A Cascaded Sliding Mode Observer and Estimation Method of Its Sticking Coefficient and Derivative

Abstract

The invention discloses a cascade sliding-mode observer and an adhesion factor and derivative estimation method. The cascade sliding-mode observer comprises a load torque observer and a load torque derivative observer; firstly a dynamical model for the operational process of a heavy load locomotive is created, a state equation for an adhesion control system is created according to a motor torque balance equation, a scheme for estimating the adhesion factor by a load torque is proposed, then the cascade sliding-mode observer is designed, the stability of the cascade sliding-mode observer is proved with the help of a Lyapunov stability theory, and then a sliding mode variable structure equivalence control principle is utilized to create an algorithm for estimating the adhesion factor and a derivative. The direct differential computation of a signal is avoided, the derivative of the load torque is estimated according to the sliding mode variable structure equivalence principle, and a method for inhibiting the buffeting of the sliding-mode observer is provided; the algorithm is simple and easy to implement; an observation value and an actual value are matched through simulation and experiments, and the effectiveness of the algorithm is verified.

Description

technical field [0001] The invention belongs to the technical field of heavy-duty locomotives, and in particular relates to a cascade sliding mode observer and an estimation method of its adhesion coefficient and derivative. Background technique [0002] With the rapid development of the railway transportation industry, the traction power of heavy-duty locomotives is getting higher and higher, and the operating conditions are more complex and changeable, which puts forward higher requirements for the traction performance of heavy-duty locomotives. However, in order to fully exert the traction power of the locomotive, it will be limited by the adhesion between the wheels and rails. The actual adhesion of the locomotive depends on the adhesion utilization of the locomotive, so the adhesion utilization technology is the key technology of the heavy-duty locomotive traction control system. The improvement of adhesion utilization is mainly achieved by adhesion control, and the hi...

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Problems solved by technology

[0003] The purpose of the present invention is to provide a cascaded sliding mode observer and an estimation method of its adhesion coefficient and derivative, aiming at solving the problem that it is difficult to ensure that the electric motor Load torque is a constant problem

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