Locomotive adhesion control method based on acceleration threshold adaptive mode

Abstract

The invention discloses a locomotive adhesion control method based on an acceleration threshold adaptive mode. The locomotive adhesion control method comprises the following steps: acquiring a locomotive moving axis acceleration ai, a traction torque reference value RefTq and an acceleration reference value aref; an acceleration threshold self-adaptive control algorithm in an adhesion control acceleration criterion is adopted, and dynamic adjustment of the acceleration of the follower wheel is achieved according to a torque reference instruction during actual wheel-rail adhesion action of the locomotive. The locomotive adhesion acceleration is dynamically searched according to the actual locomotive wheel rail adhesion condition, the acceleration threshold value in the acceleration criterion is dynamically adjusted, the locomotive wheel circumference traction force is dynamically adjusted in advance before locomotive adhesion damage, it is guaranteed that the locomotive wheel circumference traction force is stably exerted according to locomotive wheel rail adhesion, large-range fluctuation is avoided, and the locomotive wheel circumference traction force is ensured to be stable. And the traction of the locomotive is ensured.

Description

Technical Field

[0001] The invention belongs to the field of traffic locomotives and relates to a locomotive adhesion control method based on an acceleration threshold adaptive mode. Background Art

[0002] Good adhesion utilization is an effective means to improve the traction performance of locomotives, and efficient adhesion utilization is the goal pursued by adhesion control systems. Among the existing adhesion control methods, the principle of the direct creep speed method is the simplest and most intuitive, but the creep speed required by the controller is not easy to obtain, especially in locomotive traction control. When the locomotive is not equipped with a radar speed measurement, the controller cannot collect the effective locomotive speed. The locomotive speed calculated by the software can only be used for peripheral protection of adhesion control and cannot be used as a core control target. In this case, adhesion control is mainly based on the acceleration of the locomotive shaft collected by the controller in real time, and the acceleration criterion is used to realize adhesion control. It is convenient and simple to implement and can basically meet the application needs.

[0003] In the acceleration criterion, the conventional implementation method is to classify the dynamic shaft acceleration detected by the controller and determine different load reduction coefficients during adhesion action. However, the acceleration classification cannot distinguish the locomotive load conditions, and can only estimate the approximate locomotive acceleration based on traction calculations. It is impossible to accurately judge the acceleration threshold that requires locomotive load reduction when the wheel-rail adhesion is poor. If the threshold is too large, load reduction lag is likely to occur, destroying adhesion. If the threshold is too small, it is easy to misjudge, resulting in frequent adhesion actions of the controller.

[0004] Technical solution of prior art 1

[0005] In the existing high-power locomotive adhesion control technology acceleration criterion implementation method, the first acceleration point and the second acceleration point of the adhesion action are preset. When the driving wheel acceleration is greater than the first acceleration, the locomotive wheel traction begins to be reduced. When the acceleration is greater than the second acceleration, the wheel traction is reduced at the maximum slope. When it is between the first acceleration and the second acceleration, the wheel traction is reduced according to the slope.

[0006] Here’s how to do it:

[0007] Function: Use acceleration to determine whether idling occurs. If idling occurs, the motor torque needs to be adjusted.

[0008] Input parameters: Wheelset acceleration a i , traction torque T i .

[0009] Fixed parameters: acceleration reference value, a_ref;

[0010] Output parameter: traction torque correction ΔT i , i=1...6.

[0011] 1. Preprocess the input data;

[0012] 2. Initialize a i and T i ;

[0013] 3. When a i ≥a_ref, idling occurs, adjust the torque until a i <a_ref;

[0014] 4. When a i When ≤a_ref, exit the acceleration criterion;

[0015] The disadvantages of prior art one are as follows:

[0016] The existing domestic high-power electric locomotive control technology acceleration criterion adopts a pre-set adhesion action acceleration method. The main disadvantages are: 1) the acceleration threshold in the acceleration criterion cannot be dynamically adjusted according to the locomotive load condition; 2) the acceleration threshold of the acceleration criterion cannot be dynamically adjusted according to the actual wheel-rail adhesion condition. Improper setting of the acceleration threshold causes complete destruction of adhesion and re-search for adhesion, resulting in a large range of fluctuations in the locomotive wheel traction. Summary of the invention

[0017] In order to solve the problem that after considering idling, the acceleration threshold is dynamically adjusted in the adhesion control acceleration criterion, and the locomotive wheel circumference traction force is dynamically adjusted according to the locomotive wheel-rail adhesion, and after the locomotive wheel-rail adhesion is damaged, due to the large acceleration threshold in the acceleration criterion, the actual wheel-rail adhesion does not reach the threshold, and the locomotive needs to reduce the load, otherwise the adhesion will be further damaged, resulting in a large range of locomotive traction force adjustment, which is not conducive to the locomotive traction force. The technical solution adopted by the present invention is: a locomotive adhesion control method based on an acceleration threshold adaptive mode, comprising the following steps:

[0018] Get the locomotive dynamic axle acceleration a i , traction torque reference value RefT q And acceleration reference value a_ref;

[0019] The acceleration threshold adaptive control algorithm in the adhesion control acceleration criterion is adopted, and the dynamic adjustment of the acceleration of the following wheel is realized according to the torque reference instruction during the actual wheel-rail adhesion action of the locomotive.

[0020] Further: the process of using the acceleration threshold adaptive control algorithm in the adhesion control acceleration criterion and realizing dynamic adjustment of the acceleration of the follower wheel according to the torque reference instruction during the actual wheel-rail adhesion action of the locomotive is as follows:

[0021] When the locomotive drive shaft accelerates at time t1 i(t1)≥a_ref, and when the acceleration at time t1 lasts for Δt1, the adhesion control acceleration threshold a_ref(t1+1+Δt1)=k1*a_ref and the traction torque reference value RefT at the next moment are dynamically adjusted down. q (t1+1+Δt1)=k2*RefT q , k1 is the acceleration threshold adjustment coefficient, k2 is the torque given command adjustment coefficient;

[0022] When the acceleration reference value a_ref<a_refmin, then a_ref(t)=a_refmin, a_refmin is the minimum limit value of a_ref;

[0023] When the locomotive drive shaft accelerates at time t2 i When (t2) < a_ref and lasts for Δt2, the adhesion control acceleration threshold and traction torque given value at the next moment are dynamically adjusted upward, a_ref(t2+1+Δt2) = k3*a_ref, RefT q (t2+1+Δt2)=k4*RefT q , k3 is the acceleration threshold recovery coefficient, k4 is the torque given command recovery coefficient;

[0024] When the acceleration reference value a_ref>a_refmax, then a_ref=a_refmax, and a_refmax is the maximum limit value of a_ref.

[0025] Further: 0<k1<1, 0<k2<1, 1<k3<2, 1<k4<2.

[0026] Furthermore: Δt1 ≥ 100 ms; Δt2 ≥ 1000 ms.

[0027] A locomotive adhesion control device based on acceleration threshold adaptive mode, comprising:

[0028] Acquisition module: used to obtain the acceleration a of the locomotive drive shaft i , traction torque reference value RefT q And acceleration reference value a_ref;

[0029] Dynamic adjustment module: used to adopt the acceleration threshold adaptive control algorithm in the adhesion control acceleration criterion, and realize dynamic adjustment of the acceleration of the follower wheel according to the torque reference instruction during the actual wheel-rail adhesion action of the locomotive.

[0030] A readable storage medium stores a program module, wherein the program module is executed in a processor to implement any of the methods described above.

[0031] The present invention provides a locomotive adhesion control method based on acceleration threshold adaptive mode, which has the following advantages:

[0032] The scheme of the present invention dynamically adjusts the locomotive torque setting according to the locomotive wheel-rail adhesion acceleration when the locomotive is in adhesion action, so that the locomotive wheel circumference traction setting is dynamically adjusted according to the locomotive adhesion situation, thereby reducing the locomotive adhesion action. Due to the excessive locomotive traction setting, the acceleration threshold in the acceleration judgment criterion is large, and the locomotive traction is greatly reduced when the actual adhesion has been destroyed, resulting in a large range of adjustment of the locomotive wheel circumference traction, which affects the locomotive traction.

[0033] The present invention dynamically searches for the locomotive adhesion acceleration according to the actual wheel-rail adhesion situation of the locomotive, and dynamically adjusts the acceleration threshold in the acceleration criterion, and dynamically adjusts the locomotive wheel traction force in advance before the locomotive adhesion is damaged, so as to ensure that the locomotive wheel traction force is stably exerted according to the locomotive wheel-rail adhesion without large-scale fluctuations, thereby ensuring the exertion of the locomotive traction force. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0035] Figure 1 is a flow chart of the present application method;

[0036] Figure 2 It is the action logic diagram of adhesion control based on adhesion control algorithm. DETAILED DESCRIPTION

[0037] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] Figure 1is a flow chart of the present application method;

[0040] A locomotive adhesion control method based on acceleration threshold adaptive mode comprises the following steps:

[0041] S1: Get the acceleration a of the locomotive drive shaft i , traction torque reference value RefT q And acceleration reference value a_ref;

[0042] S2: Adopt the acceleration threshold adaptive control algorithm in the adhesion control acceleration criterion, and realize dynamic adjustment of the acceleration of the follower wheel according to the torque reference instruction during the actual wheel-rail adhesion action of the locomotive.

[0043] Steps S1 / S2 are executed sequentially;

[0044] Further: the process of using the acceleration threshold adaptive control algorithm in the adhesion control acceleration criterion and realizing dynamic adjustment of the acceleration of the follower wheel according to the torque reference instruction during the actual wheel-rail adhesion action of the locomotive is as follows:

[0045] When the locomotive drive shaft accelerates at time t i When (t)≥a_ref, the locomotive idles. According to the locomotive adhesion control algorithm, the adhesion controller records the motor torque SpinT during the adhesion action. q , while the motor torque is in accordance with NomT q / 0.3 load reduction rate, NomT q is the rated torque of the motor;

[0046] When the locomotive drive shaft accelerates at time t1 i (t1)≥a_ref, and when the acceleration at time t1 lasts for Δt1, the adhesion control acceleration threshold a_ref(t1+1+Δt1)=k1*a_ref and the traction torque reference value RefT at the next moment are dynamically adjusted down. q (t1+1+Δt1)=k2*RefT q , k1 is the acceleration threshold adjustment coefficient, k2 is the torque given command adjustment coefficient; 0<k1<1, 0<k2<1,

[0047] When the acceleration reference value a_ref<a_refmin, then a_ref(t)=a_refmin, a_refmin is the minimum limit value of a_ref;

[0048] When the traction torque reference value RefT q <RefT q min, RefT q =RefT q min,RefT qmin is RefT q Minimum limit value.

[0049] And when the locomotive driving shaft accelerates at time t i When (t)≥a_ref, according to the adhesion control acceleration criterion, torque peak elimination processing S1 is performed, see Figure 2 Dynamically adjust the actual motor torque T ramp =T ramp _NomT q / 0.3, when T ramp <RefTqmin,T ramp =RefTqmin, reduce wheel traction and inhibit adhesion. ramp is the actual motor torque, and RefTqmin is the minimum torque given command limit value.

[0050] Until it is detected and a i When the value is less than 0, the load reduction stops and the system enters the S2 torque holding stage.

[0051] When the locomotive drive shaft accelerates at time t2 i When (t2) < a_ref and lasts for Δt2, the adhesion control acceleration threshold and traction torque given value at the next moment are dynamically adjusted upward, a_ref(t2+1+Δt2) = k3*a_ref, RefT q (t2+1+Δt2)=k4*RefT q , k3 is the acceleration threshold recovery coefficient, k4 is the torque given command recovery coefficient; 1<k3<2, 1<k4<2;

[0052] When the acceleration reference value a_ref>a_refmax, then a_ref=a_refmax, and a_refmax is the maximum limit value of a_ref.

[0053] The initial value of this value is, for example, 0.6. During the adhesion action, it will drop to the minimum setting value, for example, 0.3. During the adhesion recovery phase, it will slowly recover from 0.3 to the original setting value of 0.6.

[0054] When RefT q >RefT q When max, RefT q =RefT q max,RefT q max is the given value of the traction command.

[0055] When the locomotive drive shaft accelerates at time t i When (t)<a_ref, according to the adhesion control acceleration recovery criterion, the torque recovery S3 stage begins, T ramp =Tramp +NomT q / 0.8, when T ramp >SpinTq*0.8, T ramp =T ramp +NomT q / 5, T ramp During the recovery process, it is determined whether the locomotive acceleration triggers the adhesion load reduction action again until the traction force given by the locomotive handle is restored.

[0056] When T ramp ≥RefT q When max, RefT q =RefT q max, the torque returns to normal and enters the S0 stage, RefT q max is the given value of the traction command.

[0057] When the axle acceleration a i When it is higher than the threshold a_ref, it means that the axis is idling.

[0058] In this case, the stick control algorithm saves the actual torque as the spin torque (SpinT q ) and enters state S1.

[0059] Figure 2 It is the action logic diagram of adhesion control based on adhesion control algorithm;

[0060] In state S1, the torque applied to the motor shaft is reduced at a torque reduction rate of NomTq / 0.3 until the wheel shaft acceleration a i Recover to below the idle threshold a_ref. At this point, enter state S2.

[0061] In state S2, the torque remains constant until the axle acceleration a i Become negative to reattach the idle axle; will remain in this state for up to 200 milliseconds. At this point, enter state S3.

[0062] In state S3, the torque increases at a torque loading rate of NomTq / 0.8 until the torque value is equal to 80% of the idling torque. Thereafter, the system enters state S4.

[0063] At state S4, the torque is restored using a torque loading rate of NomTq / 5 until the actual reference torque is reached. This completes the idle correction and the system returns to state S0.

[0064] In any case, if axle spin is detected again, the system will be forced into state S1 and torque reduction will begin again.

[0065] Furthermore: Δt1 ≥ 100 ms; Δt2 ≥ 1000 ms.

[0066] A locomotive adhesion control device based on acceleration threshold adaptive mode, comprising:

[0067] Acquisition module: used to obtain the acceleration a of the locomotive drive shaft i , traction torque reference value RefT q And acceleration reference value a_ref;

[0068] Dynamic adjustment module: used to adopt the acceleration threshold adaptive control algorithm in the adhesion control acceleration criterion, and realize dynamic adjustment of the acceleration of the follower wheel according to the torque reference instruction during the actual wheel-rail adhesion action of the locomotive.

[0069] A readable storage medium stores a program module, wherein the program module is executed in a processor to implement any of the methods described above.

[0070] The acceleration threshold is adaptively adjusted dynamically during the locomotive adhesion action, and the torque reference is dynamically adaptively adjusted to reduce the impact of frequent adhesion actions on traction.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A locomotive adhesion control method based on acceleration threshold adaptive mode, characterized by: The following steps are involved: Get the locomotive dynamic shaft acceleration a i , traction torque reference value RefT q And acceleration reference value a_ref; The acceleration threshold adaptive control algorithm in the adhesion control acceleration criterion is adopted, and the dynamic adjustment of the acceleration of the following wheel is realized according to the torque reference instruction during the actual wheel-rail adhesion action of the locomotive.

2. The locomotive adhesion control method based on acceleration threshold adaptive mode according to claim 1 is characterized by: The process of using the acceleration threshold adaptive control algorithm in the adhesion control acceleration criterion and realizing dynamic adjustment of the acceleration of the follower wheel according to the torque reference instruction during the actual wheel-rail adhesion action of the locomotive is as follows: When the locomotive drive shaft accelerates at time t1 i (t1)≥a_ref, and when the acceleration at time t1 lasts for Δt1, the adhesion control acceleration threshold a-ref(t1+1+Δt1)=k1*a_ref and the traction torque reference value RefT at the next moment are dynamically adjusted down. q (t1+1+Δt1)=k2*RefT q , k1 is the acceleration threshold adjustment coefficient, k2 is the torque given command adjustment coefficient; When the acceleration reference value a_ref<a_refmin, then a_ref(t)=a_refmin, a_refmin is the minimum limit value of a_ref; When the locomotive drive shaft accelerates at time t2 i When (t2) < a_ref and lasts for Δt2, the acceleration threshold of the next moment of the upward adjustment of the adhesion control and the given value of the traction torque are dynamically adjusted downward, a_ref(t2+1+Δt2)=k3*a_ref, RefT q (t2+1+Δt2)=k4*RefT q , k3 is the acceleration threshold recovery coefficient, k4 is the torque given command recovery coefficient; When the acceleration reference value a_ref>a_refmax, then a_ref=a_refmax, and a_refmax is the maximum limit value of a_ref.

3. The locomotive adhesion control method based on acceleration threshold adaptive mode according to claim 1, characterized in that: 0<k1<1, 0<k2<1, 1<k3<2, 1<k4<2.

4. The locomotive adhesion control method based on acceleration threshold adaptive mode according to claim 1, characterized in that: Δt1≥100ms; Δt2≥1000ms.

5. A locomotive adhesion control device based on acceleration threshold adaptive mode, characterized in that: include: Acquisition module: used to obtain the acceleration a of the locomotive drive shaft i , traction torque reference value RefT q And acceleration reference value a_ref; Dynamic adjustment module: used to adopt the acceleration threshold adaptive control algorithm in the adhesion control acceleration criterion, and realize dynamic adjustment of the acceleration of the follower wheel according to the torque reference instruction during the actual wheel-rail adhesion action of the locomotive.

6. A readable storage medium storing a program module, characterized in that: The program module is executed in a processor to implement the method according to any one of claims 1 to 4.

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