A Mechatronic Approach For Anti-Slip Control in Railway Traction
A Mechatronic Approach For Anti-Slip Control in Railway Traction
A Mechatronic Approach For Anti-Slip Control in Railway Traction
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10.3182/20080706-5-KR-1001.1280
ks
left
wheel
motor
right
wheel
Vector
control
Power
Inverter
Motor
current
3-phase
induction motor
Output torque
Wheelset
dynamics
Wheel-rail
contact laws
Wheel speed/position
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(1)
J w L = Ttor rL FL _ crp ( L , t )
(2)
m w + b V = FR _ crp ( R , t ) + FL _ crp ( L , t )
4
(3)
Ttor = k s s + cs ( R L )
(4)
400
Imaginary axis
(J w + n 2 J mg ) R = n Te Ttor rR FR _ crp ( R , t )
200
0
-200
-400
-400
-200
Real axis
200
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Bandpass
filter
Magnitude
detection
Low pass
filter
k1
R J R
= 0
L
s
1
k2
JL
1
ks
1
J R
R
J
ks
+ 0R T
L
e
JL
0 s 0
(5)
R
Y = [1 0 0] L
s
Threshold
detection
Wheel slip
indicator
Magnitude (Nm)
Time (s)
Fig. 6. Magnitude change of the torsional motion
(6)
Time (s)
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Speed (rad/s)
Time (s)
Tractive
demand
Motor tractive
effort
Torque
reduction
Magnitude
of vibration
Switching
Wheel
Veh.
Kalman
filter
Time
Filtering
etc
Threshold
detection
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Speeds (rad/s)
Wheel
REFERENCES
Veh.
Time
Speeds (rad/s)
Wheel
vehicle
Time
Speeds (rad/s)
wheel
vehicle
Time
Fig. 13. Re-adhesion control reduced adhesion at t=4s (a
more rigid axle, initial vehicle speed of 10km/h
5. CONCLUSIONS
Effective use of the maximum adhesion available without
causing any damaging wheel slip is an important and
challenging requirement in railway traction. A new concept
for the slip detection and re-adhesion control has been
presented in this paper. Unlike conventional anti-slip control
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