轨道运输车辆液压制动系统车轮防抱死冗余控制  

Wheel Anti Lock Redundancy Control of Hydraulic Braking System for Rail Transport Vehicles

作　　者：齐红星 陈翠 龚成武 陈进伟 QI Hong-xing;CHEN Cui;GONG Cheng-wu;CHEN Jin-wei(Chongqing Vocational and Technical University of Mechatronics,Chongqing 402760,China;Chongqing Kelf Intelligent Measurement and Control Technology Co.,Ltd.,Chongqing 400084,China)

机构地区：[1]重庆机电职业技术大学,重庆402760 [2]重庆凯尔夫智能测控技术有限责任公司,重庆400084

出　　处：《液压气动与密封》2024年第8期39-44,共6页Hydraulics Pneumatics & Seals

基　　金：重庆市教委科技项目(KJNP202102109)。

摘　　要：为了提高轨道运输车辆制动期间的安全性、避免车辆侧翻事件的发生,提出轨道运输车辆液压制动系统车轮防抱死冗余控制方法。分析液压制动系统的制动方式,并初步建立液压制动防抱死策略,在经典卡尔曼滤波算法的基础上,结合贝叶斯法则与先验估计法,实现液压制动系统的状态跟踪,得到车辆质心实时偏移测量结果,当测量结果超出偏移量正常波动范围时,判定液压制动防抱死策略失效,即刻启动防抱死冗余控制策略。防抱死冗余控制作为液压制动系统控制失效时的备份控制方法,将抗积分饱和算法与滑模控制算法相结合,避免因滑模控制器自身控制率饱和造成的制动系统超调及振动,有效实现了车轮制动力的调节分配,保证车辆制动期间的行驶安全。实验证明,所提方法在轨道运输车辆制动过程中,能够实现车轮滑移率的稳定控制,有效避免车辆脱轨事件的发生,为轨道运输车辆的制动安全提供重要保障。In order to improve the safety of rail transportation vehicles during braking and avoid the occurrence of vehicle rollover events,a redundant control method for wheel anti lock braking in the hydraulic braking system of rail transportation vehicles is proposed.Analyze the braking mode of the hydraulic braking system and establish a preliminary hydraulic braking anti lock strategy.Based on the classic Kalman filtering algorithm,combined with Bayesian law and prior estimation method,achieve state tracking of the hydraulic braking system,obtain real-time displacement measurement results of the vehicle's center of mass.When the measurement results exceed the normal fluctuation range of the offset,it is determined that the hydraulic braking anti lock strategy is ineffective,and the redundant anti lock control strategy is immediately activated.Anti lock redundancy control,as a backup control method for hydraulic braking system control failure,combines the anti integral saturation algorithm with the sliding mode control algorithm to avoid brake system overshoot and vibration caused by the saturation of the sliding mode controller's own control rate,effectively realizing the adjustment and distribution of wheel braking force,and ensuring driving safety during vehicle braking.Experimental results have shown that the proposed method can achieve stable control of wheel slip during the braking process of rail transport vehicles,effectively avoiding the occurrence of vehicle derailment events and providing important guarantees for the braking safety of rail transport vehicles.

关 键 词：卡尔曼滤波算法 贝叶斯法则 先验估计 抗积分饱和 滑模控制算法 

分 类 号：TH137[机械工程—机械制造及自动化] U463.5[机械工程—车辆工程]