有轨电车电子机械制动系统夹紧力控制优化方法  

Optimization control method for clamping force of electromechanical brake system of tram

作　　者：赵逸云 林辉[1] 李兵强[1] ZHAO Yiyun;LIN Hui;LI Bingqiang(School of Automation,Northwestern Polytechnical University,Xi’an 710129,China)

机构地区：[1]西北工业大学自动化学院,陕西西安710129

出　　处：《电机与控制学报》2024年第7期141-151,共11页Electric Machines and Control

基　　金：国家自然科学基金(51777170);陕西省杰出青年科学基金(2022JC-32);陕西省重点研发计划高校联合重点项目(2021GXLH-01-14)。

摘　　要：针对有轨电车电子机械制动(EMB)系统,提出一种夹紧力控制优化方法。首先建立EMB系统的数学模型,依据其物理结构及刚度非线性特性,将控制器设计为夹紧力控制层与转速控制两级控制结构。针对夹紧力控制层,仅考虑间隙消除与夹紧力的跟踪控制,采用速度曲线规划与夹紧力非线性PI控制相结合,以在期望时间内实现制动间隙快速消除;针对控制层,将系统中存在不确定扰动等效于综合干扰项,提出一种自适应增益超螺旋算法(AGSTA),提高了电机控制层对未知干扰的鲁棒性及速度跟踪的快速性,减小转速超调,使EMB系统的夹紧力保持一致。仿真及实验结果表明,所提出的夹紧力控制优化方法能够有效地改善系统的控制性能。An optimization control method for clamping force was proposed for the electromechanical brake(EMB)system of trams.Firstly,the model of the EMB system was established,and the controller was divided into a clamping force control layer and speed control layer according to its physical structure and stiffness nonlinear characteristics.Only the clearance elimination and clamping force tracking control were considered for the clamping force control layer.The speed curve planning was combined with clamping force nonlinear PI control to quickly eliminate the braking gap in the desired time.For the speed control layer,the nonlinear factors in the system are equivalent to the comprehensive interference.Meanwhile,an adaptive gain super-twisting algorithm(AGSTA)was proposed to improve the robustness of unknown interference and the rapidity of speed tracking of the motor control layer,which can reduce speed overshoot and keep the clamping force of the EMB system consistent.Finally,the simulation and experimental results show that the proposed optimization control method of clamping force can effectively improve the control performance of the system.

关 键 词：有轨电车 电子机械制动系统 夹紧力控制 无刷直流电机 Super-Twisting算法 

分 类 号：TM921.5[电气工程—电力电子与电力传动]