基于有限状态机的轨道交通车辆防滑控制建模仿真与验证
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摘要
通过建立轨道车辆动力学模型、轮轨黏着模型和制动系统气路模型,构建虚拟的列车运行环境。针对高速列车电空直通制动系统,分析制动工况下的防滑控制策略,并基于有限状态机模型,利用Stateflow建立防滑控制模型。通过Matlab/simulink与AMESim软件联合仿真,分析对比包括不同轮轨黏着条件(如黏着条件较好、持续低黏着)以及不同制动初速等工况在内的各滑行试验典型工况。结果表明,整个仿真模型可用于模拟制动过程的滑行工况,也可用于防滑控制判据的参数优化等研究。
By establishing the rail transit vehicle dynamics model,wheel/rail adhesion model and gas path model of the braking system,a virtual train operation environment is constructed.In view of the electro-magnetic brake system of highspeed railway vehicle,the anti-sliding control strategy under braking condition is analyzed,an anti-sliding control model is set up by Stateflow based on the finite state machine model.Through the co-simulation of Matlab/simulink and AMESim,the typical working conditions of various sliding tests are analyzed and compared,such as the good adhesion condition,continuous low adhesion,different initial speeds of braking and so on. The results show that the whole simulation model can be used to simulate the sliding condition in the braking process,and to optimize the criterion parameters of the anti-sliding control as well.
By establishing the rail transit vehicle dynamics model,wheel/rail adhesion model and gas path model of the braking system,a virtual train operation environment is constructed.In view of the electro-magnetic brake system of highspeed railway vehicle,the anti-sliding control strategy under braking condition is analyzed,an anti-sliding control model is set up by Stateflow based on the finite state machine model.Through the co-simulation of Matlab/simulink and AMESim,the typical working conditions of various sliding tests are analyzed and compared,such as the good adhesion condition,continuous low adhesion,different initial speeds of braking and so on. The results show that the whole simulation model can be used to simulate the sliding condition in the braking process,and to optimize the criterion parameters of the anti-sliding control as well.
引文
[1]左建勇,任利惠,吴萌岭.铁道车辆制动系统防滑控制仿真与试验研究[J].同济大学学报,2010(6):912.
[2]KIM H Y,LEE N J,LEE D C,et al.Hardware-in-the-Loop Simulation for a Wheel Slide Protection System of a Railw ay Train[J].IFAC Proceedings Volumes,2014,47(3):12134.
[3]CHOL J J,PARK S H,KIM J S.Dynamic adhesion model and adaptive sliding mode brake control system for the railw ay rolling stocks[J].Journal of rail and rapid transit,2007,221(3):313.
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[5]丁莉芬.重载列车纵向动力学建模研究[D].北京:北京交通大学,2012.
[6]曹宏发,周军,陈伟,等.基于仿真技术的防滑试验方法研究[J].铁道机车车辆,2015,35(3):11.
[7]任利惠,裴玉春,左建勇,等.截止式气动中继阀的数学模型和仿真[C]//第一届中日制动技术论坛.上海:同济大学,2008.
[8]许桂红.地铁制动系统的研究与仿真[D].成都:西南交通大学,2014.
[9]陆强,杨美传.基于AMESim的地铁车辆空气制动系统的建模及仿真[J].液压气动与密封,2011,31(10):45.
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[12]李伟.动车组制动系统防滑控制仿真研究[D].成都:西南交通大学,2011.
[13]胡准庆.动车组制动系统[M].北京:北京交通大学出版社,2012.
[14]张曙光.CRH2型动车组[M].北京:中国铁道出版社,2008.
[2]KIM H Y,LEE N J,LEE D C,et al.Hardware-in-the-Loop Simulation for a Wheel Slide Protection System of a Railw ay Train[J].IFAC Proceedings Volumes,2014,47(3):12134.
[3]CHOL J J,PARK S H,KIM J S.Dynamic adhesion model and adaptive sliding mode brake control system for the railw ay rolling stocks[J].Journal of rail and rapid transit,2007,221(3):313.
[4]姚建伟.机车车辆动力学[M].北京:科学出版社,2014.
[5]丁莉芬.重载列车纵向动力学建模研究[D].北京:北京交通大学,2012.
[6]曹宏发,周军,陈伟,等.基于仿真技术的防滑试验方法研究[J].铁道机车车辆,2015,35(3):11.
[7]任利惠,裴玉春,左建勇,等.截止式气动中继阀的数学模型和仿真[C]//第一届中日制动技术论坛.上海:同济大学,2008.
[8]许桂红.地铁制动系统的研究与仿真[D].成都:西南交通大学,2014.
[9]陆强,杨美传.基于AMESim的地铁车辆空气制动系统的建模及仿真[J].液压气动与密封,2011,31(10):45.
[10]崔晓军.基于有限状态转换机制和非线性PID的防滑控制方法[J].铁道车辆,2011(9):6.
[11]罗仁,曾京.铁道车辆防滑控制仿真[J].机械工程学报,2008,44(3):29.
[12]李伟.动车组制动系统防滑控制仿真研究[D].成都:西南交通大学,2011.
[13]胡准庆.动车组制动系统[M].北京:北京交通大学出版社,2012.
[14]张曙光.CRH2型动车组[M].北京:中国铁道出版社,2008.