KR100786697B1 - Readhesion control method using estimated adhesive effort of electric locomotive train - Google Patents

Readhesion control method using estimated adhesive effort of electric locomotive train Download PDF

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KR100786697B1
KR100786697B1 KR1020030067536A KR20030067536A KR100786697B1 KR 100786697 B1 KR100786697 B1 KR 100786697B1 KR 1020030067536 A KR1020030067536 A KR 1020030067536A KR 20030067536 A KR20030067536 A KR 20030067536A KR 100786697 B1 KR100786697 B1 KR 100786697B1
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South Korea
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idle
current
electric vehicle
acceleration
estimated
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KR1020030067536A
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Korean (ko)
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KR20050031284A (en
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정만규
조성준
방이석
서광석
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현대중공업 주식회사
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    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another

Abstract

본 발명은 전동차의 공전 회복시 추정 점착 전류를 이용하여 토크 전류 회복시 재공전이 발생하지 않도록 함으로써 재점착 제어의 우수성과 안전성을 확보할 수 있도록 한 전동차의 추정 점착력에 의한 재점착 제어방법에 관한 것이다.The present invention relates to a re-adhesion control method by the estimated adhesive force of the electric vehicle to ensure the superiority and safety of the re-adhesion control by using the estimated adhesion current at the recovery of the idler to prevent re-idling at the recovery of the torque current. will be.

본 발명에 따른 전동차의 추정 점착력에 의한 재점착 제어방법은, 전동차의 공전속도, 등가 차량가속도 및 공전가속도를 이용하여 공전 검지를 수행하는 단계와; 상기 전동차의 공전이 검지되면, 전류지령치를 공전속도, 공전가속도에 비례하여 감소시켜 공전이 발생하지 않도록 하고, 재점착이 검지되면 추정된 점착전류를 이용하여 재점착 제어를 수행하는 단계와; 상기 공전이 검지된 후 일정시간이 경과되면 원래의 전류지령치로 회복시키는 단계와; 상기 전동차의 공전을 재검지하여 전류지령치를 감소하는 반복된 동작을 수행하는 단계를 포함한다.The re-adhesion control method by the estimated adhesive force of the electric vehicle according to the present invention comprises: performing idle detection using idle speed, equivalent vehicle acceleration and idle acceleration of the electric vehicle; When the idle of the electric vehicle is detected, reducing the current command value in proportion to the idle speed and the idle acceleration so that no idle occurs, and when re-adhesive is detected, performing re-adhesive control using the estimated adhesion current; Restoring the original current command value when a predetermined time elapses after the idle is detected; And re-detecting the idle of the electric vehicle to perform the repeated operation of reducing the current command value.

전동차, 추정 점착력, 재점착 제어, 전류지령치, 점착전류Electric vehicle, estimated adhesive force, re-adhesion control, current command value, adhesive current

Description

전동차의 추정 점착력에 의한 재점착 제어방법{Readhesion control method using estimated adhesive effort of electric locomotive train}Readhesion control method using estimated adhesive effort of electric locomotive train}

도 1은 본 발명에 따른 전동차의 재점착 제어방법에서 공전검지 방법의 알고리즘 흐름도.1 is an algorithm flowchart of an idle detection method in a re-adhesion control method of an electric vehicle according to the present invention;

도 2는 본 발명에 따른 전동차의 재점착 제어방법에서 공전회복검지 방법의 알고리즘 흐름도.Figure 2 is an algorithm flow diagram of the idle recovery detection method in the re-adhesion control method of the electric vehicle according to the present invention.

도 3은 본 발명에 따른 전동차의 재점착 제어방법에서 공전시 점착제어 방법의 알고리즘 흐름도.Figure 3 is an algorithm flow diagram of the adhesion control method at idle in the re-adhesion control method of the electric vehicle according to the present invention.

도 4는 도 3의 전동차의 점착제어 시험에 사용된 시험차량의 구성도.4 is a configuration diagram of a test vehicle used in the adhesion control test of the electric vehicle of FIG.

도 5는 도 4의 시험차량의 최대 가속운전시(4Notch) 재점착 제어에 따른 시험 파형도.5 is a test waveform diagram according to re-adhesion control during maximum acceleration operation (4Notch) of the test vehicle of FIG. 4.

도 6은 도 4의 시험차량에 대한 대공전이 발생하도록 1축 및 3축에 살수를 시작하면서 주행시험한 파형도.FIG. 6 is a waveform diagram of driving test while spraying water is started on one and three axes so that a large air revolution of the test vehicle of FIG. 4 occurs.

본 발명은 전동차의 추정 점착력에 의한 재점착 제어방법에 관한 것으로서, 보다 상세하게는 전동차의 공전(Slip) 회복시 추정 점착 전류를 이용함으로써 토크 전류 회복시 재공전이 발생하지 않도록 하는 전동차의 추정 점착력에 의한 재점착 제어방법에 관한 것이다.The present invention relates to a re-adhesion control method based on the estimated adhesive force of an electric vehicle, and more particularly, by using an estimated adhesive current when the slip of the electric vehicle recovers, an estimated adhesive force of the electric vehicle such that re-idling does not occur when the torque current is recovered. It relates to a re-adhesion control method.

현대사회에서 도심의 복잡한 교통량과 운송량의 증가로 전동차량에 대한 요구가 증대되고 있다. 국내의 전동차량은 대부분 1C4M으로 구성되어 있으나, 이러한 구성은 경제적인 측면에서는 장점이 있는 반면 제어가 어렵다는 단점이 존재한다.In modern society, the demand for electric vehicles is increasing due to the increased traffic volume and traffic volume in the city center. Most domestic electric vehicles are composed of 1C4M, but such a configuration has advantages in economical aspects, but it is difficult to control.

일반적으로 전동차량의 차량 바퀴의 공전현상은 바퀴와 선로 사이의 점착력이 눈, 비에 의하여 감소될 때 발생한다. 그리고, 이러한 전동차 바퀴의 공전은 바퀴와 선로 표면의 마모를 유기하여 바퀴의 손상 및 수명을 단축시킨다. In general, the idleness of the wheel of the vehicle of the electric vehicle occurs when the adhesion between the wheel and the track is reduced by snow and rain. In addition, the idle of the electric wheels induces abrasion of the wheels and the track surface to reduce the damage and life of the wheels.

최근의 철도차량은 IGBT용 인버터와 알루미늄 차체를 사용한 경량화에 의하여 공전발생 가능성이 더욱 커지고 있다.Recently, railroad cars are more likely to generate idle due to weight reduction using IGBT inverters and aluminum bodies.

이러한 전동차량의 재점착 제어는 바퀴와 선로 사이의 공전방지와 감소된 점착력을 최대로 이용하는데 목적이 있다. 그러나, 고정된 전류패턴에 의한 기존의 재점착 제어방식은 공전 현상을 완화할 수는 있었지만 점착력을 최대로 이용할 수 없는 문제점이 있다.The re-adhesion control of the electric vehicle is aimed at maximizing the anti-idle between the wheel and the track and reducing the adhesive force. However, the conventional re-adhesion control method using a fixed current pattern has been able to alleviate the idle phenomenon, but there is a problem that can not use the adhesive force to the maximum.

이에, 본 발명의 목적은 전동차의 공전 회복시 추정 점착 전류를 이용하여 토크 전류 회복시 재공전이 발생하지 않도록 함으로써 재점착 제어의 우수성과 안전성을 확보할 수 있도록 한 전동차의 추정 점착력에 의한 재점착 제어방법을 제공하는데 있다. Accordingly, an object of the present invention is to re-adhesion by the estimated adhesive force of the train to ensure the superiority and safety of the re-adhesion control by ensuring that re-idling does not occur when the torque current is recovered by using the estimated adhesion current when the vehicle is idle. To provide a control method.                         

상기와 같은 목적을 달성하기 위하여 본 발명에 따른 전동차의 추정 점착력에 의한 재점착 제어방법은, 전동차의 공전속도, 등가 차량가속도 및 공전가속도를 이용하여 공전 검지를 수행하는 단계와; 상기 전동차의 공전이 검지되면, 전류지령치를 공전속도, 공전가속도에 비례하여 감소시켜 공전이 발생하지 않도록 하고, 재점착이 검지되면 추정된 점착전류를 이용하여 재점착 제어를 수행하는 단계와; 상기 공전이 검지된 후 일정시간이 경과되면 원래의 전류지령치로 회복시키는 단계와; 상기 전동차의 공전을 재검지하여 전류지령치를 감소하는 반복된 동작을 수행하는 단계를 포함한다.In order to achieve the above object, the re-adhesion control method by the estimated adhesive force of the electric vehicle according to the present invention includes: performing idle detection using idle speed, equivalent vehicle acceleration and idle acceleration of the electric vehicle; When the idle of the electric vehicle is detected, reducing the current command value in proportion to the idle speed and the idle acceleration so that no idle occurs, and when re-adhesive is detected, performing re-adhesive control using the estimated adhesion current; Restoring the original current command value when a predetermined time elapses after the idle is detected; And re-detecting the idle of the electric vehicle to perform the repeated operation of reducing the current command value.

이하, 첨부된 도면을 참조하여 본 발명을 상세하게 설명하고자 한다.Hereinafter, with reference to the accompanying drawings will be described in detail the present invention.

도 1은 본 발명에 따른 전동차의 재점착 제어방법에서 공전검지 방법의 알고리즘 흐름도이고, 도 2는 본 발명에 따른 전동차의 재점착 제어방법에서 공전회복검지 방법의 알고리즘 흐름도이다.1 is an algorithm flowchart of an idle detection method in a re-adhesion control method of a train according to the present invention, and FIG. 2 is an algorithm flowchart of an idle recovery detection method in a re-adhesion control method of a train according to the present invention.

도 1을 참조하여 전동차, 특히 통근형 전동차의 공전검지에 따른 점착 제어를 설명하면, 먼저 전동차의 각 축의 속도를 평균하여 등가 차량속도

Figure 112003036251598-pat00001
를 계산하고, 이것을 미분하여 등가 차량가속도
Figure 112003036251598-pat00002
을 구한다. 공전속도
Figure 112003036251598-pat00003
는 역행시는 최대 축속도
Figure 112003036251598-pat00004
와 등가 차량속도
Figure 112003036251598-pat00005
의 차로 구하고, 제동시는 최소 축속도
Figure 112003036251598-pat00006
와 등가 차량속도
Figure 112003036251598-pat00007
의 차로서 구한다. 공전가속도
Figure 112003036251598-pat00008
는 공전속도
Figure 112003036251598-pat00009
를 미분하여 구한다. 공전가속도
Figure 112003036251598-pat00010
, 공전속도
Figure 112003036251598-pat00011
, 등가 차량가속도
Figure 112003036251598-pat00012
는 각각의 검지치
Figure 112003036251598-pat00013
,
Figure 112003036251598-pat00014
,
Figure 112003036251598-pat00015
이상이 되면 공전이 발생된 것으로 간주하여 점착 제어를 수행한다.Referring to Figure 1 describes the adhesive control according to the idle detection of the electric vehicle, in particular commuter-type electric vehicle, first, the average vehicle speed by averaging the speed of each axis of the electric vehicle
Figure 112003036251598-pat00001
Calculate the derivative of the equivalent vehicle acceleration
Figure 112003036251598-pat00002
Obtain Idle speed
Figure 112003036251598-pat00003
The maximum axial speed during retrograde
Figure 112003036251598-pat00004
And equivalent vehicle speed
Figure 112003036251598-pat00005
To obtain the difference between
Figure 112003036251598-pat00006
And equivalent vehicle speed
Figure 112003036251598-pat00007
We get as difference. Idle acceleration
Figure 112003036251598-pat00008
Idle speed
Figure 112003036251598-pat00009
Find the derivative of. Idle acceleration
Figure 112003036251598-pat00010
, Idle speed
Figure 112003036251598-pat00011
Equivalent vehicle acceleration
Figure 112003036251598-pat00012
Each index value
Figure 112003036251598-pat00013
,
Figure 112003036251598-pat00014
,
Figure 112003036251598-pat00015
If abnormality occurs, it is regarded that idle is generated and adhesion control is performed.

그리고, 도 2를 참조하여 전동차의 공전회복검지에 따른 재점착 제어를 설명하면, 먼저 전동차의 각 축의 속도를 평균하여 등가 차량속도

Figure 112003036251598-pat00016
를 계산한다. 공전속도
Figure 112003036251598-pat00017
는 역행시는 최대 축속도
Figure 112003036251598-pat00018
와 등가 차량속도
Figure 112003036251598-pat00019
의 차로 구하고, 제동시는 최소 축속도
Figure 112003036251598-pat00020
와 등가 차량속도
Figure 112003036251598-pat00021
의 차로서 구한다. 공전가속도
Figure 112003036251598-pat00022
는 공전속도
Figure 112003036251598-pat00023
를 미분하여 구한다. 공전가속도
Figure 112003036251598-pat00024
, 공전속도
Figure 112003036251598-pat00025
는 각각의 검지치
Figure 112003036251598-pat00026
,
Figure 112003036251598-pat00027
이하가 되면 공전이 회복된 것으로 간주하여 재점착 제어를 수행한다.Referring to FIG. 2, the re-adhesion control according to the idle recovery detection of the electric vehicle will be described first.
Figure 112003036251598-pat00016
Calculate Idle speed
Figure 112003036251598-pat00017
The maximum axial speed during retrograde
Figure 112003036251598-pat00018
And equivalent vehicle speed
Figure 112003036251598-pat00019
To obtain the difference between
Figure 112003036251598-pat00020
And equivalent vehicle speed
Figure 112003036251598-pat00021
We get as difference. Idle acceleration
Figure 112003036251598-pat00022
Idle speed
Figure 112003036251598-pat00023
Find the derivative of. Idle acceleration
Figure 112003036251598-pat00024
, Idle speed
Figure 112003036251598-pat00025
Each index value
Figure 112003036251598-pat00026
,
Figure 112003036251598-pat00027
If it is below, re-adhesion control is regarded as idle recovery.

한편, 상기 통근형 전동차의 점착력은 전동기의 토크 방정식에서 부하토크와 같다고 생각할 수 있는데, 전동기의 토크 방정식은 [수학식 1]과 [수학식 2]와 같이 표현된다.On the other hand, the cohesion of the commutation-type electric vehicle can be considered to be the same as the load torque in the torque equation of the motor, the torque equation of the motor is expressed as [Equation 1] and [Equation 2].

Figure 112003036251598-pat00028
Figure 112003036251598-pat00028

Figure 112003036251598-pat00029
Figure 112003036251598-pat00029

여기서,

Figure 112003036251598-pat00030
은 전동기 토크[N·m],
Figure 112003036251598-pat00031
는 전동기 한 대당 등가관성[㎏· ㎡],
Figure 112003036251598-pat00032
은 전동기의 회전 각속도[rad/sec],
Figure 112003036251598-pat00033
은 부하토크[N·m], B는 견인부의 마찰계수[㎏·㎡/sec],
Figure 112003036251598-pat00034
는 점착력[N·m]이다.here,
Figure 112003036251598-pat00030
Silver motor torque [Nm],
Figure 112003036251598-pat00031
Is equivalent inertia per kilogram [㎏ · ㎡],
Figure 112003036251598-pat00032
Is the rotational angular velocity of the motor [rad / sec],
Figure 112003036251598-pat00033
Is the load torque [N · m], B is the friction coefficient of the traction part [㎏ · ㎡ / sec],
Figure 112003036251598-pat00034
Is adhesive force [Nm].

상기 전동기의 토크

Figure 112003036251598-pat00035
는 다음 [수학식 3]과 같이 벡터제어가 완전하다면 전동기 상수와 d축 및 q축 기준전류로부터 계산할 수 있다.Torque of the electric motor
Figure 112003036251598-pat00035
Can be calculated from the motor constants and the d-axis and q-axis reference currents if vector control is complete as shown in Equation 3 below.

Figure 112003036251598-pat00036
Figure 112003036251598-pat00036

그리고, 상기 [수학식 3]을 q축 토크 기준전류에 대하여 정리하면 [수학식 4]와 같이 정리할 수 있다.In addition, if Equation 3 is arranged with respect to the q-axis torque reference current, Equation 3 may be arranged as shown in Equation 4.

Figure 112003036251598-pat00037
Figure 112003036251598-pat00037

여기서,

Figure 112003036251598-pat00038
이다.here,
Figure 112003036251598-pat00038
to be.

상기 [수학식 2]의 마찰계수 B에 의한 성분은 무시하고, 양변에

Figure 112003036251598-pat00039
를 곱하면 [수학식 5]와 같이 표현할 수 있다.The component by the friction coefficient B of [Equation 2] is ignored,
Figure 112003036251598-pat00039
By multiplying it can be expressed as [Equation 5].

Figure 112003036251598-pat00040
Figure 112003036251598-pat00040

[수학식 5]를 추정점착전류

Figure 112007079594780-pat00118
와 등가 차량속도
Figure 112007079594780-pat00042
[km/h]로 다시 표현하면 [수학식 6]과 같이 표현된다.Equation (5) estimated adhesive current
Figure 112007079594780-pat00118
And equivalent vehicle speed
Figure 112007079594780-pat00042
When expressed as [km / h], it is expressed as [Equation 6].

Figure 112007079594780-pat00119
Figure 112007079594780-pat00119

여기서,

Figure 112007079594780-pat00120
는 q축 토크 기준전류이고,
Figure 112007079594780-pat00045
이다. 이때,
Figure 112007079594780-pat00046
의
Figure 112007079594780-pat00047
는 차량바퀴의 반경[m]이고,
Figure 112007079594780-pat00048
는 전동기와 차량바퀴 사이의 기어비이다.here,
Figure 112007079594780-pat00120
Is the q-axis torque reference current,
Figure 112007079594780-pat00045
to be. At this time,
Figure 112007079594780-pat00046
of
Figure 112007079594780-pat00047
Is the radius [m] of the wheel,
Figure 112007079594780-pat00048
Is the gear ratio between the motor and the wheel.

도 3은 본 발명에 따른 전동차의 재점착 제어방법에서 공전시 점착제어 방법의 알고리즘 흐름도이다.3 is an algorithm flow chart of the adhesion control method at idle in the re-adhesion control method of the electric vehicle according to the present invention.

도 3에 도시된 바와 같이 우선, 전동차의 공전속도

Figure 112003036251598-pat00049
, 등가 차량가속도
Figure 112003036251598-pat00050
및 공전가속도
Figure 112003036251598-pat00051
를 이용하여 공전을 검지한다. First, as shown in Figure 3, the idle speed of the electric vehicle
Figure 112003036251598-pat00049
Equivalent vehicle acceleration
Figure 112003036251598-pat00050
And idle acceleration
Figure 112003036251598-pat00051
Use to detect the static.

상기 공전 검지 결과, 전동차의 공전이 검지되면 견인력을 감소시켜 공전이 발생하지 않도록 하고, 재점착이 검지되면 추정된 점착전류를 이용하여 재점착 제어를 수행한다.As a result of the idle detection, when the idle of the electric vehicle is detected, the traction force is reduced so that no idle occurs, and when re-adhesive is detected, the re-adhesive control is performed using the estimated adhesion current.

특히, 상기 [수학식 2]를 점착력에 대하여 정리하면 [수학식 7]과 같고, 이것을 전류에 관한 식으로 다시 표현하면 [수학식 8]과 [수학식 9]와 같다.Particularly, when [Equation 2] is summarized with respect to the adhesive force, it is the same as [Equation 7], and when it is expressed again as an expression relating to the current, it is as shown in [Equation 8] and [Equation 9].

Figure 112003036251598-pat00052
Figure 112003036251598-pat00052

Figure 112003036251598-pat00053
Figure 112003036251598-pat00053

Figure 112003036251598-pat00054
Figure 112003036251598-pat00054

즉, 전동기 실효치 기준전류

Figure 112003036251598-pat00055
및 토크 지령전류
Figure 112003036251598-pat00056
에서 공전이 발생한 양을 전류로 환산하여 감소시킨다. 이때, 감소분 전류
Figure 112003036251598-pat00057
는 [수학식 10]과 같이 다시 표현할 수 있다. 토크 기준전류
Figure 112003036251598-pat00058
의 값이 재점착 전류지령치
Figure 112003036251598-pat00059
값 보다 작도록 감소분 전류
Figure 112003036251598-pat00060
의 값을 설정한다.That is, the motor effective value reference current
Figure 112003036251598-pat00055
And torque command current
Figure 112003036251598-pat00056
Reduce the amount of idle generated by converting it to current. At this time, the decrease current
Figure 112003036251598-pat00057
Can be rewritten as in Equation 10. Torque reference current
Figure 112003036251598-pat00058
Is the value of re-adhesive current
Figure 112003036251598-pat00059
Decrease current to less than value
Figure 112003036251598-pat00060
Set the value of.

Figure 112003036251598-pat00061
Figure 112003036251598-pat00061

여기서,

Figure 112003036251598-pat00062
는 공전에 의한 전류감소치이며,
Figure 112003036251598-pat00063
는 공전가속도 비례게인,
Figure 112003036251598-pat00064
는 공전속도 비례게인,
Figure 112003036251598-pat00065
는 공전가속도,
Figure 112003036251598-pat00066
는 공전속도이다.here,
Figure 112003036251598-pat00062
Is the current reduction value due to idle,
Figure 112003036251598-pat00063
Is the idle acceleration proportional gain,
Figure 112003036251598-pat00064
Is proportional gain,
Figure 112003036251598-pat00065
Is the acceleration,
Figure 112003036251598-pat00066
Is the idle speed.

전동차에 공전이 발생하면 [수학식 10]과 같이 공전에 의한 전류감소치

Figure 112003036251598-pat00067
를 구하여 토크 전류지령치
Figure 112003036251598-pat00068
로부터 차감하여 토크 기준전류
Figure 112003036251598-pat00069
를 감소시킨다.When idle occurs in a train, the current reduction value due to idle is expressed as in [Equation 10].
Figure 112003036251598-pat00067
To obtain the torque current setpoint
Figure 112003036251598-pat00068
Torque reference current
Figure 112003036251598-pat00069
Decreases.

한편, 상기 공전이 소멸되면 재점착 검지에 따라 공전속도 및 공전가속도에 의해서 감소한 토크 기준전류

Figure 112007079594780-pat00070
를 추정 재점착전류
Figure 112007079594780-pat00121
의 K배한 재점착전류 지령치
Figure 112007079594780-pat00072
로 회복시킨다.On the other hand, when the idle disappears, the torque reference current decreased by the idle speed and the idle acceleration according to the re-adhesion detection.
Figure 112007079594780-pat00070
Estimation of Re-adhesive Current
Figure 112007079594780-pat00121
Resetting current setpoint multiplied by
Figure 112007079594780-pat00072
To recover.

상기 추정 재점착전류는 공전이 검지될 당시의 전류량을 [수학식 6]을 이용 하여 미리 계산해 둔다. 그리고, 일정한 시간이 경과하면 원래의 전류지령치

Figure 112003036251598-pat00073
로 회복시킨다.The estimated re-adhesive current is calculated in advance by using the following equation (6) when the current is detected idle. After a certain time, the original current command value
Figure 112003036251598-pat00073
To recover.

한편, 상기 [수학식 10]에 의한 견인력 감소치는 4바퀴가 동시에 미끄러지는 대공전에 대해서는 성능을 나타내지 못하므로 [수학식 11]과 같이 등가차량속도

Figure 112003036251598-pat00074
로부터 계산된 등가 차량가속도 성분
Figure 112003036251598-pat00075
과 등가 차량가속도 검지치
Figure 112003036251598-pat00076
과의 차이를 점착제어 성분으로 제어한다. 즉, 대공전시는 대공전시 전류감소분
Figure 112003036251598-pat00077
가 주성분이 되어 제어된다.On the other hand, the reduced traction force according to [Equation 10] does not exhibit the performance for the anti-aircraft sliding four wheels at the same time, the equivalent vehicle speed as shown in [Equation 11]
Figure 112003036251598-pat00074
Equivalent vehicle acceleration component calculated from
Figure 112003036251598-pat00075
Equivalent vehicle acceleration detection value
Figure 112003036251598-pat00076
The difference from is controlled by the adhesion control component. In other words, the current decrease during anti-aircraft
Figure 112003036251598-pat00077
Is the main component and controlled.

Figure 112003036251598-pat00078
Figure 112003036251598-pat00078

여기서,

Figure 112003036251598-pat00079
는 대공전시 전류감소분,
Figure 112003036251598-pat00080
는 비례게인이다.here,
Figure 112003036251598-pat00079
Is the current reduction during anti-aircraft
Figure 112003036251598-pat00080
Is proportional gain.

결론적으로 대공전시 q축 토크 기준전류는 [수학식 12]와 같이 대공전시 전류감소분

Figure 112003036251598-pat00081
를 추가하여 구한다.In conclusion, the q-axis torque reference current during anti-air power is the current reduction during high air power as shown in [Equation 12].
Figure 112003036251598-pat00081
Obtain by adding

Figure 112003036251598-pat00082
Figure 112003036251598-pat00082

도 4는 도 3의 전동차의 점착제어 시험에 사용된 시험차량의 구성도이고, 도 5는 도 4의 시험차량의 최대 가속운전시(4Notch) 재점착 제어에 따른 시험 파형도이다.4 is a configuration diagram of a test vehicle used in the adhesion control test of the electric vehicle of FIG. 3, and FIG. 5 is a test waveform diagram according to re-adhesion control during maximum acceleration operation (4Notch) of the test vehicle of FIG. 4.

도 4를 참조하여 설명하면, 상술한 바와 같은 전동차의 점착제어 시험은 추정 점착력을 이용한 방법으로, 시험을 위한 차량 편성은 도 4에 도시된 바와 같이 4M4T로 구성된 열차편성으로 한다. 그리고, 살수는 M2차의 2번축에 대하여 우측에서 좌측으로 운전시 실시한다.Referring to Figure 4, the adhesive control test of the electric vehicle as described above is a method using the estimated adhesive force, the vehicle combination for the test is a train configuration consisting of 4M4T as shown in FIG. The watering is carried out when driving from right to left with respect to the 2nd axis of the M2 car.

상기 전동차의 공전검지 방법은 공전속도, 공전가속도 및 등가 차량가속도에 의한 검지 방법을 모두 적용한다. The idle detection method of the electric vehicle applies all the detection methods by the idle speed, idle acceleration, and equivalent vehicle acceleration.

도 5의 원형으로 표시한 부분은 공전속도에 의하여 공전이 검지된 부분을 표시한 것으로, 차량속도가 증가하면서 공전속도도 점차적으로 증가한다. 그러나, 공전가속도에 의한 검지는 공전속도의 증가 기울기가 작으면 검지를 하지 못하는 단점이 있으므로 공전속도에 의한 검지 부분을 추가하여 공전 검지를 정확하게 수행한다.The circled portion of FIG. 5 indicates a portion where idle is detected by the idle speed. As the vehicle speed increases, the idle speed gradually increases. However, the detection by the idle acceleration has a disadvantage that can not be detected when the increase in the idle speed is small, so the detection by the idle speed is added to perform the idle detection correctly.

도 5에 도시된 바와 같이 전동차에 공전이 검지되면, 전류지령치를 공전속도, 공전가속도에 비례하여 감소시키고, 재점착이 검지되면 전류지령치를 추정 점착력에 의한 전류값의 80％까지 증가시킨다. 이때, 재공전이 발생되지 않으면 추정 점착력의 값이 적절하게 선정된 것으로 확인된다. As shown in FIG. 5, when idle is detected in the electric vehicle, the current command value is reduced in proportion to the idle speed and idle acceleration, and when re-adhesion is detected, the current command value is increased to 80% of the current value due to the estimated adhesive force. At this time, if re-idling does not occur, it is confirmed that the value of the estimated adhesive force is appropriately selected.

그 후, 공전이 검지된지 일정시간 후에 원래의 전류지령치로 회복시킨다. 계속하여 살수되는 조건이므로 다시 공전을 검지하여 전류지령치를 감소하는 반복된 동작을 수행한다.After that, after the idle time is detected, the original current command value is restored. Since it is a condition for continuous watering, it detects idle again and performs the repeated operation of reducing the current setpoint.

따라서, 전류지령치의 변화에 따라 실제 전류치가 추종하여 변화하고, 추정 점착전류로 회복시 재공전이 발생치 않으므로 재점착 제어가 원활하게 이루어짐을 확인할 수 있다.Therefore, it can be confirmed that the re-adhesion control is smoothly performed since the actual current value changes according to the change of the current command value, and re-idling does not occur upon recovery to the estimated adhesion current.

도 6은 도 4의 시험차량에 대한 대공전이 발생하도록 1축 및 3축에 살수를 시작하면서 주행시험한 파형도이다.FIG. 6 is a waveform diagram of driving test while spraying water is started on one and three axes so that a large air revolution of the test vehicle of FIG. 4 occurs.

도 6을 참조하여 설명하면, 상기 전동차에 대공전이 발생하였을 경우, 등가 차량가속도에 의하여 공전을 검지하여 견인력을 감소시키고, 대공전이 해지되면 추정한 재점착 전류의 80% 정도로 토크 기준전류를 상승시킨다. 이때, 상기 전류값에서는 대공전이 발생하지 않는다. Referring to FIG. 6, when a large revolution occurs in the electric vehicle, the idle vehicle is detected by the equivalent vehicle acceleration to reduce the traction force, and when the anti-air is terminated, the torque reference current is increased to about 80% of the estimated re-adhesive current. . At this time, the large idle does not occur in the current value.

그리고, 원래의 전류치로 상승하면 계속 살수되는 상태이므로 대공전이 발생하여 견인력을 다시 감소시킨다. 이러한 동작이 반복되면서 재점착 제어가 수행되는 것을 확인할 수 있다.In addition, since the water is continuously sprayed when the current value rises to the original current, anti-air war occurs to reduce the traction force again. As this operation is repeated, it can be seen that re-adhesion control is performed.

이상에서 설명한 것은 본 발명에 따른 전동차의 추정 점착력에 의한 재점착 제어방법에 대한 하나의 실시예에 불과한 것으로서, 본 발명이 속하는 분야에서 통상의 지식을 가진 자라면 누구든지 다양한 변경 실시가 가능한 범위까지 본 발명의 기술적 정신이 있다고 할 것이다.What has been described above is only one embodiment of the re-adhesion control method by the estimated adhesive force of the electric vehicle according to the present invention, to those who have ordinary knowledge in the field of the present invention to the extent that various changes can be carried out It will be said that the technical spirit of the present invention.

이상에서 살펴본 바와 같이, 본 발명에 따른 전동차의 추정 점착력에 의한 재점착 제어방법은 다음과 같은 효과가 있다.As described above, the re-adhesion control method by the estimated adhesive force of the electric vehicle according to the present invention has the following effects.

첫째, 공전 회복시 추정 점착전류로 토크 전류 회복시 재공전이 발생치 않도록 함으로써 재점착 제어의 우수성과 안전성을 확보할 수 있는 잇점이 있다.First, it is possible to secure the superiority and safety of the re-adhesion control by preventing re-idling when recovering the torque current with the estimated adhesion current at the time of idle recovery.

둘째, 효율적인 재점착 제어를 수행함으로써 견인력의 감소를 적게 하여 운송효율을 증대시키는 효과가 있다.Second, there is an effect of increasing the transport efficiency by reducing the reduction of traction force by performing effective re-adhesion control.

Claims (5)

전동차의 공전속도, 등가 차량가속도 및 공전가속도를 이용하여 공전 검지를 수행하는 단계;Performing idle detection using an idle speed, an equivalent vehicle acceleration, and an idle acceleration of the electric vehicle; 상기 전동차의 공전이 검지되면, 전류지령치를 공전속도, 공전가속도에 비례하여 감소시켜 공전이 발생하지 않도록 하고, 재점착이 검지되면 추정된 점착전류를 이용하여 재점착 제어를 수행하는 단계;When the idle of the electric vehicle is detected, reducing the current command value in proportion to the idle speed and the idle acceleration, so that no idle occurs, and performing re-adhesive control using the estimated adhesion current when re-adhesion is detected; 상기 공전이 검지된 후 일정시간이 경과되면 원래의 전류지령치로 회복시키는 단계;Restoring to the original current command value when a predetermined time elapses after the idle is detected; 상기 전동차의 공전을 재검지하여 전류지령치를 감소하는 반복된 동작을 수행하는 단계;를 포함함을 특징으로 하는 전동차의 추정 점착력에 의한 재점착 제어방법.And re-detecting the idle of the electric vehicle to perform a repeated operation of reducing a current command value. 청구항 1에 있어서, 상기 전동차의 공전이 검지되면, 전류지령치를 공전속도, 공전가속도에 비례하여 감소시키는 단계는,The method of claim 1, wherein when the idle of the electric vehicle is detected, the step of reducing the current command value in proportion to the idle speed and idle acceleration, 다음의 수식과 같이 공전에 의한 전류감소치
Figure 112007079594780-pat00083
를 구하여 토크 전류지령치
Figure 112007079594780-pat00084
로부터 공전에 의한 전류감소치를 차감하여 획득하는 토크 기준전류
Figure 112007079594780-pat00085
를 감소시킴을 특징으로 하는 전동차의 추정 점착력에 의한 재점착 제어방법.Current reduction value due to idle as shown in the following formula
Figure 112007079594780-pat00083
To obtain the torque current setpoint
Figure 112007079594780-pat00084
Torque reference current obtained by subtracting the current reduction
Figure 112007079594780-pat00085
Re-adhesion control method by the estimated adhesive force of the electric vehicle, characterized in that to reduce the.
Figure 112007079594780-pat00086
Figure 112007079594780-pat00086
 (여기서,
Figure 112007079594780-pat00087
: 공전에 의한 전류감소치,
Figure 112007079594780-pat00088
: 공전가속도 비례게인,
Figure 112007079594780-pat00089
: 공전속도 비례게인,
Figure 112007079594780-pat00090
: 공전가속도,
Figure 112007079594780-pat00091
: 공전속도)(here,
Figure 112007079594780-pat00087
: Current reduction value by static electricity,
Figure 112007079594780-pat00088
: Proportional gain,
Figure 112007079594780-pat00089
: Proportional gain of idle speed,
Figure 112007079594780-pat00090
: Idle acceleration,
Figure 112007079594780-pat00091
: Idle speed) 청구항 1에 있어서, 상기 공전이 검지된 후 일정시간이 경과되면 원래의 전류지령치로 회복시키는 단계는,The method of claim 1, wherein the step of recovering to the original current command value after a predetermined time after the idle is detected, 재점착 검지에 따라 공전속도 및 공전가속도에 의해서 감소한 토크 기준전류
Figure 112007079594780-pat00122
를 추정 재점착전류
Figure 112007079594780-pat00123
의 K배한 재점착전류 지령치
Figure 112007079594780-pat00094
로 회복시킴을 특징으로 하는 전동차의 추정 점착력에 의한 재점착 제어방법.Torque reference current decreased by idle speed and idle acceleration by re-adhesion detection
Figure 112007079594780-pat00122
Estimation of Re-adhesive Current
Figure 112007079594780-pat00123
Resetting current setpoint multiplied by
Figure 112007079594780-pat00094
Re-adhesion control method by the estimated adhesive force of the electric vehicle, characterized in that to recover. 청구항 3에 있어서, 상기 추정 재점착전류
Figure 112007079594780-pat00124
는,The method according to claim 3, wherein the estimated re-adhesive current
Figure 112007079594780-pat00124
Is, 다음 수식과 같이 공전이 검지될 당시의 전류량을 이용하여 계산됨을 특징으로 하는 전동차의 추정 점착력에 의한 재점착 제어방법.Re-adhesion control method by the estimated adhesive force of the electric vehicle, characterized in that calculated using the amount of current at the time when idle is detected as in the following equation.
Figure 112007079594780-pat00125
Figure 112007079594780-pat00125
 (여기서,
Figure 112007079594780-pat00126
: q축 토크 기준전류,
Figure 112007079594780-pat00098
,
Figure 112007079594780-pat00099
: 차량바퀴의 반경[m],
Figure 112007079594780-pat00100
: 전동기와 차량바퀴 사이의 기어비)(here,
Figure 112007079594780-pat00126
: q-axis torque reference current,
Figure 112007079594780-pat00098
,
Figure 112007079594780-pat00099
= Radius of vehicle wheel [m],
Figure 112007079594780-pat00100
= Gear ratio between motor and wheel 청구항 1에 있어서, 전동차의 공전속도, 등가 차량가속도 및 공전가속도를 이용하여 공전 검지를 수행하는 단계에서,The method of claim 1, wherein in the step of performing idle detection using idle speed, equivalent vehicle acceleration, and idle acceleration of the electric vehicle, 상기 전동차의 대공전이 검지되면, 다음 수식들과 같이 등가차량속도
Figure 112007079594780-pat00101
로부터 계산된 등가 차량가속도
Figure 112007079594780-pat00102
과 등가 차량가속도 검지치
Figure 112007079594780-pat00103
과의 차이에서 나타나는 전류감소분
Figure 112007079594780-pat00127
을 점착제어 주성분으로 정의하여 제어하고, q축 토크 기준전류는 대공전시 상기 전류감소분
Figure 112007079594780-pat00104
를 추가하여 구함을 특징으로 하는 전동차의 추정 점착력에 의한 재점착 제어방법.When the anti-air war of the electric vehicle is detected, the equivalent vehicle speed is as follows.
Figure 112007079594780-pat00101
Equivalent vehicle acceleration calculated from
Figure 112007079594780-pat00102
Equivalent vehicle acceleration detection value
Figure 112007079594780-pat00103
Current reduction due to difference with
Figure 112007079594780-pat00127
Is defined as the adhesive control main component, and the q-axis torque reference current is the current reduction component
Figure 112007079594780-pat00104
Re-adhesion control method by the estimated adhesive strength of the electric vehicle, characterized in that obtained by adding.
Figure 112007079594780-pat00105
,
Figure 112007079594780-pat00105
,
Figure 112007079594780-pat00106
Figure 112007079594780-pat00106
 (여기서,
Figure 112007079594780-pat00107
: 대공전시 전류감소분,
Figure 112007079594780-pat00108
: 비례게인,
Figure 112007079594780-pat00128
: q축 토크 기준전류,
Figure 112007079594780-pat00110
: 토크 전류지령치,
Figure 112007079594780-pat00111
: 전류감소치) (here,
Figure 112007079594780-pat00107
: Current reduction during anti-aircraft
Figure 112007079594780-pat00108
: Proportional gain,
Figure 112007079594780-pat00128
: q-axis torque reference current,
Figure 112007079594780-pat00110
: Torque current command value,
Figure 112007079594780-pat00111
: Current reduction value)
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05292604A (en) * 1992-04-03 1993-11-05 Mitsubishi Electric Corp Idling/slip controller
JPH05300606A (en) * 1992-04-21 1993-11-12 Toshiba Corp Electric vehicle controller
JPH06261415A (en) * 1993-03-05 1994-09-16 Toshiba Corp Controller and control method for vehicle motor
KR19980018286A (en) * 1996-08-05 1998-06-05 덴턴 마이클 죤 Traction Control System and Method of Electric Vehicles

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05292604A (en) * 1992-04-03 1993-11-05 Mitsubishi Electric Corp Idling/slip controller
JPH05300606A (en) * 1992-04-21 1993-11-12 Toshiba Corp Electric vehicle controller
KR940005450A (en) * 1992-04-21 1994-03-21 사또 후미오 Electric vehicle controller and its method of reducing wheel slip
JPH06261415A (en) * 1993-03-05 1994-09-16 Toshiba Corp Controller and control method for vehicle motor
KR19980018286A (en) * 1996-08-05 1998-06-05 덴턴 마이클 죤 Traction Control System and Method of Electric Vehicles

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