CN108297737B - System and method for controlling snaking stability of independent driving wheel pair of railway vehicle - Google Patents

System and method for controlling snaking stability of independent driving wheel pair of railway vehicle Download PDF

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CN108297737B
CN108297737B CN201810045436.0A CN201810045436A CN108297737B CN 108297737 B CN108297737 B CN 108297737B CN 201810045436 A CN201810045436 A CN 201810045436A CN 108297737 B CN108297737 B CN 108297737B
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motor
wheel pair
driving wheel
independent
control
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CN108297737A (en
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王文军
贾星衡
李红
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Tsinghua University
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Tsinghua University
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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
    • 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
    • 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
    • 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 snaking stability control system and method for a rail vehicle independent driving wheel pair, wherein the system comprises: an independent driving wheel pair electromechanical coupling system; the acquisition module is used for acquiring the rotating speed of the motor output shaft and the current flowing through the motor armature; the state observer is used for obtaining the state quantity of the system according to the rotating speed of the output shaft of the motor and the current flowing through the armature of the motor; and the motor controller calculates the control voltage of the driving motor according to the state quantity of the system when the independent driving wheel pair generates snaking motion, and controls the electromechanical coupling system of the independent driving wheel pair through the control voltage, so that the snaking stability of the independent driving wheel pair is controlled. The system can control the transverse movement of the independent driving wheel to the electromechanical coupling system through the driving motor, thereby controlling the snaking stability of the independent driving wheel and effectively improving the stability of the system.

Description

System and method for controlling snaking stability of independent driving wheel pair of railway vehicle
Technical Field
The invention relates to the technical field of vehicles, in particular to a snaking stability control system and method for an independent driving wheel pair of a railway vehicle.
Background
With the continuous expansion of urban scale, urban rail vehicles with the characteristics of large traffic volume, rapidness and punctuality become indispensable important components in urban traffic systems. In order to make the rail vehicles widely used, the urban traffic system is very complex, the roads are crowded, and the tall buildings are dense, so that the rail vehicles need to have small-radius curves in the rail line shape.
As shown in fig. 1, the conventional consolidation wheel set has the defects that the left and right wheels are fixedly connected, the linear speed difference of the left and right wheels is compensated by using the tread taper during turning, and the wheel rim is in contact with the wheel rail when the wheel set turns with a small radius, so that the running resistance is increased, and derailment accidents are caused when the wheel set turns with a small radius seriously, so that the small radius passing capability of the conventional consolidation wheel set is poor. As shown in fig. 2, the main feature of the independent wheel pair is that the wheels on both sides can rotate independently, which enables the wheels on the left and right sides to have different rotating speeds, thereby being able to better pass through a small radius curve. But the independent wheel pair breaks through a self-steering driving mechanism of the traditional consolidation wheel pair based on longitudinal creep torque, so that the self-steering wheel pair has no self-steering property and lacks self-centering capability.
The related technology provides an independent driving wheel pair based on independent driving of left and right wheels, equal rotating speed control is carried out under the condition of straight line driving, and the ideal rotating speed difference of the wheels at two sides is calculated according to parameters such as track radius under the condition of curve driving, so that the method for controlling the rotating speed of the two wheels is used as a target, and meanwhile, the passing performance problem of a small-radius curve and the self-guiding problem of the independent wheel pair are solved.
The independent driving wheel pair under the control of equal rotating speed theoretically has the driving performance close to that of the traditional fixed wheel pair, under the action of longitudinal creep torque, the independent driving wheel pair is similar to the transverse dynamic characteristic of the fixed wheel pair, the snaking motion of the alternating reciprocating vibration of transverse displacement and a shaking head angle occurs, the smoothness of a vehicle is influenced, and when the speed exceeds a certain critical speed, the transverse motion can be unstable, so that the wheel rim is contacted until derailment occurs.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, an object of the present invention is to provide a hunting stability control system for independent driving wheel sets of a railway vehicle, which can effectively improve the stability of the independent driving wheel sets.
Another object of the present invention is to provide a hunting stability control method for independent driving wheel pairs of a railway vehicle.
In order to achieve the above object, an embodiment of the present invention provides a hunting stability control system for independent driving wheel pairs of a railway vehicle, including: an independent driving wheel pair electromechanical coupling system; the acquisition module is used for acquiring the rotating speed of the motor output shaft and the current flowing through the motor armature; the state observer is used for obtaining the state quantity of the system according to the rotating speed of the motor output shaft and the current flowing through the motor armature; and the motor controller is used for calculating the control voltage of the driving motor according to the state quantity of the system when the independent driving wheel pair generates snaking motion, and controlling the electromechanical coupling system of the independent driving wheel pair through the control voltage of the motor so as to control the snaking stability of the independent driving wheel pair.
According to the hunting stability control system of the independent driving wheel pair of the railway vehicle, the state quantity of the system can be obtained through the rotating speed of the motor output shaft and the current flowing through the motor armature, so that the control voltage of the driving motor is calculated, the independent driving wheel pair electromechanical coupling system is controlled through the control voltage of the driving motor, the hunting stability control of the independent driving wheel pair is performed, and the stability of the system is effectively improved.
In addition, the hunting stability control system of the independent driving wheel pair of the railway vehicle according to the above embodiment of the present invention may further have the following additional technical features:
further, in an embodiment of the present invention, the motor controller is further configured to: when the independent driving wheel pair is in a state of alternately vibrating transverse displacement and a yaw angle, according to the state quantity of the system, the target value of the transverse displacement is 0 or the transverse displacement is converged in a preset range to serve as a control target, the control voltage of the driving motor is calculated through a control algorithm, and the control voltage of the driving motor is output through a power circuit device, so that the driving wheel pair is subjected to stability control.
Further, in one embodiment of the present invention, the independent drive wheel pair electromechanical coupling system comprises: the independent driving wheel pair; two driving motors and necessary transmission mechanisms.
Further, in one embodiment of the present invention, the acquisition module includes: a motor speed sensor and an armature current sensor.
Further, in one embodiment of the present invention, the state quantities of the system include lateral displacement of the wheel set, the pan angle, the lateral velocity, and the pan angular velocity.
Further, in an embodiment of the present invention, the state observer is further configured to estimate the state quantity of the system according to the state observer based on the rotation speed of the output shaft of the motor and the current flowing through the armature of the motor.
In order to achieve the above object, in another embodiment of the present invention, a method for controlling hunting stability of an independent driving wheel pair of a railway vehicle is provided, which includes the following steps: collecting the rotating speed of an output shaft of a motor and the current flowing through an armature of the motor; obtaining the state quantity of the system according to the rotating speed of the motor output shaft and the current flowing through the motor armature; and calculating the control voltage of the driving motor according to the state quantity of the system, and controlling the independent driving wheel to the electromechanical coupling system according to the control voltage of the driving motor, so as to control the snaking stability of the independent driving wheel.
According to the method for controlling the snaking stability of the independent driving wheel pair of the railway vehicle, provided by the embodiment of the invention, the state quantity of the system can be obtained through the rotating speed of the motor output shaft and the current flowing through the motor armature, so that the control voltage of the driving motor is calculated, the control voltage of the driving motor is used for controlling the electromechanical coupling system of the independent driving wheel pair, the snaking stability of the independent driving wheel pair is controlled, and the stability of the system is effectively improved.
In addition, the hunting stability control method of the independent driving wheel pair of the railway vehicle according to the above embodiment of the present invention may further have the following additional technical features:
further, in an embodiment of the present invention, when the independent driving wheel pair is in a state of alternately vibrating lateral displacement and a yaw angle, a control voltage of the driving motor is calculated by a control algorithm with a lateral displacement target value of 0 or convergence within a preset range as a control target according to a state quantity of the system, and the control voltage of the driving motor is output by a power circuit device to perform stability control on the driving wheel pair.
Further, in one embodiment of the present invention, the state quantities of the system include lateral displacement of the wheel set, the pan angle, the lateral velocity, and the pan angular velocity.
Further, in one embodiment of the present invention, the state quantity of the system is estimated from a state observer based on the rotation speed of the motor output shaft and the current flowing through the motor armature.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic view of a conventional consolidation wheel pair;
FIG. 2 is a schematic view of an independent wheel pair;
FIG. 3 is a schematic view of a pair of independent drive wheels in a related art;
FIG. 4 is a schematic diagram of a transverse motion curve of wheels on two sides of an independent driving wheel pair under the control of equal rotating speed;
FIG. 5 is a diagram illustrating qualitative analysis of snake movement in the related art;
FIG. 6 is a schematic structural diagram of a hunting stability control system for independent drive wheel pairs of a rail vehicle according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of an electromechanical control system for an independent drive wheel pair according to one embodiment of the present invention;
FIG. 8 is a schematic diagram of simulation results of independent driving wheel pairs under the control of a lateral displacement PID with a state observer according to an embodiment of the invention;
FIG. 9 is a diagram illustrating simulation results of independent drive wheel pairs under state feedback control with a state observer, according to an embodiment of the present invention;
fig. 10 is a flowchart of a hunting stability control method of a pair of independent drive wheels of a railway vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Before the system and the method for controlling the hunting stability of the independent driving wheel pair of the railway vehicle are introduced, the hunting stability control of the independent driving wheel pair of the railway vehicle in the related art is introduced.
As shown in fig. 3, in the related art, on the basis of an independent wheel pair, motors and necessary transmission mechanisms are respectively arranged on two sides of the independent wheel pair, so that the independent wheel pair is an electromechanical coupling system, longitudinal driving or braking torques can be respectively provided for two wheels, but the left and right wheels of the independent wheel pair still need to rotate at the same speed when the independent wheel pair is driven in a straight line, if the left and right wheels are controlled at the same speed when the independent wheel pair is driven in a straight line, the driving situation of a fixed wheel pair is restored, and the problem of hunting stability existing when the traditional fixed wheel pair is driven still occurs under the condition of the independent wheel pair.
As shown in fig. 4, in a simulation environment, if the difference in rotational speed between the two sides of the independent driving wheel pair can be controlled to approach 0, the independent driving wheel has the same snaking motion property for the fixed wheel pair; and it can be seen from figure 4 that the snaking motion is a self-excited vibration mode in which the transverse displacement y of the wheel pair oscillates alternately with the yaw angle psi.
As shown in fig. 5, the hunting motion can be qualitatively given by the mechanism that the consolidation wheel pair travels on a straight track, if it is offset a little further laterally to one side, the turning radius r of the wheel on that side increases and the turning radius of the wheel on the other side decreases. Since the two wheels are mounted on one shaft, the shaft has a large torsional rigidity, and the two wheels are considered to have the same angular velocity ω and the linear velocity v ═ ω r, the linear velocity of the wheel on the side having the large instantaneous turning radius is also large. Thus, if the wheels remain purely rolling, the wheel sets will return to a position in the middle of the track, and will be accompanied by a rock angle due to the tread taper. Due to the inertia of the wheel set, the wheel set will be offset to the other side beyond the center of the track. This process is repeated, thereby generating a snaking motion.
The invention is based on the above problems, and provides a hunting stability control system and method for an independent driving wheel set of a railway vehicle.
The following describes a hunting stability control system and method of a pair of independent drive wheels of a railway vehicle according to an embodiment of the present invention with reference to the accompanying drawings, and first, a hunting stability control system of a pair of independent drive wheels of a railway vehicle according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 6 is a schematic structural diagram of a hunting stability control system of a pair of independent drive wheels of a railway vehicle according to an embodiment of the present invention.
As shown in fig. 6, the hunting stability control system 10 for a pair of independent drive wheels of a railway vehicle includes: the system comprises an independent driving wheel pair electromechanical coupling system 100, an acquisition module 200, a state observer 300 and a motor controller 400.
The collecting module 200 is used for collecting the rotating speed of the output shaft of the motor and the current flowing through the armature of the motor. The state observer 300 is used to estimate the state quantity of the system from the rotational speed of the motor output shaft and the current flowing through the motor armature. When the independent driving wheel pair makes snaking movement, the motor controller 400 calculates the control voltage of the driving motor according to the state quantity of the system, and controls the electromechanical coupling system of the independent driving wheel pair through the control voltage of the driving motor, so that the snaking stability of the independent driving wheel pair is controlled. The system 10 of the embodiment of the invention can control the independent driving wheel pair electromechanical coupling system according to the control voltage of the driving motor so as to control the snaking stability of the independent driving wheel pair, thereby effectively improving the stability of the system.
Further, in one embodiment of the present invention, the motor controller 400 is further configured to: when the independent driving wheel pair is in a state of alternately vibrating transverse displacement and a yaw angle, according to the state quantity of the system, the transverse displacement target value is 0 or the transverse displacement target value is converged in a preset range to serve as a control target, the control voltage of the driving motor is calculated through a control algorithm, and the control voltage of the driving motor is output through a power circuit device, so that the stability control is carried out on the independent driving wheel pair.
Optionally, in an embodiment of the present invention, the independent drive wheel pair electromechanical coupling system 100 includes: independent driving wheel pair, two driving motors and necessary transmission mechanism.
Optionally, in an embodiment of the present invention, the acquisition module 200 includes: a motor speed sensor and an armature current sensor.
In one embodiment of the invention, among others, the state quantities of the system include the lateral displacement and the yaw angle of the wheel-sets.
Further, in one embodiment of the present invention, the state observer 300 is further configured to estimate the state quantity of the system based on the rotation speed of the output shaft of the motor and the current flowing through the armature of the motor.
It can be understood that, as shown in fig. 7, the independent driving wheel pair electromechanical coupling system 100 according to the embodiment of the present invention includes an independent wheel pair, two driving motors, and necessary transmission mechanisms between the independent wheel pair and the two driving motors, and this part is a controlled object; the sensor is an acquisition module 200, the acquisition module 200 comprises a motor rotating speed sensor and an armature current sensor, and the acquisition module 200 is used for acquiring the rotating speed of the motor output shaft and the current flowing through the motor armature; the state observer 300 can estimate other physical quantities in the system 10 that cannot be directly measured, such as the lateral displacement and the yaw angle of the wheel set, using the collected rotational speed of the motor output shaft and the current flowing through the motor armature, thereby implementing feedback control. The sensors for directly measuring displacement, which are commonly used in the industry, mainly comprise a laser displacement sensor and a linear potentiometer, but the sensors cannot be practically applied to rail vehicles, and only a 'soft sensing' technology, namely a state observer, can be adopted to solve the problem. When the independent driving wheel pair generates snaking motion, the wheel pair is in a state of alternating vibration of transverse displacement and a pan head angle, a control voltage of a driving motor for control is calculated by a certain control algorithm according to a system physical quantity obtained by estimation of a state observer, and the transverse displacement target value is 0 or the convergence within a preset range is taken as a control target, and the control voltage is output through a power circuit device, so that the snaking stability control of the independent driving wheel pair is realized. When the independent driving wheel pair generates snaking motion, the motor controller 400 can calculate the control voltage of the driving motor for control by using a certain control algorithm according to the system physical quantity estimated by the state observer and taking the transverse displacement target value as 0 or other transverse motion stability indexes as a control target, and output the control voltage through a power circuit device to realize the snaking stability control of the independent driving wheel pair.
For example, in one embodiment of the present invention, the state observer 300 is a lunberger observer, the motor is controlled by PID, and the initial traverse of the wheel set is set to 0.001m, the simulated vehicle speed is v-20/, and the PID adjustment parameter is Kpy＝-40，Kiy＝0，K dy18, a disturbance noise with a maximum amplitude of 1% of the initial excursion is superimposed on the system state variable.
As shown in fig. 8, y is the lateral displacement of the wheelset, Ψ is the pan angle of the wheelset,
Figure BDA0001550760110000051
is half of the difference between the rotating speeds of the motors on both sides, and i is half of the difference between the armature currents of the motors on both sides. It can be seen that the control method has a certain inhibiting effect on the snaking motion of the wheel pair, and the initial transverse displacement gradually converges to the vicinity of 0, and is mainly transverse disturbance caused by interference noise after 3 s.
In another embodiment of the present invention, the state observer 300 is a lunberg observer, the motor is controlled by state feedback, the initial traverse amount of the wheel set is set to be 0.001m, the simulated vehicle speed is set to be v 50/, and an interference noise with the maximum amplitude of 1% of the initial traverse amount is superimposed on the system state amount. The equation of the state feedback control is that u is-Kx, wherein u is half of the voltage difference of the armature of the motor on two sides, K is the state feedback control law, and x is the state vector of the system. And (4) carrying out system pole allocation by using the system matrix to obtain a state feedback control law K.
As shown in fig. 9, in the high speed case where v is 50/, the state feedback control with the state observer has a relatively good suppression effect on the hunting of the pair of independent drive wheels. The initial lateral displacement gradually converges to 0, and the noise superposition quantity can be seen by other system state variables except that half i of the armature current difference of the motors on the two sides is the noise superposition quantity.
According to the hunting stability control system of the independent driving wheel pair of the railway vehicle, provided by the embodiment of the invention, the state quantity of the system can be obtained through the rotating speed of the motor output shaft and the current flowing through the motor armature, so as to calculate the control voltage of the driving motor, and thus the independent driving wheel pair electromechanical coupling system is controlled through the control voltage of the driving motor, so that the hunting stability control is carried out on the independent driving wheel pair, and the stability of the system is effectively improved.
Next, a hunting stability control method of an independent drive wheel pair for a railway vehicle according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 10 is a flowchart of a hunting stability control method of a pair of independent drive wheels of a railway vehicle according to an embodiment of the present invention.
As shown in fig. 10, the hunting stability control method for the independent driving wheel pair of the railway vehicle comprises the following steps:
in step S1, the rotation speed of the motor output shaft and the current flowing through the motor armature are collected.
In step S2, the state quantity of the system is obtained from the rotation speed of the motor output shaft and the current flowing through the motor armature.
In step S3, a control voltage of the drive motor is calculated according to the state quantity of the system, and the independent drive wheel pair electromechanical coupling system is controlled by the control voltage of the drive motor, so as to control the hunting stability of the independent drive wheel pair.
Further, in an embodiment of the present invention, when the independent driving wheel pair is in a state of alternately vibrating lateral displacement and a yaw angle, a control voltage of the driving motor is calculated by a control algorithm with a lateral displacement target value of 0 or convergence within a preset range as a control target according to a state quantity of the system, and the control voltage of the driving motor is output by a power circuit device to perform stability control on the independent driving wheel pair.
Further, in one embodiment of the invention, the state quantities of the system include the lateral displacement and the yaw angle of the wheel sets.
Further, in one embodiment of the present invention, the state quantity of the system is estimated from a state observer based on the rotation speed of the output shaft of the motor and the current flowing through the armature of the motor.
It should be noted that the foregoing explanation of the embodiment of the hunting stability control system for the independent driving wheel set of the railway vehicle is also applicable to the hunting stability control method for the independent driving wheel set of the railway vehicle of this embodiment, and is not repeated here.
According to the method for controlling the snaking stability of the independent driving wheel pair of the railway vehicle, provided by the embodiment of the invention, the state quantity of the system can be obtained through the rotating speed of the output shaft of the motor and the current flowing through the armature of the motor, so that the control voltage of the driving motor is calculated, the electromechanical coupling system of the independent driving wheel pair is controlled through the control voltage of the driving motor, the snaking stability of the independent driving wheel pair is controlled, and the stability is effectively improved.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (6)

1. A hunting stability control system for a pair of independent drive wheels of a railway vehicle, comprising:
an independent driving wheel pair electromechanical coupling system;
the acquisition module is used for acquiring the rotating speed of the motor output shaft and the current flowing through the motor armature;
the state observer is used for obtaining the state quantity of the system according to the rotating speed of the motor output shaft and the current flowing through the motor armature; the state quantities of the system comprise the transverse displacement, the head shaking angle, the transverse speed and the head shaking angular speed of the wheel pair; and
the motor controller is used for calculating the control voltage of the driving motor according to the state quantity of the system when the independent driving wheel pair generates snaking motion, and controlling the electromechanical coupling system of the independent driving wheel pair through the control voltage of the driving motor so as to control the snaking stability of the independent driving wheel pair;
the motor controller is further configured to: when the independent driving wheel pair is in a state of alternately vibrating transverse displacement and a yaw angle, according to the state quantity of the system, the transverse displacement target value is 0 or the transverse displacement target value is converged in a preset range to serve as a control target, the control voltage of the driving motor is calculated through a control algorithm, and the control voltage of the driving motor is output through a power circuit device, so that the stability control is carried out on the independent driving wheel pair.
2. A hunting stability control system for independent drive wheel sets of rail vehicles according to claim 1, wherein said independent drive wheel set electromechanical coupling system comprises:
the independent driving wheel pair;
two driving motors and a transmission mechanism.
3. The hunting stability control system for a rail vehicle independent drive wheel pair of claim 1, wherein the acquisition module comprises:
a motor speed sensor and an armature current sensor.
4. A hunting stability control system for a pair of railway vehicle independent drive wheels according to claim 1, wherein the state observer is further configured to estimate the state quantity of the system according to the state observer based on the rotation speed of the motor output shaft and the current flowing through the motor armature.
5. A method for controlling the snaking stability of an independent driving wheel pair of a railway vehicle is characterized by comprising the following steps:
collecting the rotating speed of an output shaft of a motor and the current flowing through an armature of the motor;
obtaining the state quantity of the system according to the rotating speed of the motor output shaft and the current flowing through the motor armature; the state quantities of the system comprise the transverse displacement, the head shaking angle, the transverse speed and the head shaking angular speed of the wheel pair; and
calculating the control voltage of a driving motor according to the state quantity of the system, and controlling an independent driving wheel pair electromechanical coupling system according to the control voltage of the driving motor, so as to control the snaking stability of the independent driving wheel pair; when the independent driving wheel pair is in a state of alternately vibrating transverse displacement and a yaw angle, according to the state quantity of the system, the target value of the transverse displacement is 0 or the transverse displacement is converged in a preset range to serve as a control target, the control voltage of the driving motor is calculated through a control algorithm, and the control voltage of the driving motor is output through a power circuit device, so that the driving wheel pair is subjected to stability control.
6. A hunting stability control method of a pair of railway vehicle independent drive wheels according to claim 5, wherein the state quantity of the system is estimated from a state observer based on the rotation speed of the motor output shaft and the current flowing through a motor armature.
CN201810045436.0A 2018-01-17 2018-01-17 System and method for controlling snaking stability of independent driving wheel pair of railway vehicle Active CN108297737B (en)

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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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