CN109143845A - A kind of adhesion control method, system, equipment and readable storage medium storing program for executing - Google Patents
A kind of adhesion control method, system, equipment and readable storage medium storing program for executing Download PDFInfo
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- CN109143845A CN109143845A CN201810960775.1A CN201810960775A CN109143845A CN 109143845 A CN109143845 A CN 109143845A CN 201810960775 A CN201810960775 A CN 201810960775A CN 109143845 A CN109143845 A CN 109143845A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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Abstract
The invention discloses a kind of adhesion control method, system, equipment and readable storage medium storing program for executing, include: to obtain wheel to state, judges whether wheel is unsteady state to state, if, when wheel is to occurring idle running phenomenon, it controls motor torque to reduce, until eliminating idle running phenomenon, then controls motor torque and increase, when to take turns to idle running phenomenon occurs again, this step is repeated, until number of repetition reaches the first preset value, obtains reference creep rate at this time；Adhesion control is carried out according to reference creep rate.The present invention first identifies wheel to state, then analysis is obtained in the case where different wheels are to state, it is corresponding with current rail level adhesion condition to refer to creep rate, and in this, as the Con trolling index of adhesion control, guidance adhesion control process, present invention acquisition is short with reference to the time of creep rate, and precision is high, it can be adapted for rail level condition complicated and changeable, realize adaptive adhesion control.
Description
Technical field
The present invention relates to transmission control fields, more particularly to a kind of adhesion control method, system, equipment and readable storage
Medium.
Background technique
In field of track traffic, the tractive force of train and the formation of brake force are dependent on the adhesion between wheel track, in order to pre-
Idle running that is anti-and inhibiting train, the utilization rate for improving tractive force of train, need to carry out adhesion control to train.In the prior art one
As adhesion control carried out using logic threshold method or PID control method, but above two method is required to determine in advance
One best creep rate, the Con trolling index by fixed best creep rate as adhesion control, however the condition between wheel track is multiple
Miscellaneous changeable, the best creep rate between wheel track is not the value that immobilizes, when track circuit condition suddenly change, the prior art
Control program needs the long period that could establish new stability contorting state, is unable to satisfy quick self-adapted control.
Therefore, how to provide a kind of scheme of solution above-mentioned technical problem is that those skilled in the art need to solve at present
Problem.
Summary of the invention
The object of the present invention is to provide a kind of adhesion control method, the time obtained with reference to creep rate is short, and precision is high, can be with
Suitable for rail level condition complicated and changeable, adaptive adhesion control is realized；It is a further object of the present invention to provide a kind of adhesions
Control system, equipment and readable storage medium storing program for executing.
In order to solve the above technical problems, the present invention provides a kind of adhesion control methods, comprising:
Wheel is obtained to state, judges whether the wheel is unsteady state to state；
If so, control the motor torque when wheel is to occurring idle running phenomenon and reduce, until the idle running phenomenon is eliminated,
Then it controls the motor torque to increase, to repeat this step when the wheel to occurring idle running phenomenon again, until repeating
Number reaches the first preset value, obtains reference creep rate at this time；
Adhesion control is carried out with reference to creep rate according to described.
Preferably, acquisition wheel is to state, judge it is described take turns to state whether be unsteady state process specifically:
Wheel is obtained to acceleration and vehicle acceleration；
Judge described take turns to the difference of acceleration and the vehicle acceleration whether less than the second preset value, if so, determining
The wheel is stable state to state, if it is not, determining that the wheel is unsteady state to state.
Preferably, the wheel that obtains is to the process of acceleration and vehicle acceleration specifically:
Wheel is obtained to speed and car speed；
Differential calculation is carried out to speed to the wheel and filtering processing obtains taking turns to acceleration；
The differential calculation is carried out to the car speed and the filtering processing obtains vehicle acceleration.
Preferably, the process that the control motor torque increases specifically:
The current creep rate of wheel pair described in real-time detection determines the recovery speed of the motor torque according to current creep rate
Degree；
The motor torque is controlled to increase by the resume speed.
Preferably, the process of the reference creep rate of the acquisition at this time specifically:
Obtain the current creep rate when number of repetition reaches first preset value；
It is calculated according to adjusting relational expression and current creep rate and refers to creep rate, wherein the adjusting relational expression is vref=
vcreep× θ, 0 < θ < 1, vrefCreep rate, v are referred to be describedcreepFor current creep rate, θ is adjustment factor.
Preferably, it is described carry out adhesion control with reference to creep rate by described after, the adhesion control method further include:
The wheel is reacquired to state, judges whether the wheel is stable state to state；
If so, obtaining the duration of the stable state；
When the duration being greater than third preset value, controls the reference creep rate and increase, until described with reference to compacted
Sliding rate reaches maximum with reference to creep rate.
Preferably, the control process increased with reference to creep rate specifically includes:
The creep rate that refers to is controlled to increase by preset step-length.
In order to solve the above technical problems, the present invention provides a kind of adhesion control systems, comprising:
Condition judgment module is taken turns for obtaining to state, judges whether the wheel is unsteady state to state, if so,
Trigger non steady control module；
The non steady control module, for controlling the motor torque and reducing when wheel is to occurring idle running phenomenon, until
The idle running phenomenon is eliminated, the motor torque is then controlled and increases, when so as to the wheel to idle running phenomenon occurs again, is repeated
This step obtains reference creep rate at this time until number of repetition reaches the first preset value；
Stable state control module, for carrying out adhesion control with reference to creep rate according to described.
In order to solve the above technical problems, the present invention also provides a kind of adhesions to control equipment, comprising:
Memory, for storing computer program；
Processor realizes the step of the adhesion control method as described in any one above when for executing the computer program
Suddenly.
In order to solve the above technical problems, the present invention also provides a kind of readable storage medium storing program for executing, on the readable storage medium storing program for executing
It is stored with computer program, controlling party of adhering as described in any one above is realized when the computer program is executed by processor
The step of method.
The present invention provides a kind of adhesion control methods, comprising: obtains wheel to state, judges whether wheel is non-steady to state
State is determined, if so, control motor torque reduction, until eliminating the phenomenon that dallies, then control is electric when wheel is to occurring idle running phenomenon
Machine torque increases, and when to take turns to idle running phenomenon occurs again, repeats this step, until number of repetition reaches the first preset value,
Obtain reference creep rate at this time；Adhesion control is carried out according to reference creep rate.As it can be seen that in practical applications, using the present invention
Scheme, first to wheel state is identified, then analysis obtain it is different wheel to state under, with current rail level adhere condition
It is corresponding to refer to creep rate, and in this, as the Con trolling index of adhesion control, adhesion control process is instructed, the present invention obtains reference
The time of creep rate is short, and precision is high, can be adapted for rail level condition complicated and changeable, realizes adaptive adhesion control.This hair
Bright to additionally provide a kind of adhesion control system, equipment and readable storage medium storing program for executing, having identical with above-mentioned adhesion control method has
Beneficial effect.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of step flow chart of adhesion control method provided by the present invention；
Fig. 2 is a kind of rail level adhesiveness curve graph provided by the present invention；
Fig. 3 is another rail level adhesiveness curve graph provided by the present invention；
Fig. 4 is a kind of structural schematic diagram of control system of adhering provided by the present invention.
Specific embodiment
Core of the invention is to provide a kind of adhesion control method, and the time obtained with reference to creep rate is short, and precision is high, can be with
Suitable for rail level condition complicated and changeable, adaptive adhesion control is realized；Another core of the invention is to provide a kind of adhesion
Control system, equipment and readable storage medium storing program for executing.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Fig. 1 is please referred to, Fig. 1 is a kind of step flow chart of adhesion control method provided by the present invention, comprising:
Step 1: obtaining wheel to state；
Step 2: judging whether wheel is unsteady state to state, if so, entering step 3；
Specifically, in rail level adhesiveness curve shown in Fig. 2, v1And v2Respectively rail level condition 1 and rail level condition 2
Best creep speed, according to the available creep rate of creep speed, specifically, creep rate is wheel to speed and car speed
The ratio of absolute value of the difference and car speed, μ1And μ2Respectively the best creep speed of rail level condition 1 and rail level condition 2 be most
The corresponding best adhesion coefficient of good creep speed, corresponding best adhesion torque are Tadh1And Tadh2, can be with from Fig. 2
Find out, when creep speed is lower than best creep speed, with the increase of creep speed, adhesion coefficient is gradually increased, accordingly
The adhesion strength that can be played between wheel track increases with it；When creep speed is more than best creep speed, with the increase of creep speed,
Adhesion coefficient reduces therewith, and the adhesion strength that can be played between corresponding wheel track reduces therewith, because of rail level condition complicated and changeable, rail
Face adhesiveness curve is not unique, needs to identify the best adhesion coefficient (best creep rate) of current rail level.
Specifically, when carrying out adhesion control, first having to consider current wheel to shape since rail level complicated condition is changeable
State, wheel includes stable state and unsteady state to state, under normal circumstances, when the variation of rail level condition, such as by rail level condition 1
When (referring to the rail level characteristic curve 1 in Fig. 2) becomes rail level condition 2 (referring to the wet and slippery rail level characteristic curve 2 in Fig. 2), wheel pair
State can first become unsteady state.
Step 3: when wheel is to occurring idle running phenomenon, control motor torque reduces, until eliminating the phenomenon that dallies, then controls
Motor torque increase repeats this step when to take turns to idle running phenomenon occurs again, presets until number of repetition reaches first
Value, obtains reference creep rate at this time；
Step 4: adhesion control is carried out according to reference creep rate.
Specifically, needing to carry out non steady control under unsteady state, i.e., when wheel is to occurring idle running phenomenon, first
Motor torque reduction is controlled, to inhibit wheel pair idling phenomenon, after wheel pair idling phenomenon is inhibited, control motor torque increases
Greatly, during motor torque increases, when motor torque is less than the best adhesion strength between current wheel track, with motor torque
It incrementally increases, creep rate slowly increases, and the adhesion strength played between wheel track increases with it, between motor torque is greater than current wheel track
When best adhesion strength, with incrementally increasing for motor torque, creep rate is further increased, and the adhesion strength between wheel track subtracts instead
It is small, enter unsteady state again, into after unsteady state, needs to adjust motor by above-mentioned non steady control process and turn
Square is looped back and forth like this with inhibiting to dally.It can be understood that from unsteady state enter stable state be considered as it is primary non-
Whether stable state protection judges the number of unstable state protection more than the first preset value, and the first preset value can be set to 3 times, reach 3
After secondary unstable state protection, creep rate when entering third time unstable state protection is obtained, is used as after being adjusted and refers to creep rate, root
Adhesion control is carried out according to reference creep rate, is considered as controlling for stable state according to the process that reference creep rate carries out adhesion control
Journey.The time that this programme acquisition refers to creep rate is short, precision is high, can be adapted for rail level condition complicated and changeable, detects to work as
After the reference creep rate of preceding rail level, that is, corresponding control strategy can be used and carry out reliable and stable adhesion control.
The present invention provides a kind of adhesion control methods, comprising: obtains wheel to state, judges whether wheel is non-steady to state
State is determined, if so, control motor torque reduction, until eliminating the phenomenon that dallies, then control is electric when wheel is to occurring idle running phenomenon
Machine torque increases, and when to take turns to idle running phenomenon occurs again, repeats this step, until number of repetition reaches the first preset value,
Obtain reference creep rate at this time；Adhesion control is carried out according to reference creep rate.As it can be seen that in practical applications, using the present invention
Scheme, first to wheel state is identified, then analysis obtain it is different wheel to state under, with current rail level adhere condition
It is corresponding to refer to creep rate, and in this, as the Con trolling index of adhesion control, adhesion control process is instructed, the present invention obtains reference
The time of creep rate is short, and precision is high, can be adapted for rail level condition complicated and changeable, realizes adaptive adhesion control.
On the basis of the above embodiments:
Embodiment as one preferred obtains wheel to state, judge to take turns to state whether be unsteady state process
Specifically:
Wheel is obtained to acceleration and vehicle acceleration；
Whether judge to take turns to the difference of acceleration and vehicle acceleration less than the second preset value, if so, determining wheel to state
For stable state, if it is not, determining that wheel is unsteady state to state.
Embodiment as one preferred obtains wheel to the process of acceleration and vehicle acceleration specifically:
Wheel is obtained to speed and car speed；
Differential calculation is carried out to speed to wheel and filtering processing obtains taking turns to acceleration；
Differential calculation is carried out to car speed and filtering processing obtains vehicle acceleration.
Specifically, can be according to wheelset dynamics relational expression and train dynamics formula analysis wheel to state, wherein wheel
It is to Kinetic model for substrateTrain dynamics relational expression is avehicle=(Fadh-Fres)/Mvehicle；J is
Wheel is to rotary inertia, TmotorFor motor torque, TadhIt is applied to and is taken turns to upper torque for adhesion strength,To take turns angular acceleration, R
To take turns pair radius, a is wheel to acceleration, avehicleFor vehicle acceleration, FadhSum for all wheels of vehicle to adhesion strength, FresFor
Vehicle run when be subject to institute it is resistant and, MvehicleFor gross vehicle load.
Specifically, the present invention determines wheel to state, according to the wheel pair of acquisition by taking turns to acceleration and vehicle acceleration
Speed and the car speed of acquisition or calculating can be obtained and taken turns to acceleration and vehicle by differential calculation and signal filtering processing
The acceleration, (a when wheel is to acceleration and essentially identical vehicle accelerationvehicle≈ a), wheel is stable state to state, is protected
It holds vehicle to travel forward with certain acceleration, when rail level conditional mutation, wheel is unsteady state to state, and creep rate is not yet
The adhesion strength T that changes, and can be played because rail level condition changes, between wheel trackadhReduce, as motor torque TmotorWhen constant, ginseng
According to wheelset dynamics relational expression and train dynamics relational expression it is found that the acceleration a of wheel pair increases, vehicle acceleration avehicleHave
It is certain to reduce；When the acceleration a of wheel pair is significantly more than vehicle acceleration avehicleAfterwards, it can determine whether to take turns to generation idle running phenomenon, this
When, motor torque T should be reducedmotor, inhibit wheel pair idling phenomenon；After the inhibition of wheel pair idling phenomenon, motor torque T is controlledmotor
It is gradually increased；As motor torque TmotorLess than between wheel track at this time when best adhesion strength, with motor torque TmotorGradually increasing
Greatly, creep rate slowly increases, and the adhesion strength played between wheel track increases with it, and wheel is in stable state to state；Work as motor torque
TmotorGreater than between wheel track at this time when best adhesion strength, with incrementally increasing for motor torque, referring to wheelset dynamics relational expression and
Train dynamics relational expression is it is found that the acceleration a of wheel pair increases, and creep rate further increases, and wheel-rail adhesion reduces instead,
Vehicle acceleration avehicleThere is certain reduction, into unsteady state；Into after unsteady state, the acceleration a taken turns couple is obvious
More than vehicle acceleration avehicleAfterwards, it needs to readjust motor torque TmotorTo inhibit to dally.
Embodiment as one preferred, the process that control motor torque increases specifically:
The current creep rate of real-time detection wheel pair, the resume speed of motor torque is determined according to current creep rate；
Motor torque is controlled to increase by resume speed.
Specifically, in the motor torque recovery process of unsteady state, it is necessary to assure motor torque restores slow, flat
Surely.It specifically can be by the current creep rate of real-time detection wheel pair, to determine motor torque TmotorResume speed, it is possible to understand that
, when current creep rate is smaller, need to control motor torque TmotorWith the recovery of faster speed, there is increasing in current creep rate
When main trend, the resume speed for needing to control motor torque will more and more slowly, with guarantee can be effective under unsteady state
It detects with reference to creep rate.It is understood that the recovery process of motor torque also can be used during non steady control
The modes such as sectional broken line recovery, curve matching, automatic adjusument are controlled, and principle is to guarantee that recovery process is slowly steady.
Embodiment as one preferred obtains the process of reference creep rate at this time specifically:
Obtain current creep rate when number of repetition reaches the first preset value；
It is calculated according to adjusting relational expression and current creep rate and refers to creep rate, wherein adjusting relational expression is vref=vcreep×
θ, 0 < θ < 1, vrefFor with reference to creep rate, vcreepFor current creep rate, θ is adjustment factor.
Specifically, in above process, when wheel is more than vehicle acceleration a to acceleration avehicleWhen, what is detected is current
Creep rate vcreepIt is greater than but close to the best creep rate under the conditions of current rail level.Referring to shown in Fig. 3, current creep rate vcreepOne
As in best creep rate v2Side to the right, adhesion control should by current creep rate control in best creep rate point v2Left side, ability
It is easier to obtain stable control result.It therefore, can be by creep rate vcreepAfter adjusting by adjustment factor θ, use can be obtained
In the reference creep rate v for stablizing adhesion controlref, wherein θ can be set to 0.9.
Creep rate v is referred to correspondingly, obtaining during non steady controlref, can be approximate by single non steady control
Estimation obtains, and can also judge that the convergency value of creep rate obtains by multiple non steady control.
Embodiment as one preferred, after carrying out adhesion control by reference to creep rate, the adhesion control method is also
Include:
Wheel is reacquired to state, judges whether wheel is stable state to state；
If so, obtaining the duration of stable state；
When the duration being greater than third preset value, control increases with reference to creep rate, until reaching maximum with reference to creep rate
With reference to creep rate.
Embodiment as one preferred, control are specifically included with reference to the process that creep rate increases:
Control is increased with reference to creep rate by preset step-length.
Specifically, in view of rail level complicated condition is changeable, the reference creep rate v that one-time detection arrivesrefIt can not be suitable for institute
Rail noodles part need to be to reference creep rate v after rail level condition changes againrefIt is recalibrated.Current rail level most
Good creep rate is compared to reference creep rate vrefWhen becoming smaller namely rail level condition changes, then using creep rate v is referred toref
When carrying out adhesion control, in current creep rate vcreepAfter best creep rate, take turns to unstable state can be again introduced into, at this time
It can need to be detected again with reference to creep rate vref, to reference creep rate vrefIt is corrected.When best creep rate is compared to ginseng
Examine creep rate vrefWhen becoming larger, in such cases, creep rate v is referred to because best creep rate is greater thanref, then in reference creep rate
vrefIn the case where constant, creep rate vcreepIt is unable to reach best creep rate, optimal adhesion strength can not be played, may result in
Adhesion coefficient utilizes insufficient.In this regard, being made up in the following manner: under the corresponding control mode of creep rate, in wheel pair
The duration of stable state more than after third preset value, refers to creep rate v according to fixed step size increaseref, until vrefReach
vref_max, to meet maximum creep rate requirement in most situations.If taken turns during this period to being constantly in stable state,
The improvement of terms of rail level adhesion at this time, it is sufficient to meet current draw and play situation；Wheel is to being again introduced into unstable state during this,
Best creep rate is so detected again and waits next correction course.
It is understood that passing through the control and detection to unsteady state, ginseng by the identification and correction of the above process
Examine creep rate vrefSubstantially best creep rate is converged on.
It should be noted that logic threshold can be used to the control process for unsteady state to wheel in the present invention
Control method, PID control method, fuzzy control method, neural network control method, synovial membrane become the various controls sides such as control method
One or more kinds of combinations of method；Logic gate can equally be used to the control process for stable state to wheel in the present invention
Limit value control method, PID control method, fuzzy control method, neural network control method, synovial membrane become a variety of controls such as control method
One or more kinds of combinations of method processed.
In conclusion the present invention outputs and inputs the best of the current rail level of detection in adhesion control process, by controlling
Creep rate, it is simple and convenient, the sensitivity of detection process is effectively increased, the levels of precision for improving adhesion control is conducive to；Pass through
To the stable state control of wheel pair and the control of unstable state, in conjunction with adhesiveness curve, effective control wheel reduces wheel opposite grinding to state
Damage improves wheel to service life, in addition, the present invention can be combined with a variety of classic control modes, easily and effectively, convenient for real
It applies.
Referring to figure 4., Fig. 4 is a kind of structural schematic diagram of control system of adhering provided by the present invention, comprising:
Condition judgment module 1 judges whether wheel is unsteady state to state, if so, triggering for obtaining wheel to state
Non steady control module 2；
Non steady control module 2 controls motor torque and reduces, dally now until eliminating when wheel is to occurring idle running phenomenon
As then controlling motor torque and increasing, when to take turns to idle running phenomenon occurs again, repeat this step, until number of repetition reaches
To the first preset value, reference creep rate at this time is obtained；
Stable state control module 3, for carrying out adhesion control according to reference creep rate.
Correspondingly, the present invention also provides a kind of adhesions to control equipment, comprising:
Memory, for storing computer program；
Processor is realized when for executing computer program such as the step of any one adhesion control method above.
Correspondingly, it is stored with computer program on readable storage medium storing program for executing the present invention also provides a kind of readable storage medium storing program for executing,
It realizes when computer program is executed by processor such as the step of any one adhesion control method above.
A kind of adhesion control system, equipment and readable storage medium storing program for executing provided by the present invention, have and above-mentioned adhesion controls
The identical beneficial effect of method.
For a kind of introduction of adhere control system, equipment and readable storage medium storing program for executing provided by the present invention, please refer to
Embodiment is stated, details are not described herein by the present invention.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of adhesion control method characterized by comprising
Wheel is obtained to state, judges whether the wheel is unsteady state to state；
If so, controlling the motor torque when wheel is to occurring idle running phenomenon and reducing, until eliminating the idle running phenomenon, then
It controls the motor torque to increase, this step to be repeated, until number of repetition when the wheel to occurring idle running phenomenon again
Reach the first preset value, obtains reference creep rate at this time；
Adhesion control is carried out with reference to creep rate according to described.
2. adhesion control method according to claim 1, which is characterized in that the acquisition wheel judges the wheel to state
To state whether be unsteady state process specifically:
Wheel is obtained to acceleration and vehicle acceleration；
Judge described take turns to the difference of acceleration and the vehicle acceleration whether less than the second preset value, if so, described in determining
Wheel is stable state to state, if it is not, determining that the wheel is unsteady state to state.
3. adhesion control method according to claim 2, which is characterized in that the acquisition wheel accelerates acceleration and vehicle
The process of degree specifically:
Wheel is obtained to speed and car speed；
Differential calculation is carried out to speed to the wheel and filtering processing obtains taking turns to acceleration；
The differential calculation is carried out to the car speed and the filtering processing obtains vehicle acceleration.
4. adhesion control method according to claim 3, which is characterized in that the mistake that the control motor torque increases
Journey specifically:
The current creep rate of wheel pair, the resume speed of the motor torque is determined according to current creep rate described in real-time detection；
The motor torque is controlled to increase by the resume speed.
5. adhesion control method according to any one of claims 1-4, which is characterized in that the reference of the acquisition at this time
The process of creep rate specifically:
Obtain the current creep rate when number of repetition reaches first preset value；
It is calculated according to adjusting relational expression and current creep rate and refers to creep rate, wherein the adjusting relational expression is vref=vcreep×
θ, 0 < θ < 1, vrefCreep rate, v are referred to be describedcreepFor current creep rate, θ is adjustment factor.
6. adhesion control method according to claim 5, which is characterized in that described to be glued by described with reference to creep rate
Control after, the adhesion control method further include:
The wheel is reacquired to state, judges whether the wheel is stable state to state；
If so, obtaining the duration of the stable state；
When the duration being greater than third preset value, controls the reference creep rate and increase, until described refer to creep rate
Reach maximum with reference to creep rate.
7. adhesion control method according to claim 6, which is characterized in that it is described control it is described with reference to creep rate increase
Process specifically includes:
The creep rate that refers to is controlled to increase by preset step-length.
8. a kind of adhesion control system characterized by comprising
Condition judgment module judges whether the wheel is unsteady state to state, if so, triggering for obtaining wheel to state
Non steady control module；
The non steady control module, for controlling the motor torque and reducing when wheel is to occurring idle running phenomenon, until eliminating
Then the idle running phenomenon controls the motor torque and increases, when so as to the wheel to idle running phenomenon occurs again, repeat this step
Suddenly, until number of repetition reaches the first preset value, reference creep rate at this time is obtained；
Stable state control module, for carrying out adhesion control with reference to creep rate according to described.
9. a kind of adhesion controls equipment characterized by comprising
Memory, for storing computer program；
Processor realizes the adhesion control method as described in claim 1-7 any one when for executing the computer program
The step of.
10. a kind of readable storage medium storing program for executing, which is characterized in that be stored with computer program, the meter on the readable storage medium storing program for executing
It is realized when calculation machine program is executed by processor as described in claim 1-7 any one the step of adhesion control method.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110955146A (en) * | 2019-12-13 | 2020-04-03 | 中国铁道科学研究院集团有限公司 | Heavy-load locomotive adhesion control method and device based on distributed model predictive control |
| CN114791366A (en) * | 2021-01-25 | 2022-07-26 | 克诺尔车辆设备(苏州)有限公司 | Method and device for measuring adhesion coefficient of wheel rail of railway vehicle and computer storage medium |
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