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Enhanced Sliding Mode Control and Online Estimation of Optimal Slip Ratio for Railway Vehicle Braking Systems

  • Jianfeng Liu
  • Qing Peng
  • Zhiwu Huang
  • Weirong Liu
  • Heng Li
Regular Paper
  • 141 Downloads

Abstract

This paper proposes an optimal anti-locking control scheme so as to improve the braking performance of railway vehicles. The controlling effect of sliding mode control is improved, and the optimal slip ratio is achieved by extreme seeking algorithm. Firstly, a substitute function for the conventional sign function is proposed. Secondly, a closed loop observer for braking systems is used to enhance the estimation value of adhesion force, which can also be used for calculating reference speed. Finally Sliding Mode Controlbased controller needs to be entered a reference slip ratio called optimal slip ratio, which is searched by extreme seeking algorithm from the functional relationship between slip ratio and friction coefficient. Thus, the maximum adhesion is achieved despite wheel/ rail surface changes. The simulation result demonstrates the effect of real-time adjustment for braking torque, which guarantees the braking performance.

Keywords

Railway vehicles Enhanced sliding mode control Observer Extreme seeking algorithm Optimal slip ratio 

Nomenclature

Tai

i th group adhesion torque

Tbi

i th group braking force torque

Tdi

i th group interference torque

Fai

i th group adhesion force

r

radius of wheel

Jw

moment of inertia of wheel-set

μ

adhesion coefficient

wi

i th group angular velocity of wheel

G

pressure by wheel on track

v0

initial velocity at the moment of starting braking

vl

reference velocity for railway vehicles

\(\hat v\)

estimation of railway vehicles velocity

vs

actual slip/slide velocity

vr

reference slip/slide velocity

\(\dot \lambda \)

derivative of slip/skid ratio

λi

i th group actual slip/skid ratio

λ0

optimal slip/skid ratio

λref

reference slip/skid ratio

wh

high-pass filter’s cut-off frequency

y*

actual but unknown extremum value

θ*

unknown constant by extremum seeking

\(\hat \theta \)

estimation for θ*

c

small positive constant

BLF

barrier Lyapunov function

Fi

pressure by the i th group wheel on the tread

M

quality of railway vehicle

\({\Omega _\lambda }^{creep}\)

creep region

\({\Omega _\lambda }^{slide}\)

slide region

D,K

positive constant

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Copyright information

© Korean Society for Precision Engineering and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.School of information Science and EngineeringCentral South UniversityChangshaChina

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