for flowing through armature obtain the quantity of state of system, to calculate the control electricity of driving motor
Pressure, to control independent driving wheel to Mechanical ＆ Electrical Combination System by the control voltage of driving motor, with to independent driving wheel into
Row hunting stability controls, the stability effectively improved.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on ... shown in the drawings or
Position relationship is merely for convenience of description of the present invention and simplification of the description, and does not indicate or imply the indicated device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be that machinery connects
It connects, can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary in two elements
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature can be with "above" or "below" second feature
It is that the first and second features are in direct contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is directly under or diagonally below the second feature, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (10)
1. a kind of hunting stability control system of rail vehicle independence driving wheel pair, which is characterized in that including：
Independent driving wheel is to Mechanical ＆ Electrical Combination System；
Acquisition module, for acquiring the rotating speed of motor output shaft and flowing through the electric current of armature；
State observer, for obtaining system according to the rotating speed and the electric current for flowing through armature of the motor output shaft
Quantity of state；And
Electric machine controller calculates driving motor when independent driving wheel is to occurring hunting according to the quantity of state of the system
Control voltage, and independent driving wheel is controlled to Mechanical ＆ Electrical Combination System, with to independence by the control voltage of the driving motor
Driving wheel is to carrying out hunting stability control.
2. the hunting stability control system of rail vehicle independence driving wheel pair according to claim 1, which is characterized in that
The electric machine controller is further used for：
When the independent driving wheel with angle of shaking the head to replacing the state vibrated in lateral displacement, according to the state of the system
Amount with lateral displacement desired value is 0 or convergence target in order to control within a preset range, and it is electric to calculate the driving by control algolithm
The control voltage of machine, and the driving motor is exported by power circuit device and controls voltage, with to the independent driving wheel pair
Carry out stability control.
3. the hunting stability control system of rail vehicle independence driving wheel pair according to claim 1, which is characterized in that
The independent driving wheel includes to Mechanical ＆ Electrical Combination System：
The independent driving wheel pair；
Two driving motors and necessary transmission mechanism.
4. the hunting stability control system of rail vehicle independence driving wheel pair according to claim 1, which is characterized in that
The acquisition module includes：
Motor speed sensor and armature supply sensor.
5. the hunting stability control system of rail vehicle independence driving wheel pair according to claim 1, which is characterized in that
The quantity of state of the system includes lateral displacement, angle of shaking the head, lateral velocity and the angular speed of shaking the head of wheel pair.
6. the hunting stability control system of rail vehicle independence driving wheel pair according to claim 1, which is characterized in that
The state observer is further used for the rotating speed according to the motor output shaft and the electric current for flowing through armature, according to
State observer estimates the quantity of state of the system.
7. a kind of hunting stability control method of rail vehicle independence driving wheel pair, which is characterized in that include the following steps：
It acquires the rotating speed of motor output shaft and flows through the electric current of armature；
The quantity of state of system is obtained according to the rotating speed of the motor output shaft and the electric current for flowing through armature；And
The control voltage of driving motor is calculated according to the quantity of state of the system, and according to the control voltage control of the driving motor
Independent driving wheel is made to Mechanical ＆ Electrical Combination System, thus to independent driving wheel to carrying out hunting stability control.
8. the hunting stability control method of rail vehicle independence driving wheel pair according to claim 7, which is characterized in that
In state of the independent driving wheel to replacing vibration with angle of shaking the head in lateral displacement, according to the quantity of state of the system,
With lateral displacement desired value it is 0 or convergence target in order to control within a preset range, the driving motor is calculated by control algolithm
Control voltage, and export by power circuit device the control voltage of the driving motor, with to the driving wheel to carrying out
Stability control.
9. the hunting stability control method of rail vehicle independence driving wheel pair according to claim 7, which is characterized in that
The quantity of state of the system includes lateral displacement, angle of shaking the head, lateral velocity and the angular speed of shaking the head of wheel pair.
10. the hunting stability control method of rail vehicle independence driving wheel pair according to claim 7, feature exist
According to the rotating speed of the motor output shaft and the electric current for flowing through armature according to the state observer estimation system
Quantity of state.
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| CN201810045436.0A CN108297737B (en) | 2018-01-17 | 2018-01-17 | System and method for controlling snaking stability of independent driving wheel pair of railway vehicle |
| PCT/CN2018/093448 WO2019140867A1 (en) | 2018-01-17 | 2018-06-28 | Hunting stability control system and method for track vehicle independent driving wheel pair |
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| CN201810045436.0A CN108297737B (en) | 2018-01-17 | 2018-01-17 | System and method for controlling snaking stability of independent driving wheel pair of railway vehicle |
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| WO2019140867A1 (en) | 2019-07-25 |
| CN108297737B (en) | 2020-08-11 |
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