CN110450794A - A kind of optimized adhesion control method based on optimal creep speed search and tracking - Google Patents

A kind of optimized adhesion control method based on optimal creep speed search and tracking Download PDF

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CN110450794A
CN110450794A CN201910790615.1A CN201910790615A CN110450794A CN 110450794 A CN110450794 A CN 110450794A CN 201910790615 A CN201910790615 A CN 201910790615A CN 110450794 A CN110450794 A CN 110450794A
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creep speed
adhesion
creep
locomotive
speed
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CN110450794B (en
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黄景春
康灿
文小康
邓雯琪
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Southwest Jiaotong 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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • 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
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • 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
    • B60L2240/423—Torque
    • 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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  • Transportation (AREA)
  • Automation & Control Theory (AREA)
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  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The optimized adhesion control method based on optimal creep speed search and tracking that the invention discloses a kind of, it adheres including omnidirectional vision, with reference to creep speed search module and MPC controller, omnidirectional vision goes out locomotive adhesion coefficient to speed estimate using the pull-up torque and wheel of motor；With reference to creep speed search module according to the adhesion coefficient and creep velocity estimated locomotive running state of locomotive, the optimal creep speed completed the adjustment to reference creep speed and search current rail level, then reference the creep speed of search is exported to MPC adhesion controller；MPC adhesion controller is given with reference under creep speed and two signal conditionings of practical creep speed, in conjunction with motor control torque constraint, creep constraint of velocity and train operation performance index, optimal pull-up torque is predicted in real time, and it exports to locomotive, realize the tracking to optimal creep speed, maximum adhesion strength is obtained, improves utilization of adhesion, while meeting the requirement of trailer system.

Description

A kind of optimized adhesion control method based on optimal creep speed search and tracking
Technical field
The present invention relates to locomotive traction control technologies more particularly to a kind of excellent based on optimal creep speed search and tracking Change adhesion control method.
Background technique
Heavy loading locomotive is because of the features such as its freight volume is big, and traction power is high, in terms of rail vehicle transportation, especially cargo transport It always in occupation of important role, while being also the optimal path of large cargo transmission.With the development of economy, China is to heavy duty The demand of shipping, the requirement to locomotive traction power are also higher and higher.
The performance of tractive force and brake force relies primarily on the adhesion strength between wheel track, the maximum that locomotive traction system can play Therefore tractive force and brake force are also limited by situation of adhering between wheel track.There are many factor for influencing the adhesion coefficient between wheel track, Orbital environment, wheel footpath parameter and line condition can all impact it.When track enters moist, greasy dirt or fallen leaves track When, adhesion coefficient decline, if train wheel driving force is greater than the maximum adhesion strength that current wheel track can be provided, wheel pair at this time It may dally or slide, the hauling capacity of a locomotive sharply declines, and leads to tread damage, and when serious, it is de- may to have train The hidden danger of rail, therefore, optimize wheel track between adhesion control, improve utilization of adhesion for improve heavy loading locomotive hauling ability, Guarantee driving safety is of great significance.
During locomotive operation, leading for locomotive operation is converted by the torque on traction electric machine by the adhesion strength between wheel track Gravitation and brake force.As shown in Figure 1, under the action of locomotive load p, when locomotive operation, due to normal pressure P's between wheel track Effect can generate elastic deformation, form the Bearing pattern of ellipse.When wheel rolls forward, contact portion material occurs between wheel track Elastic deformation, wheel operation front edge portion material is compressed, and trailing edge portion material is stretched；And wheel track front edge portion is drawn It stretches, trailing edge portion is compressed, thus in elliptical-shaped contact spot, since the relative deformation of contact material is micro- to which wheel track generates Small sliding phenomenon is known as creep.Pure rolling cannot generate adhesive force of wheel track, when creep phenomenon makes wheel rolling, take turns Tractive effort at wheel rim, i.e. adhesion strength are generated on rail contact surface, it is the sole power of advance during locomotive operation.
Microcosmic sliding is macroscopically being presented as that the speed of service vt of locomotive is always slightly less than the circumference of wheel on contact surface Speed vd, the creep degree between wheel track is measured with creep speed vs or creep rate γ.
Creep speed between wheel track decides the size for the tractive effort at wheel rim that running surface of wheeltrack can transmit.Usually by wheel track Between the ratio between the maximum tractive effort at wheel rim that can be generated and locomotive load p be known as adhesion coefficient, indicated with μ.
It is a large amount of studies have shown that the adhesion coefficient between wheel track there are close relationships with creep speed, and always by practice Bear the adhesiveness curve between wheel track.Adhesiveness curve is the curve of adhesion coefficient and creep speed between describing wheel track, such as Shown in Fig. 2, curve can be divided into two regions: adhesioin zone and idle running area, adhesioin zone can be divided into again according to Curve Property micro- skating area, Big skating area.When wheel track creep speed is smaller, for locomotive operation in micro- skating area, adhesion coefficient is close as creep speed increases at this time Like linear；And as pull-up torque increases, creep speed increases comparatively fast, and tacky state is transitioned into greatly by micro- skating area at this time Skating area；When train wheel driving force is greater than the maximum adhesion strength that current wheel track can be provided, adhesion coefficient rapid decrease, locomotive Idle running area is operated in, idle running easily occurs or is slided, train derailing is may cause when serious, endangers traffic safety.
As shown in Figure 2, there are an adhesion peak μ for adhesiveness curvem, the corresponding creep speed of the adhesion peak For optimal creep speed vsm, tractive force/brake force of wheel track transmitting at this time is maximum, can maximally utilize item of adhering between wheel track Part.Therefore, the main purpose of control of adhering is that control locomotive tacky state is maintained at adhesioin zone, and stabilization is attached in adhesion peak Closely, to realize that the maximum of adhesion utilizes, optimize hauling ability.
Existing adhesion control method is main are as follows:
(1) combination correction method
Traditional combination correction method includes feedback transmitter, extremum method and acceleration standard law.The method input is the compacted of wheel pair Sliding rate and wheel shaft acceleration signal, input signal are compared with the threshold value of setting, Lai Jinhang judges whether there is idle running.If When input signal is greater than the threshold value of setting, then it is judged to dallying, controller cuts down torque with given pace depth.When reduce to wheel pair Creep rate be more than threshold value, and when acceleration is less than 0, illustrate that idle running is inhibited, wheel speed is reducing, therefore motor no longer drops Low torque after maintaining the torque for a period of time, does not dally if detecting, adjusts traction electric machine according to extremum method and feedback transmitter Torque.
Control methods are combined due to fast with reaction speed, the characteristics of high reliablity, are widely used in locomotive adhesion control, The threshold parameter for but combining control methods needs to determine by a large amount of practices, while torque loss is big.
(2) model cootrol method
Model cootrol method relies on dynamics model of the locomotive, and the change of creep speed is mainly adjusted by control pull-up torque Change direction, the direction constantly improved to adhesion coefficient adjusts, its essence of model cootrol method is designed based on adhesion coefficient differential value PI controller.From adhesiveness curve as can be seen that in adhesion peak, the slope of curve isAnd creep is fast Degree is the continuous function about the time, thenSince adhesion coefficient not directly measures, therefore pass through disturbance-observer Device obtains adhesion coefficient and its differential value, then the differential value based on adhesion coefficient designs PI controller.
(3) vertical correlation method
Orthogonal correlation adhesion control method is to pass through measurement electricity by being superimposed a sinusoidal signal in traction electric machine torque Phase shift between the output of machine speed and torque input realizes adhesion control to adjust torque.Since phase shift and creep speed are believed Number be single-valued relationship, in adhesion peak, phase shift is zero to the differential value of creep speed,.Therefore, it is based on the principle, Phase shift method can realize adhesion control by observation phase shift.But vertical correlation method is based on linear model, it is therefore desirable to will Model locomotive linearisation, and working frequency is limited.
(4) intelligence adhesion control methods
Intelligent control algorithm due to processing complexity, strong nonlinearity, on uncertain problem with apparent advantage, Being constantly introduced in, adhesion is Guaranteed, common are fuzzy control, neural network, sliding-mode control and adaptive at present Method etc..
With the development of railway construction, key player of the heavy loading locomotive as railway heavy haul transport, locomotive traction power It is being continuously improved, and adhesion strength of the performance of locomotive traction power between wheel track.Wheel drive track environment be it is complicated and changeable, Under field conditions (factors), the influence of the greasy dirt of track, fallen leaves and moist rain and snow weather can all cause the adhesion coefficient between wheel track It is remarkably decreased, if idle running/cunning may can occur for the most bull wheel week pull-up torque wheel is more than wheel track between pull-up torque, wheel Row, may cause derailing when serious.Therefore, adhesion control is optimized to locomotive to have great importance.Optimized adhesion control Purpose be by searching for adhesion peak in real time, control motor torque adjustment locomotive operation is stablized near maximum sticky point, Improve utilization of adhesion.
Summary of the invention
In order to overcome the disadvantages mentioned above of the prior art, the invention proposes one kind based on optimal creep speed search and tracking Optimized adhesion control method, adhesion control system include omnidirectional vision module, with reference to creep speed search module and MPC adhesion controller module.Pass through two signal realities of adhesion coefficient and creep speed of locomotive with reference to creep speed search module Now to the adjustment of reference creep speed, the optimal creep speed under current rail level can be finally searched with reference to creep speed, together When export with reference to creep speed to MPC and adhere controller, reference locus as PREDICTIVE CONTROL after softening processing.Since adhesion is Number can not be surveyed, and be obtained with reference to the adhesion coefficient of creep speed search module by omnidirectional vision.Optimized adhesion control is adopted With the MPC adhesion controller based on PREDICTIVE CONTROL, predictive controller is comprehensively considered by predicting the size of pull-up torque in real time The performance indicators such as motor control torque constraint, creep constraint of velocity, running comfort and energy consumption design cost function, finally It to optimal pull-up torque, and exports to locomotive, realizes the tracking to optimal creep speed.
The technical solution adopted by the present invention to solve the technical problems is: one kind is based on optimal creep speed search and tracking Optimized adhesion control method, including omnidirectional vision, controller of adhering with reference to creep speed search module and MPC, In:
The omnidirectional vision goes out the adhesion coefficient of locomotive using the pull-up torque and wheel of motor to speed estimate；
It is described with reference to creep speed search module according to the adhesion coefficient and creep velocity estimated locomotive running state of locomotive So that it is determined that updating state value with reference to creep speed, and adjusted in real time in conjunction with creep speed with reference to creep speed, to control ginseng It examines creep speed and constantly close to adhesion peak and searches optimal creep speed, the reference creep speed that then will be adjusted in real time It exports to MPC adhesion controller；
The MPC adhesion controller turns in the case where giving with reference to creep speed and actual creep velocity conditions in conjunction with motor Square constraint, creep constraint of velocity, running comfort and can the performance indicators such as consumption, predict optimal pull-up torque in real time, and Output realizes the tracking to optimal creep speed to locomotive.
Compared with prior art, the positive effect of the present invention is:
1) the optimized adhesion control method based on optimal creep speed search and tracking that the invention proposes a kind of.Root first Creep speed is referred to according to adhesion coefficient and creep speed signal search, and will be exported with reference to creep speed to MPC adhesion controller； With reference to creep speed as the creep speed reference track of predictive controller after softening is handled, and motor torque is combined to constrain, The performance indicators such as creep constraint of velocity, running comfort and trailer system energy consumption, prediction obtains optimum torque, and exports to machine Vehicle realizes effective tracking to optimal creep speed, obtains maximum adhesion strength, improves utilization of adhesion.
2) optimal creep speed search module is first according to adhesion coefficient and the current locomotive adhesion operation of creep velocity estimated State, that is, operate in the which side of adhesion peak, to obtain with reference to creep speed more new state；According to reference creep speed It updates state value and determines adjustment direction, determine adjustment amount further according to practical creep speed and with reference to the positional relationship of creep speed, To realize the linear change with reference to creep speed, and finally search optimal creep speed.
3) present invention devises the adhesion controller of the MPC based on optimal creep speed tracing, and will adhere Controlling model first Prediction model is converted to, the input with reference to creep speed as MPC adhesion controller, with reference to conduct after creep speed softening processing The creep speed reference track of PREDICTIVE CONTROL, and motor control torque constraint and creep constraint of velocity are designed, while according to comfortable Property require and trailer system energy consumption require design object function, to meet the requirement of trailer system, guarantee driving safety.
Detailed description of the invention
Examples of the present invention will be described by way of reference to the accompanying drawings, in which:
Fig. 1 is the generation schematic diagram of wheel-rail adhesion；
Fig. 2 is adhesiveness curve；
Fig. 3 is combination adhesion control method；
Fig. 4 is the optimized adhesion control system block diagram based on optimal creep speed search and tracking；
Fig. 5 is locomotive reduced mechanism；
Fig. 6 is full micr oprocessorism illustraton of model；
Fig. 7 is each state point diagram on adhesion curve；
Fig. 8 is MPC adhesion controller system block diagram.
Specific embodiment
The invention proposes a kind of optimized adhesion control based on the optimal search of creep speed and tracking, control system signals Figure is as shown in figure 4, mainly include omnidirectional vision, three moulds of controller of adhering with reference to creep speed search module and MPC Block.
1. omnidirectional vision designs
Since the adhesion coefficient of locomotive is not directly measurement and is obtained, in control system of adhering, using full dimension State observer obtains the adhesion coefficient of locomotive.Omnidirectional vision is designed according to dynamics model of the locomotive, according to motor Pull-up torque and wheel go out the load torque of motor and the adhesion coefficient of locomotive to speed estimate.
Locomotive reduced mechanism is as shown in Figure 5.
For vehicle, motor sport equation:
Fs=μ (vs) Wg (8)
In formula, M indicates locomotive gross mass, vtFor locomotive running speed, Fd(vt) it is suffered datum drag in locomotive operation, A, b, c are coefficient relevant to drag evaluation.
Adhesiveness model between wheel track then uses empirical equation model:
In formula: a, b, c, d are parameters related with rail level environment.
The rotation equation of motor shaft and wheel pair:
Assuming that installing locomotive gear cases transmission ratio isThen:
T=RgTL (13)
It can be obtained by formula (11)-(13):
Wherein, FsAdhesion strength between wheel track, FdFor the datum drag of locomotive operation, JmFor motor rotary inertia, JdFor wheel To rotary inertia, TmFor motor torque, TLFor the equivalent equivalent load to motor side of adhesion strength, Wg is Locomotive Axle Load.
By formula (14), state space equation can be listed below:
In formula,
It is the state that observes observer closer to the virtual condition of system, therefore constructs with feedback gain matrix Omnidirectional vision, omnidirectional vision may be expressed as:
Thus:
In formula,For the load torque observed, p1,p2For two poles of omnidirectional vision.Pole p1,p2's Configuration is different, and the performance of system is also different.
Omnidirectional vision model is as shown in Figure 6.
2. with reference to creep speed search
Include two parts with reference to creep speed search: determining with reference to creep speed more new state and refer to creep speed tune Mould preparation block.
(1) it is determined with reference to creep speed more new state
Control system is first according to adhesion coefficient and creep velocity estimated locomotive state in which, so that it is determined that the moment joins Examine creep speed more new state.Each state point is as shown in Figure 7 on adhesion curve.
The situation of change of each state point on adhesion curve, i.e. A, B, C, D and point (μ are analyzed according to Fig. 7m,vsm).It analyzes first A, D two o'clock, at point A, Δ μ > 0, Δ vs > 0, at point D, Δ μ < 0, Δ vs < 0, therefore work as Δ μ Δ vs > 0, judgement Locomotive operation is in the left side of adhesion peak, and locomotive operation is in adhesioin zone at this time, but not yet reaches peak point, therefore locomotive is adhered State can be moved right constantly along adhesiveness curve close to adhesion peak, be set as 1 with reference to creep speed more new state； Analysis C, B two o'clock, at point C, Δ μ > 0, Δ vs < 0, at point B, Δ μ < 0, Δ vs > 0, therefore work as Δ μ Δ vs < 0, Locomotive operation is judged on the right side of adhesion peak, and in idle running area, locomotive operation point needs to transport to the left along adhesion curve locomotive operation It goes go back to adhesioin zone, is set as -1 with reference to creep speed more new state；And in adhesion peak of curve point (μm,vsm) at, Δ μ Δ vs= 0, since locomotive traction transmission system is there are interference noise influence, output generally is difficult to determine at peak point, therefore, works as Δ When μ Δ vs≤0, judge that locomotive tacky state enters idle running area from the adhesioin zone of adhesiveness curve, with reference to creep speed Updating state output is -1.Therefore, with reference to creep speed update status representative locomotive adhesion operating status, that is, adhesion is operated in Area enters idle running area from adhesioin zone.
Judge as shown in formula (20) with reference to creep speed more new state.
(2) it is adjusted with reference to creep speed
Current reference creep speed more new state and practical creep speed two are combined with reference to creep speed adjustment module Signal can be realized real-time adjustment and output to reference creep speed.It updates state value with reference to creep speed and not only represents and work as Preceding locomotive adhesion operation dotted state, and control the adjustment direction for referring to creep speed.In conjunction with practical creep speed and current ginseng The positional relationship for examining creep speed can determine being sized with reference to creep speed.
If vsr(k) the reference creep speed for being moment k, then the k moment refers to the adjustment of creep speed:
vsr(k+1)=vsr(k)+c·r·ΔT(21)
In formula, c is that state value is updated with reference to creep speed, and c is 1 or -1；R is to adjust rate with reference to creep speed.In order to Avoid when reference creep speed and practical creep speed very close to when, may to join at this time with reference to the too fast increase of creep speed It examines creep speed and crosses optimal creep speed, it is apart from each other into idle running area, or with reference to creep speed and practical creep speed When excessively slow variation, be provided with and creep speed vs referred to based on the k momentr(k) length is the buffer area of σ.The size of r is according to this The positional relationship of buffer area and practical creep speed determines.
With reference to creep speed set-up procedure are as follows:
A. input updates state value c, practical creep speed vs and buffer length σ with reference to creep speed.
B. in order to guarantee the safe operation of locomotive, determine the permission minimum value vs_L with reference to the adjustment of creep speed and allow most Big value vs_H, and the reference creep speed of initial time is set to allow minimum value vs_L.
C. judgement updates state value with reference to creep speed, and the adjustment side for referring to creep speed is determined according to update state value To.If updating state value c=1, locomotive operation is represented on the left side of adhesion peak of curve point, then d is entered step, if more new state Value c=-1 represents locomotive operation on the right of adhesion peak of curve point, then enters step e.
D. it combines practical creep speed and the positional relationship in the reference creep speed-buffering area at the moment to determine and refers to creep The adjustment amount of speed.When practical creep speed is lower than vsr(k) when-σ, i.e. vs < vsr(k)-σ then keeps current reference creep Speed adjusts change rate r=0；When practical creep speed is in reference creep speed-buffering area, i.e. vsr(k)-σ≤vs≤vsr (k), then with lesser rate r1Increase current reference creep speed, r=r1；When practical creep speed is more than with reference to creep speed Spend vsr(k) when, i.e. vs > vsr(k), then with biggish rate r2Increase current reference creep speed, r=r2.With reference to creep Speed adjusts rate generally with type of locomotive parameter, and the control system sampling time is related, and accurate numerical value then needs Binding experiment Data to adjustment rate be finely adjusted, with guarantee when the ivory-towered creep speed of reference creep speed farther out when, can be as early as possible Ground changes along adjustment direction, meanwhile, when searching optimal creep speed, it is desirable that can smoothly be kept with reference to creep speed Fluctuation is without generating biggish oscillation near optimal creep speed.Generally, r2For r13-5 times.It is entered step after adjustment f。
E. the positional relationship of practical creep speed and the reference creep speed at the moment is combined to determine with reference to creep speed Adjustment amount.When practical creep speed is lower than vsr(k) when-σ, i.e. vs < vsr(k)-σ, then with biggish rate r2Reduce currently With reference to creep speed, r=r2；When practical creep speed is in reference creep speed-buffering area, i.e. vsr(k)-σ≤vs≤vsr (k), then with lesser rate r1Reduce current reference creep speed, r=r1；When practical creep speed is more than with reference to creep speed Spend vsr(k) when, i.e. vs > vsr(k), then current reference creep speed, r=0 are kept.F is entered step after adjustment.
F. judgement allows maximum value vs_H with reference to whether creep speed is greater than, if then vsr(k+1)=vs_H, otherwise into Enter step g.
G. judgement allows minimum value vs_L with reference to whether creep speed is less than, if then vsr(k+1)=vs_L, otherwise into Enter step h.
H. the reference creep speed for exporting the k+1 moment waits for calculating in next step.
Main purpose with reference to creep speed search module is can be according to locomotive adhesion coefficient and creep velocity estimated machine Vehicle operating status obtains updating state value with reference to creep speed, and is adjusted in real time in conjunction with practical creep speed with reference to creep speed, To control with reference to creep speed constantly close to adhesion peak and the stable optimal creep speed to current rail level, completion pair The search of optimal creep speed.The reference creep speed adjusted in real time is exported to MPC with reference to creep speed search module and is adhered Controller.
3.MPC adhesion controller
Adhesion controller system input based on PREDICTIVE CONTROL is the main work with reference to creep speed and actual creep speed Be given with reference to creep speed under conditions of, in conjunction with motor control torque constraint, creep constraint of velocity and train operation performance Index request predicts optimum torque in real time, and exports to locomotive, realizes to the optimal good tracking of creep speed.Wherein, Practical creep speed mainly realizes the feedback compensation of PREDICTIVE CONTROL.MPC adheres controller system block diagram as shown in figure 8, in figure, vsrIt (k) is to be inputted with reference to creep speed, vs (k) is the practical creep speed that control amount acts on the current time obtained after locomotive Degree；W (k) is with reference to creep speed softening treated creep speed reference track；vspIt (k) is that prediction model future time instance is pre- The output of survey；U (k) is controller, and according to objective function and constraint, by starting point of current time, rolling optimization goes out in control time domain Control sequence；U (k) is the control amount implemented at current time.As shown in Figure 8, the design of MPC adhesion controller specifically includes that Prediction model, rolling optimization controller and feedback compensation.
In order to guarantee the stationarity of control, robustness is improved, exports practical creep speed in conjunction with reference creep speed and locomotive Degree, which generates, refers to creep track, reach model output vs (k) can along reference creep track w (k) with reference to creep speed vsr (k)。
W (k+j)=αjvs(k)+(1-αj)vsr(k) (j=1,2 ..., P) (22)
In formula: α is softening coefficient, and 0 < α < 1, P are control time domain length.As can be seen that w (k) can ratio when α is smaller Quickly close to vsr(k), the tracking performance of system is preferable, but robustness is poor.
(1) prediction model
The adhesion Controlling model of convolution (7) (8) (9) and (14), available:
Since Model Predictive Control is optimized based on state-space model, adhered using Euler's method The discretization model of control.Nonlinear model state-space expression:
X (k+1)=fk(x(k),u(k))·Δt+x(k)(26)
Y (k)=Cx (k) (27)
In formula, fkIndicate the state change gradient in time k, x=vs is the state variable of model, and u=T is the defeated of model Enter variable, y=vs is the output variable of system model, Matrix C=1.Therefore, the prediction model that can obtain adhesion system is as follows:
Y (k)=Cvs (k) (29)
Defining P is prediction time domain length, and M is control time domain length, and P >=M >=1.In sampling time k, system multistep control Amount processed and model multi-step prediction output quantity expression formula are as follows:
The renewal process of predicted state value and prediction output valve is as follows:
X (k+j | k)=fk(x(k+j-1|k),u(k+j-1|k))·Δt+x(k+j-1|k),0≤j≤M-1(31)
Y (k+j | k)=C [(fk(x(k+j-1|k),u(k+j-1|k))·Δt+x(k+j-1|k)],0≤j≤P(32)
(2) rolling optimization controller
The method that MPC prediction algorithm uses rolling optimization, under conditions of meeting system restriction, by making objective function Value minimum carrys out rolling calculation using current time as the controlling increment in starting point control time domain, while acquiring the number at next moment again According to carrying out new prediction, control and correction.Therefore, the optimization process of PREDICTIVE CONTROL is constantly to find the office at current time repeatedly Portion's optimization aim.
Due to the limitation of traction electric machine, the motor control torque of controller output can be provided torque no more than motor Maximum value, i.e. Tmax, while the creep speed of controller prediction output needs to operate in the adhesioin zone of adhesiveness curve, ensures Locomotive driving safety.The control amount u (k) of PREDICTIVE CONTROL=T (k) and prediction output quantity y (k)=vsp(k) constraint of parameter is such as Under:
0 < vsp(k+i|k)≤w(k)(33)
0≤T(k+i|k)≤Tmax(34)
In formula, w (k) is with reference to creep speed through softening treated creep speed reference track.
MPC adheres controller according to creep speed reference TRAJECTORY CONTROL motor torque, the creep speed pair of Lai Shixian locomotive It is effectively tracked with reference to creep speed, obtains higher utilization of adhesion, while also needing to comprehensively consider locomotive driving peace Entirely, the requirement of comfort and trailer system energy consumption, finally obtains optimal pull-up torque.Therefore, it is necessary to be asked according to multiple target The objective function of topic design PREDICTIVE CONTROL.
A. control system needs preferably to track creep speed reference track, make locomotive in adhesioin zone as far as possible Ground keeps relatively high utilization of adhesion, to obtain biggish tractive force/brake force, therefore design object function J1。
In formula, w (k+j) is with reference to creep speed softening treated creep speed reference track.
B. when locomotive torque variation is excessive, it is longitudinal with lateral vibration to increase locomotive, especially when torque increases severely suddenly or When reducing sharply, the stability of locomotive operation and the comfort of passenger will affect, therefore, design object function J2。
In formula, T is motor control torque, and p is torque variation weight coefficient, with the increase of weight coefficient p, torque ripple It can control smaller and smaller.
C. the requirement the smaller the better according to trailer system energy consumption, design object function J3。
In formula, w is the energy-efficient weight coefficient of adjustment, and the motor control torque of predictive controller output meets:
|T(k+j|k)|≤Tmax(38)
Therefore, in order to realize the optimum torque output under multiple target solution, comprehensive multiple performance indicators design controllers Objective function are as follows:
MinJ (x (k), u (k))=J1+J2+J3(39)
Its basis of prediction algorithm is under the premise of meeting system restriction, by finding out a series of controlling increment Δ u (k), Δ u (k+1) ..., Δ u (k+M-1) makes target function type (39) reach minimum value.Therefore, it is obtained by solving formula (40) To controlling increment Δ U:
In formula: Δ U=[Δ u (k), Δ u (k+1) ..., Δ u (k+M-1)].
When practical control, one-component, that is, current control amount u (k) is only put into system, and next controlling increment The controlling increment based on subsequent time of the prediction, optimization that are repeated by subsequent time obtains.
U (k)=u (k-1)+Δ u (k) (41)
(3) feedback compensation
During the rolling optimization of prediction algorithm, some moment for being all based on real system is optimized each time It carries out.Since there are non-linear or interference influence, prediction model may be with realistic model mismatch, therefore, control The practical creep speed of locomotive will be compared with the prediction creep speed of prediction model, and will compare by each moment The error of generation is for correcting predicted value, thus guarantee the accuracy of prediction, meanwhile, feedback compensation also reduces PREDICTIVE CONTROL pair The requirement of system model.

Claims (8)

1. a kind of optimized adhesion control method based on optimal creep speed search and tracking, it is characterised in that: including Quan Weizhuan State observer, controller of adhering with reference to creep speed search module and MPC, in which:
The omnidirectional vision goes out the adhesion coefficient of locomotive using the pull-up torque and wheel of motor to speed estimate；
It is described with reference to creep speed search module according to the adhesion coefficient and creep velocity estimated locomotive running state of locomotive to It determines and updates state value with reference to creep speed, and adjusted in real time in conjunction with practical creep speed with reference to creep speed, to control ginseng It examines creep speed and constantly close to adhesion peak and searches the optimal creep speed of current rail level, then will refer to creep speed It exports to MPC adhesion controller；
The MPC adhesion controller turns in the case where giving with reference to two signals of creep speed and actual creep speed in conjunction with motor Square constraint, creep constraint of velocity, running comfort and can consumption performance indicator, predict optimal pull-up torque in real time, and Output realizes the tracking to optimal creep speed to locomotive.
2. a kind of optimized adhesion control method based on optimal creep speed search and tracking according to claim 1, It is characterized in that: the estimation method of the adhesion coefficient are as follows:
(1) equation of motion to vehicle locomotive is established:
Fs=μ (vs) Wg
In formula, M indicates locomotive gross mass, vtFor locomotive running speed, Fd(vt) it is suffered datum drag in locomotive operation, a, b, c For coefficient relevant to drag evaluation；
(2) the adhesiveness model between wheel track is established:
In formula: a, b, c, d are parameters related with rail level environment；
(3) rotation equation of motor shaft and wheel pair is established:
T=Rg·TL
Wherein, RgIndicate installing locomotive gear cases transmission ratio,
It further calculates to obtain:
Wherein, FsAdhesion strength between wheel track, FdFor the datum drag of locomotive operation, JmFor motor rotary inertia, JdFor wheel to turn Dynamic inertia, TmFor motor torque, TLFor the equivalent equivalent load to motor side of adhesion strength, Wg is Locomotive Axle Load；
(4) following state space equation is established:
In formula,
(5) following omnidirectional vision is constructed:
Thus:
In formula,For the load torque observed, p1,p2For two poles of omnidirectional vision.
3. a kind of optimized adhesion control method based on optimal creep speed search and tracking according to claim 1, Be characterized in that: the judgement locomotive running state is so that it is determined that update the method for state value with reference to creep speed are as follows:
(1) as Δ μ Δ vs > 0, judge that locomotive operation in the adhesioin zone of adhesiveness curve, is determined with reference to creep speed more New state value is 1；
(2) as Δ μ Δ vs≤0, judge that locomotive operation in the idle running area of adhesiveness curve, is determined with reference to creep speed more New state value is -1.
4. a kind of optimized adhesion control method based on optimal creep speed search and tracking according to claim 3, Be characterized in that: adjustment includes the following steps: with reference to the method for creep speed
Step 1: setting the reference creep speed at k moment as vsr(k), the buffer area that a length is δ is set on the basis of this value [vsr(k)-δ,vsr(k)], judge to update whether state value is equal to 1 with reference to creep speed: if so, entering step two；If it is not, Then enter step three；
Step 2: then keeping current reference creep speed when practical creep speed is not entered with reference to creep speed-buffering area It is constant；When practical creep speed is in reference creep speed-buffering area, then increase current reference creep with lesser rate Speed；When practical creep speed is more than with reference to creep speed-buffering area, then increase current reference creep with biggish rate Speed；Four are entered step after adjustment；
Step 3: then being reduced currently with biggish rate when practical creep speed is not entered with reference to creep speed-buffering area With reference to creep speed；When practical creep speed is in reference creep speed-buffering area, then reduced currently with lesser rate With reference to creep speed；When practical creep speed is more than with reference to creep speed-buffering area, then current reference creep speed is kept； Four are entered step after adjustment；
Step 4: judgement allows maximum value vs_H with reference to creep speed with reference to whether creep speed is greater than: if then enabling vsr(k+1) =vs_H, otherwise enters step five；
Step 5: judgement allows minimum value vs_L with reference to creep speed with reference to whether creep speed is less than, if then enabling vsr(k+1) =vs_L, otherwise enters step six.
Step 6: the reference creep speed at output k+1 moment.
5. a kind of optimized adhesion control method based on optimal creep speed search and tracking according to claim 1, Be characterized in that: the MPC adhesion controller includes prediction model, rolling optimization controller and feedback compensation.
6. a kind of optimized adhesion control method based on optimal creep speed search and tracking according to claim 5, Be characterized in that: the prediction model includes following content:
(1) adhesion Controlling model is established
(2) discretization is carried out to adhesion Controlling model using Euler's method, obtains following Nonlinear state space model:
X (k+1)=fk(x(k),u(k))·Δt+x(k)
Y (k)=Cx (k)
In formula, fkIndicate the state change gradient in time k, x=vs is the state variable of model, and u=T is that the input of model becomes Amount, y=vs are the output variable of system model, Matrix C=1；
(3) prediction model for establishing adhesion system is as follows:
Y (k)=Cvs (k)
(4) defining P is prediction time domain length, and M is controls time domain length, and P >=M >=1, in sampling time k, the control of system multistep Amount and model multi-step prediction output quantity expression formula are as follows:
(5) renewal process of predicted state value and prediction output valve is as follows:
X (k+j | k)=fk(x(k+j-1|k),u(k+j-1|k))·Δt+x(k+j-1|k),0≤j≤M-1；
Y (k+j | k)=C [(fk(x(k+j-1|k),u(k+j-1|k))·Δt+x(k+j-1|k)],0≤j≤P。
7. a kind of optimized adhesion control method based on optimal creep speed search and tracking according to claim 6, Be characterized in that: the rolling optimization controller includes following content:
(1) control amount u (the k)=T (k) and prediction output quantity y (k)=vs of PREDICTIVE CONTROL are establishedp(k) constraint of parameter is as follows:
0 < vsp(k+i|k)≤w(k)
0≤T(k+i|k)≤Tmax
In formula, w (k) is with reference to creep speed softening treated creep speed reference track；
(2) objective function of PREDICTIVE CONTROL is established:
A. objective function J is established1
In formula, w (k+j) is with reference to creep speed softening treated creep speed reference track；
B. objective function J is established2
In formula, T is motor control torque, and p is torque variation weight coefficient；
C. objective function J is established3
In formula, w adjusts energy-efficient weight coefficient, and the control amount motor torque of predictive controller output meets | T (k+j | k) |≤ Tmax；
D. the objective function of rolling optimization controller is obtained:
MinJ (x (k), u (k))=J1+J2+J3
(3) controlling increment Δ U is solved as follows:
In formula: Δ U=[Δ u (k), Δ u (k+1) ..., Δ u (k+M-1)]；
(4) current control amount is calculated as follows:
U (k)=u (k-1)+Δ u (k).
8. a kind of optimized adhesion control method based on optimal creep speed search and tracking according to claim 5, Be characterized in that: the feedback compensation refers to each moment in control, by the reality output creep speed of locomotive and prediction mould The prediction creep speed of type is compared, and is used for the error for comparing generation to correct predicted value.
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CN116373916A (en) * 2023-04-27 2023-07-04 湖南工业大学 Train self-adaptation adhesion control system
CN117341489A (en) * 2023-09-05 2024-01-05 西南交通大学 Train stepless coupling prediction adhesion control method for permanent magnet traction system
CN117341489B (en) * 2023-09-05 2024-04-16 西南交通大学 Train stepless coupling prediction adhesion control method for permanent magnet traction system

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