基于自适应参数估计的列车制动减速度控制  

Study on Train Braking Deceleration Feedback Control Based on Adaptive Parameter Estimation

作　　者：吴萌岭[1] 罗卓军[1] 

机构地区：[1]同济大学铁道与城市轨道交通研究院,上海200092

出　　处：《铁道学报》2015年第8期8-16,共9页Journal of the China Railway Society

摘　　要：针对列车制动实际减速度有重要影响的不确定参数,提出基于自适应参数估计的新型减速度控制模式。通过硬件在环半实物仿真试验平台进行试验验证。试验结果表明新型减速度控制算法有效提高了制动控制系统对列车运行不确定参数的鲁棒性。当实际闸瓦摩擦系数偏离制动控制系统预设值时,减速度控制器可以估计出闸瓦摩擦系数的实际值,提高了实际减速度对目标减速度的跟踪效果;当列车在坡度为±30‰的坡道上运行时,减速度控制器能估计出坡度值,减速度控制误差由传统非减速度控制模式的±0.3m/s2减小到了±0.1m/s2;在不使用空簧压力信息计算车辆制动质量的情况下,减速度控制器能估计出列车的实际制动质量,获得了类似于传统非减速度控制模式的控制效果,为简化制动系统硬件的气路设计提供了可能。Based on an adaptive parameter estimation method, a novel deceleration feedback controller was developed to deal with the uncertain parameters during the braking process of a train, which have significant influence on the actual braking deceleration. The novel deceleration feedback controller was verified via a hardwarein-the-loop semi-physical simulation test bench. Test results suggested that the novel deceleration feedback controller was able to effectively improve the robustness of the brake control system to the uncertain parameters of the train operation. The deceleration feedback controller was able to calculate the actual value of the friction coefficient of a brake shoe when the actual friction coefficient of the brake shoe deviated from the preset value in the brake control system, thereby improving the tracking performance of the actual braking deceleration to target deceleration. When a train was running on a track with slope gradient between ±30‰, the decel- eration feedback controller calculated the gradient value correctly. Deceleration tracking error reduced from ± 0. 3 m/s2 to ± 0. 1 m/s2 compared with the conventional controllers. The deceleration feedback controller managed the braking performance of the conventional controllers without using the pressure information from the air spring to calculate the brake weight of a train, which facilitated the redesign of the pneumatic hardware of the brake system.

关 键 词：列车制动 制动减速度 参数估计 自适应控制 鲁棒性 

分 类 号：U270.1[机械工程—车辆工程]