Locomotive adhesion control method and device based on self-evaluation mechanism

Abstract

The invention provides a locomotive adhesion control method and device based on a self-evaluation mechanism, and the method comprises the steps: carrying out the load shedding operation of a locomotive in response to a protection load shedding instruction, and enabling the protection load shedding instruction to be used for preventing the locomotive from idling and sliding; carrying out self-evaluation on the load shedding operation according to the motor torque and the maximum creep speed of the locomotive before and after the load shedding operation process so as to generate a self-evaluation result; when the self-evaluation result is that the load shedding operation needs to be adjusted, a control threshold value and a load shedding slope in the load shedding operation are adjusted according to the maximum creep rate, the wheel set acceleration and the locomotive acceleration in the load shedding operation process. According to the method, the control threshold value and the load shedding slope are adaptively adjusted, so that a relatively remarkable adhesion control effect can be obtained under complex and changeable wheel track conditions.

Description

Technical Field

[0001] The present application relates to the field of rail transit technology, in particular to the field of transmission control technology in rail locomotives, and specifically to a locomotive adhesion control method and device based on a self-evaluation mechanism. Background Art

[0002] When the track surface of the locomotive track is in natural weather such as rain and snow, or there are foreign objects on its surface, the adhesion coefficient of the track surface or the road surface decreases, and the vehicle is prone to idling and sliding during operation. Under this working condition, the problem that needs to be solved urgently is to quickly suppress the idling sliding of the wheelset when the wheels and rails are idling and sliding, so as to avoid damage to the wheels and rails caused by idling and sliding, and at the same time ensure that the traction / braking force is exerted near the optimal adhesion point to ensure vehicle power.

[0003] The difficulty of adhesion control lies in the fact that the track surface conditions are complex and changeable and the adhesion conditions between the wheel and rail cannot be accurately measured. Due to the high complexity between the wheel and rail, it is difficult to set control parameters that meet various conditions through empirical preset methods, such as protection thresholds, load reduction slopes, etc.

[0004] In the prior art, adhesion control methods mostly adopt a combined correction method or a PID (proportional, integral, derivative) control method. This method is simple and effective in design, but it is highly dependent on the experience of designers, and a single control parameter cannot guarantee a good control effect under complex and changeable wheel-rail contact conditions. With the development of control technology, some optimal adhesion control methods such as sliding film control and neural network control continue to emerge. However, with the rapid change of wheel-rail contact conditions, the complexity of control methods is increasing in the process of pursuing optimal control, and there are many problems in engineering applications. Therefore, there are some improved methods based on traditional control strategies, which can adjust the threshold or the load-addition and load-reduction slope during the control process. How to ensure that the adjusted parameters have a positive effect on the control rather than a negative effect becomes very important. Summary of the invention

[0005] One object of the present invention is to provide a locomotive adhesion control method based on a self-evaluation mechanism. First, the wheel-rail adhesion characteristics are obtained, and then the adhesion control effect of each time is comprehensively evaluated from aspects such as creep rate and load reduction ratio. Finally, according to the evaluation result of adhesion control, the control threshold and load reduction slope are adaptively adjusted according to the wheelset creep rate and acceleration index, so as to obtain a better adhesion control effect under complex and changeable wheel-rail conditions.

[0006] Another object of the present invention is to provide a locomotive adhesion control device based on a self-evaluation mechanism. Another object of the present invention is to provide an electronic device, the electronic device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the locomotive adhesion control method based on the self-evaluation mechanism when executing the computer program. Another object of the present invention is to provide a readable medium, on which a computer program is stored, and when the computer program is executed by the processor, the steps of the locomotive adhesion control method based on the self-evaluation mechanism are implemented.

[0007] In order to solve the technical problems in the background technology of this application, the present invention provides the following technical solutions:

[0008] In a first aspect, the present invention provides a locomotive adhesion control method based on a self-evaluation mechanism, comprising:

[0009] In response to a protection load shedding instruction, performing a load shedding operation on the locomotive, wherein the protection load shedding instruction is used to prevent the locomotive from idling and sliding;

[0010] Performing a self-evaluation on the load shedding operation according to the motor torque and the maximum creep speed of the locomotive before and after the load shedding operation to generate a self-evaluation result;

[0011] When the self-evaluation result indicates that the load shedding operation needs to be adjusted, the control threshold and load shedding slope in the load shedding operation are adjusted according to the maximum creep rate, wheelset acceleration and locomotive acceleration during the load shedding operation.

[0012] In one embodiment of the present invention, the load shedding operation is self-evaluated according to the motor torque and the maximum creep speed of the locomotive before and after the load shedding operation to generate a self-evaluation result, including:

[0013] Determining an adhesion characteristic curve of the locomotive under a current working condition according to the motor torque of the locomotive before the load reduction operation;

[0014] Comparing the adhesion characteristic curve in a pre-generated adhesion characteristic curve experience library to generate a comparison result, wherein the comparison result includes an adhesion characteristic experience curve that is closest to the adhesion characteristic curve under the current working condition of the locomotive;

[0015] The self-evaluation result is generated according to the motor torque, the maximum creep speed and the comparison result of the locomotive before and after the load reduction operation.

[0016] In one embodiment of the present invention, determining the adhesion characteristic curve of the locomotive under the current working condition according to the motor torque of the locomotive before the load reduction operation includes:

[0017] generating a maximum adhesion coefficient of the locomotive wheel rail according to the motor torque of the locomotive before the load reduction operation;

[0018] The adhesion characteristic curve is generated according to the maximum adhesion coefficient.

[0019] In one embodiment of the present invention, the self-evaluation result is generated according to the motor torque, the maximum creep speed and the comparison result of the locomotive before and after the load reduction operation, including:

[0020] generating a torque load reduction ratio of the locomotive motor according to the motor torque of the locomotive before and after the load reduction operation;

[0021] The self-evaluation result is generated according to the torque reduction ratio, the maximum creep speed and the comparison result.

[0022] In one embodiment of the present invention, the self-evaluation result is generated according to the torque reduction ratio, the maximum creep speed and the comparison result, including:

[0023] Determine the torque load reduction ratio and the maximum creep speed corresponding to the adhesion characteristic experience curve according to the comparison result;

[0024] The self-evaluation result is generated according to the torque load reduction ratio and the maximum creep speed corresponding to the process of the load reduction operation and the torque load reduction ratio and the maximum creep speed corresponding to the adhesion characteristic experience curve.

[0025] In one embodiment of the present invention, the control threshold comprises: a creep rate threshold and an acceleration threshold;

[0026] According to the maximum creep rate, wheelset acceleration and locomotive acceleration during the load shedding operation, the control threshold and load shedding slope in the load shedding operation are adjusted, including:

[0027] generating a maximum difference between the wheelset acceleration and the locomotive acceleration during the load shedding operation;

[0028] A control threshold and a load reduction slope in the load reduction operation are adjusted according to the maximum creep rate and the maximum difference.

[0029] In one embodiment of the present invention, adjusting the control threshold and the load shedding slope in the load shedding operation according to the maximum creep rate and the maximum difference includes:

[0030] generating the maximum creep rate and the maximum difference corresponding to the adhesion characteristic empirical curve;

[0031] The control threshold and the load reduction slope in the load reduction operation are adjusted according to the maximum creep rate, the maximum difference, and the maximum creep rate and the maximum difference corresponding to the adhesion characteristic experience curve during the load reduction operation.

[0032] In a second aspect, the present invention provides a locomotive adhesion control device based on a self-evaluation mechanism, the device comprising:

[0033] A locomotive load reduction module, used to perform a load reduction operation on the locomotive in response to a protection load reduction instruction, wherein the protection load reduction instruction is used to prevent the locomotive from idling and sliding;

[0034] A load shedding self-evaluation module, used to perform a self-evaluation on the load shedding operation according to the motor torque and the maximum creep speed of the locomotive before and after the load shedding operation to generate a self-evaluation result;

[0035] The load shedding adjustment module is used to adjust the control threshold and load shedding slope in the load shedding operation according to the maximum creep rate, wheelset acceleration and locomotive acceleration during the load shedding operation when the self-evaluation result indicates that the load shedding operation needs to be adjusted.

[0036] In one embodiment of the present invention, the load shedding self-assessment module comprises:

[0037] a characteristic curve determining unit, configured to determine an adhesion characteristic curve of the locomotive under a current working condition according to the motor torque of the locomotive before the load reduction operation;

[0038] a characteristic curve comparison unit, configured to compare the adhesion characteristic curve in a pre-generated adhesion characteristic curve experience library to generate a comparison result, wherein the comparison result includes an adhesion characteristic experience curve that is closest to the adhesion characteristic curve under the current working condition of the locomotive;

[0039] An evaluation result generating unit is used to generate the self-evaluation result according to the motor torque, the maximum creep speed and the comparison result of the locomotive before and after the load reduction operation.

[0040] In one embodiment of the present invention, the characteristic curve determining unit includes:

[0041] a maximum coefficient calculation unit, for generating a maximum adhesion coefficient of the locomotive wheel rail according to the motor torque of the locomotive before the load reduction operation;

[0042] The characteristic curve determination subunit is used to generate the adhesion characteristic curve according to the maximum adhesion coefficient.

[0043] In one embodiment of the present invention, the evaluation result generating unit includes:

[0044] A load reduction ratio generating unit, used for generating a torque load reduction ratio of the locomotive motor according to the motor torque of the locomotive before and after the load reduction operation;

[0045] An evaluation result generating subunit is used to generate the self-evaluation result according to the torque load reduction ratio, the maximum creep speed and the comparison result.

[0046] In one embodiment of the present invention, the evaluation result generating subunit includes:

[0047] A comparison parameter determination unit, used to determine the torque reduction ratio and the maximum creep speed corresponding to the adhesion characteristic experience curve according to the comparison result;

[0048] The result evaluation unit is used to generate the self-evaluation result according to the torque load reduction ratio and the maximum creep speed corresponding to the process of the load reduction operation and the torque load reduction ratio and the maximum creep speed corresponding to the adhesion characteristic experience curve.

[0049] In one embodiment of the present invention, the control threshold comprises: a creep rate threshold and an acceleration threshold;

[0050] The load reduction adjustment module comprises:

[0051] A maximum difference generating first unit, configured to generate a maximum difference between the wheelset acceleration and the locomotive acceleration during the load shedding operation;

[0052] The load shedding adjustment unit is used to adjust the control threshold and the load shedding slope in the load shedding operation according to the maximum creep rate and the maximum difference.

[0053] In one embodiment of the present invention, the load reduction adjustment unit includes:

[0054] A second maximum difference value generating unit is used to generate the maximum creep rate and the maximum difference value corresponding to the adhesion characteristic empirical curve;

[0055] The load reduction adjustment subunit is used to adjust the control threshold and the load reduction slope in the load reduction operation according to the maximum creep rate, the maximum difference, and the maximum creep rate and the maximum difference corresponding to the adhesion characteristic experience curve during the load reduction operation.

[0056] In a third aspect, the present invention provides a computer program product, comprising a computer program / instruction, which, when executed by a processor, implements the steps of a locomotive adhesion control method based on a self-evaluation mechanism.

[0057] In a fourth aspect, the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, steps of a locomotive adhesion control method based on a self-evaluation mechanism are implemented.

[0058] In a fifth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a locomotive adhesion control method based on a self-evaluation mechanism.

[0059] From the above description, it can be seen that an embodiment of the present invention provides a locomotive adhesion control method and device based on a self-evaluation mechanism. The corresponding locomotive adhesion control method based on the self-evaluation mechanism includes: first, responding to a protection load reduction instruction, performing a load reduction operation on the locomotive, wherein the protection load reduction instruction is used to prevent the locomotive from idling and sliding; then, self-evaluating the load reduction operation according to the motor torque and maximum creep speed of the locomotive before and after the load reduction operation to generate a self-evaluation result; finally, when the self-evaluation result is that the load reduction operation needs to be adjusted, the control threshold and load reduction slope in the load reduction operation are adjusted according to the maximum creep rate, wheelset acceleration and locomotive acceleration during the load reduction operation.

[0060] The corresponding locomotive adhesion control device based on the self-evaluation mechanism includes: a locomotive load reduction module, which is used to perform load reduction operations on the locomotive in response to a protection load reduction instruction, wherein the protection load reduction instruction is used to prevent the locomotive from idling and sliding; a load reduction self-evaluation module, which is used to self-evaluate the load reduction operation according to the motor torque and maximum creep speed of the locomotive before and after the load reduction operation to generate a self-evaluation result; a load reduction adjustment module, which is used to adjust the control threshold and load reduction slope in the load reduction operation according to the maximum creep rate, wheelset acceleration and locomotive acceleration during the load reduction operation when the self-evaluation result indicates that the load reduction operation needs to be adjusted.

[0061] The locomotive adhesion control method and device based on the self-evaluation mechanism provided in the embodiment of the present invention evaluates each idling control result during the adhesion control process. Specifically, firstly, the wheel-rail adhesion characteristic features are acquired, and the adhesion control effect of each time is comprehensively evaluated from aspects such as creep rate and load reduction ratio. Then, according to the evaluation result of the adhesion control, the control threshold and load reduction slope are adaptively adjusted according to the wheelset creep rate and acceleration index, so that a more significant adhesion control effect can be obtained under complex and changeable wheel-rail conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] 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 work.

[0063] Figure 1 It is a flow chart of a locomotive adhesion control method based on a self-evaluation mechanism in an embodiment of the present invention;

[0064] Figure 2 A logic diagram of a locomotive adhesion control method based on a self-evaluation mechanism in an embodiment of the present invention;

[0065] Figure 3 It is a flowchart diagram of step 200 of a locomotive adhesion control method based on a self-evaluation mechanism in an embodiment of the present invention;

[0066] Figure 4 is a schematic diagram of an adhesion characteristic curve in an embodiment of the present invention;

[0067] Figure 5 It is a flowchart diagram of step 201 of the locomotive adhesion control method based on the self-evaluation mechanism in an embodiment of the present invention;

[0068] Figure 6 It is a flowchart diagram of step 203 of the locomotive adhesion control method based on the self-evaluation mechanism in an embodiment of the present invention;

[0069] Figure 7 It is a flowchart diagram of step 2032 of the locomotive adhesion control method based on the self-evaluation mechanism in an embodiment of the present invention;

[0070] Figure 8 Schematic diagram of the process of adhesion self-evaluation in an embodiment of the present invention

[0071] Fig. 9 It is a flowchart diagram of step 300 of the locomotive adhesion control method based on the self-evaluation mechanism in an embodiment of the present invention;

[0072] Fig.10 It is a flowchart diagram of step 302 of the locomotive adhesion control method based on the self-evaluation mechanism in an embodiment of the present invention;

[0073] Fig.11 It is a flow chart of a locomotive adhesion control method based on a self-evaluation mechanism in a specific embodiment of the present invention;

[0074] Fig.12 This is a flow chart of step S3 in a specific implementation manner of the present invention;

[0075] Fig.13 It is a block diagram of a locomotive adhesion control device based on a self-evaluation mechanism in a specific embodiment of the present invention;

[0076] Fig.14 It is a schematic diagram of the structure of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0077] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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 part of the embodiments of the present invention, not all of the embodiments. 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.

[0078] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0079] It should be noted that the terms "including" and "having" in the specification and claims of the present application and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. In the absence of conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0080] The acquisition, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of laws and regulations.

[0081] Embodiment 1:

[0082] The difficulty of adhesion control lies in the fact that the rail surface conditions are complex and changeable and the wheel-rail adhesion conditions cannot be accurately characterized, so it is difficult to preset control parameters that are sufficient to meet various conditions through experience. The control methods in the prior art are mostly set to set fixed protection thresholds, which cannot achieve the best adhesion control under rail surface conditions with variable loads; some methods of adjusting the control threshold or slope cannot guarantee a better control effect after the final parameter adjustment without a confirmation and evaluation process.

[0083] Based on the above reasons, the embodiment of the present invention provides a specific implementation of a locomotive adhesion control method based on a self-evaluation mechanism, see Figure 1 , specifically including the following:

[0084] Step 100: In response to a protection load shedding instruction, perform a load shedding operation on the locomotive, wherein the protection load shedding instruction is used to prevent the locomotive from idling and sliding;

[0085] Step 200: performing a self-evaluation on the load shedding operation according to the motor torque and the maximum creep speed of the locomotive before and after the load shedding operation to generate a self-evaluation result;

[0086] Step 300: When the self-evaluation result indicates that the load shedding operation needs to be adjusted, the control threshold and load shedding slope in the load shedding operation are adjusted according to the maximum creep rate, wheelset acceleration and locomotive acceleration during the load shedding operation.

[0087] From the above description, it can be seen that the embodiment of the present invention provides a locomotive adhesion control method based on a self-evaluation mechanism. By evaluating the adhesion control results in real time and feeding back the adhesion control effect, the control parameters and the load reduction slope are adjusted in real time according to the adhesion evaluation results, through comprehensive evaluation of the maximum creep speed and the maximum acceleration, according to the control results and the wheel-rail adhesion characteristics, to obtain the current optimal control parameters and load reduction slope, thereby ensuring that the adhesion control can achieve optimal adhesion under various complex and changeable conditions.

[0088] For step 100, it is determined whether to issue the protection load shedding instruction according to the creep rate, acceleration and preset control threshold of the locomotive under the current working condition. If the protection load shedding instruction is issued, it means that the current working condition exceeds the set threshold and triggers the protection load shedding of adhesion anti-idling and anti-skid.

[0089] For step 200, since the locomotive operating conditions may change during the load reduction operation, it is inappropriate to adopt a fixed load reduction operation. Therefore, it is necessary to evaluate the idling control result of each adhesion control (load reduction operation) process. By acquiring the wheel-rail adhesion characteristics, the adhesion control effect of each time is comprehensively evaluated from aspects such as creep rate and load reduction ratio.

[0090] For step 300, see Figure 2 According to the evaluation results of adhesion control (load reduction operation), the control threshold and load reduction slope are adaptively adjusted according to the wheelset creep rate and acceleration indicators, so as to obtain better adhesion control effect under complex and changeable wheel-rail conditions.

[0091] Embodiment 2:

[0092] In some embodiments of the present invention, see Figure 3 , step 200 comprises:

[0093] Step 201: determining an adhesion characteristic curve of the locomotive under a current working condition according to the motor torque of the locomotive before the load reduction operation;

[0094] The adhesion characteristic curve refers to the curve describing the contact between the wheelset and the track during the operation of the locomotive. It is used to indicate the adhesion capacity of the wheelset under different external conditions.

[0095] Generally, the adhesion characteristic curve is a curve with longitudinal force (longitudinal traction or longitudinal braking force) as the horizontal coordinate and lateral force (lateral traction or lateral anti-skid force) as the vertical coordinate. The shape and characteristics of the curve are affected by many factors, including the material of the wheelset, the friction coefficient between the wheelset and the track, the air pressure of the wheelset, the track conditions, etc.

[0096] The adhesion characteristic curve shows the following characteristics:

[0097] High initial adhesion: When starting traction or braking, the adhesion between the wheelset and the track is high, which can provide greater traction or braking force.

[0098] Saturation zone: With the increase of longitudinal force, the adhesion gradually reaches saturation, that is, the adhesion no longer increases linearly with the increase of longitudinal force, but tends to be stable.

[0099] Limit zone: When the longitudinal force reaches a certain critical value, the adhesion reaches its limit, at which point slippage occurs between the wheelset and the track, and the traction or braking force no longer increases.

[0100] Lateral characteristics: The lateral part of the curve is used to describe the lateral adhesion characteristics between the wheelset and the track, that is, the wheelset's ability to resist sideslip. Generally, lateral adhesion increases with the increase of longitudinal force, but it reaches a limit at a certain longitudinal force.

[0101] See also Figure 4 , v1, v2 are the maximum creep rates of adhesion characteristics 1 and adhesion characteristics 2 (creep rate = |wheelset speed-vehicle speed| / vehicle speed); μ1, μ2 are the optimal adhesion coefficients corresponding to the optimal creep rates of track surface conditions 1 and track surface conditions 2, and their corresponding optimal adhesion torques are T adh1 , T adh2 , and its peak point is called the optimal adhesion point.

[0102] Figure 4As shown in the figure, when the creep rate is lower than the optimal creep rate, the adhesion coefficient gradually increases with the increase of the creep rate, and the corresponding adhesion between the wheel and rail increases accordingly; when the creep rate exceeds the optimal creep rate, the adhesion coefficient decreases with the increase of the creep rate, and the corresponding adhesion between the wheel and rail decreases accordingly.

[0103] Step 202: comparing the adhesion characteristic curve in a pre-generated adhesion characteristic curve experience library to generate a comparison result, wherein the comparison result includes an adhesion characteristic experience curve that is closest to the adhesion characteristic curve under the current working condition of the locomotive;

[0104] Specifically, a comparison is performed in an experience library of adhesion characteristic curves according to the optimum adhesion point and the portion of the adhesion characteristic curve where the adhesion coefficient decreases.

[0105] Step 203: Generate the self-evaluation result according to the motor torque, the maximum creep speed and the comparison result of the locomotive before and after the load reduction operation.

[0106] Specifically, an adhesion control evaluation function is constructed according to the fuzzy rule table to generate the self-evaluation result in step 203 .

[0107] Fuzzy rule tables are used to describe rule sets in fuzzy logic systems. Fuzzy logic is a method of processing fuzzy information and is used to deal with problems that cannot be expressed with precise numerical values. In a fuzzy logic system, a fuzzy rule table consists of a series of fuzzy rules, each of which consists of a condition part and a conclusion part. The condition part describes the relationship between the input variables and their fuzzy sets, and the conclusion part describes the relationship between the output variable and its fuzzy set.

[0108] In the present application, the fuzzy rule table is expressed in a form similar to "If-Then". For example, a fuzzy rule can be expressed as: "If input variable A is fuzzy set A1, and input variable B is fuzzy set B1, then output variable C is fuzzy set C1". The fuzzy rule table can contain multiple rules, each of which describes a specific situation and a corresponding conclusion. By matching the membership values ​​of the input variables and their fuzzy sets, the fuzzy logic system can infer the fuzzy set of the output variable according to the rules in the fuzzy rule table and convert it into a fuzzy output.

[0109] In some embodiments of the present invention, see Figure 5 , step 201 comprises:

[0110] Step 211: generating a maximum adhesion coefficient of the locomotive wheel and rail according to the motor torque of the locomotive before the load reduction operation;

[0111] Step 2012: Generate the adhesion characteristic curve according to the maximum adhesion coefficient.

[0112] In step 2011 and step 2012, according to the motor torque T before the load reduction operation motor_up The maximum wheel-rail adhesion coefficient (optimal adhesion point) at this time is estimated, and the acceleration differential of the wheelset before and after idling occurs indicates the degree of decrease of the wheel-rail adhesion torque when the motor torque exceeds the wheel-rail adhesion limit (the attenuation slope of the adhesion torque on the right side of the optimal adhesion point in the adhesion characteristic curve as the creep speed increases). The current adhesion characteristic curve is obtained according to the optimal adhesion point and its right attenuation slope.

[0113] In some embodiments of the present invention, see Figure 6 , step 203 comprises:

[0114] Step 2031: generating a torque load reduction ratio of the locomotive motor according to the motor torque of the locomotive before and after the load reduction operation;

[0115] Calculate the motor torque load reduction ratio according to formula (1):

[0116]

[0117] In the above formula, γ T is the torque reduction ratio, T motor_down is the motor torque after load reduction; T motor_up is the motor torque before load reduction.

[0118] Step 2032: Generate the self-evaluation result according to the torque reduction ratio, the maximum creep speed and the comparison result.

[0119] In some embodiments of the present invention, see Figure 7 , step 2032 includes:

[0120] Step 20321: Determine the torque load reduction ratio and the maximum creep speed corresponding to the adhesion characteristic experience curve according to the comparison result;

[0121] Step 20322: Generate the self-evaluation result according to the torque load reduction ratio and the maximum creep speed corresponding to the load reduction operation process and the torque load reduction ratio and the maximum creep speed corresponding to the adhesion characteristic experience curve.

[0122] In step 20321 and step 20322, see Figure 8 , according to the motor torque T before load reduction motor_upEstimate the maximum wheel-rail adhesion coefficient (optimal adhesion point) at this time, obtain the current adhesion characteristic curve according to the optimal adhesion point and the part where the adhesion coefficient decreases in the adhesion characteristic curve, match it with the adhesion characteristic curve experience library, and use it to set the maximum creep rate v of the wheelset max , motor torque load reduction ratio γ T The indicator area range is as follows:

[0123] The adhesion control evaluation result is calculated according to formula (2):

[0124] κ=Control_Judge(v j_max ,γ j_T ) (2)

[0125] Where: κ is the adhesion control evaluation result, and its value range is

[01] , where 1 indicates the best control effect and 0 indicates the worst control effect; v j_max is the maximum creep velocity index under different adhesion characteristics; γ j_T is the motor torque load reduction ratio index under different adhesion characteristics; v j_max , γ j_T The j in the formula represents different adhesion characteristics; Control_Judge() is an adhesion control evaluation function, which is implemented by a fuzzy rule table (mechanism / empirical formula, expert rule system, state machine and other strategies can also be used).

[0126] Furthermore, the values ​​of κ1 and κ2 are determined based on empirical values, satisfying 0<κ1<κ2<1.

[0127] a) When κ∈[κ2 1], the adhesion control effect is excellent and no parameter adjustment is required;

[0128] b) When κ∈[0 κ1], the adhesion control effect is poor and parameter adjustment is required immediately;

[0129] c) When κ∈[κ1 κ2], the adhesion control effect is moderate, and statistical processing is performed according to statistical indicators:

[0130] i. During the statistical processing period, if the control effect becomes excellent, no parameter adjustment will be performed;

[0131] ii. During the statistical processing, if the control effect becomes worse, the parameters are adjusted immediately;

[0132] iii. During the statistical processing, if the control effect continues to be moderate, the parameters will be adjusted after the statistical processing is completed.

[0133] In some embodiments of the present invention, the control threshold comprises: a creep rate threshold and an acceleration threshold; see Fig. 9 , step 300 comprises:

[0134] Step 301: generating a maximum difference between the wheelset acceleration and the locomotive acceleration during the load reduction operation;

[0135] During the controlled sliding process of the current round, identify and record the maximum creep rate v of the wheelset max , the maximum acceleration difference between the wheelset acceleration and the vehicle acceleration Δa max .

[0136] Step 302: adjusting the control threshold and the load shedding slope in the load shedding operation according to the maximum creep rate and the maximum difference.

[0137] In some embodiments of the present invention, see Fig.10 , step 302 comprises:

[0138] Step 3021: generating the maximum creep rate and the maximum difference corresponding to the adhesion characteristic empirical curve;

[0139] Step 3022: adjusting the control threshold and the load reduction slope in the load reduction operation according to the maximum creep rate, the maximum difference, and the maximum creep rate and the maximum difference corresponding to the adhesion characteristic empirical curve during the load reduction operation.

[0140] When the evaluation of adhesion control results requires parameter adjustment (control threshold and load reduction slope), the maximum creep rate v of the wheelset is set according to the adhesion characteristic characteristics obtained from the experience database. max , Maximum acceleration difference index Δa max The control parameters and load shedding slope adjustment coefficients are calculated based on the indicator area range:

[0141] λ1=Para1_Adjust(v j_max ,Δa j_amx ) (3)

[0142] λ2=Para2_Adjust(v j_max ,Δa j_amx ) (4)

[0143] Where: λ1, λ2 are the adjustment coefficients of the control threshold and load reduction slope, and the value range is [λ i_k1 λ i_k2 ],0<λ i_k1 <1,λ i_k2 >1, i=1,2, corresponding to the value range of λ1 and λ2; Para1_Adjust() and Para2_Adjust() are the adhesion parameter adaptive adjustment functions, which are implemented by fuzzy rule table; v j_max is the maximum creep velocity index under different adhesion characteristics; Δa j_maxis the maximum acceleration difference index under different adhesion characteristics; v j_max , Δa j_max The j in represents different adhesion properties.

[0144] The parameter adjustment results are as follows: λ1<1 indicates that the control threshold is reduced by a coefficient, λ1>1 indicates that the control threshold is increased by a coefficient, λ2<1 indicates that the load reduction slope is reduced by a coefficient, and λ2>1 indicates that the load reduction slope is increased by a coefficient.

[0145] In addition, the implementation method of step 3022 can utilize strategies such as fuzzy rules, mechanism / empirical formulas, expert rule systems, state machines, etc.

[0146] Embodiment three:

[0147] In a specific embodiment, the present invention also provides a specific embodiment of a locomotive adhesion control method based on a self-evaluation mechanism, see Fig.11 , specifically including the following steps.

[0148] S1: When the wheelset acceleration differential under the current working condition of the locomotive exceeds the set threshold, the adhesion, anti-spin and anti-skid protection load reduction is triggered.

[0149] Wheelset dynamics formula:

[0150]

[0151]

[0152]

[0153] Where J is the wheelset moment of inertia; T motor T is the torque converted from the motor to the wheelset; adh is the torque acting on the wheelset due to adhesion. is the wheelset angular acceleration, R is the wheelset radius, a is the wheelset acceleration, is the differential of wheelset acceleration.

[0154] Train dynamics formula:

[0155]

[0156] Among them, a vehicle is the train acceleration, F adh is the sum of the adhesion of all wheelsets of the train, F res M is the sum of all resistances encountered by the train during operation. vehicle is the mass of the train. When the wheelset is in a stable state, the wheelset acceleration is basically the same as the vehicle acceleration, keeping the vehicle moving forward at a certain acceleration. That is, a≈a vehicleBased on the above theoretical foundation and existing adhesion control, the idling slide protection process is as follows:

[0157] (1) See Figure 4 , when the wheel-rail adhesion characteristic changes from adhesion characteristic 1 to adhesion characteristic 2, T motor is greater than the optimal adhesion of adhesion characteristic 2 at this time or as the motor torque increases, on adhesion characteristic 1 or adhesion characteristic 2, T motor When the optimal adhesion is exceeded, according to the wheelset dynamics formulas (5) to (7), the wheelset acceleration and creep rate increase, T adh As the wheelset creep rate increases, it decreases. At this time, the wheelset acceleration differential It is characterized that under this adhesion characteristic, as the creep speed increases, T adh When the current exceeds the set threshold, the protection load reduction of adhesion, anti-idling and anti-skid is triggered, and the motor torque T before load reduction is recorded. motor_up .

[0158] (2) The load reduction process performs PI adjustment according to the set slope or the current acceleration and creep speed; as the motor torque decreases, when T motor When the load is less than the adhesion between the wheel and rail, as the wheelset acceleration and creep speed recover, it is determined that the idling phenomenon is eliminated and the motor torque T after load reduction is recorded. motor_down , and calculate the motor torque load reduction ratio according to formula (1).

[0159] (3) After the idling slip is eliminated, the motor torque is controlled to recover according to the set method.

[0160] (4) During this controlled sliding process, identify and record the maximum creep rate v of the wheelset max , the maximum acceleration difference between the wheelset acceleration and the vehicle acceleration Δa max .

[0161] S2: Evaluate the adhesion control process.

[0162] According to formulas (5) and (6), when the wheelset acceleration difference Δa max The larger the value, the higher the motor torque T motor Adhesion torque T between wheel and rail adh The larger the difference, the later the adhesion control is involved in the control process; when the maximum creep rate of the wheelset v max The larger the value, the higher the motor torque T motor The longer it lasts, the greater the wheel-rail adhesion torque T adh , which reflects the smaller the load reduction slope of the adhesion control during the control process; when the maximum creep rate of the wheelset v max and the wheelset acceleration difference Δa max When all are within the appropriate range, it indicates that the adhesion control effect is excellent.

[0163] According to the motor torque T before load reduction motor_up Estimate the maximum wheel-rail adhesion coefficient, and use the estimated adhesion coefficient to correspond to the adhesion characteristic curve, and based on this, calculate the maximum creep rate v of the wheelset max , motor torque load reduction ratio γ T Evaluate the adhesion control, feedback the adhesion control effect, and determine whether the control parameters need to be adjusted. For specific steps, see Figure 8 .

[0164] S3: Adjust the control threshold and load shedding slope in the load shedding operation.

[0165] Specifically, when the evaluation result in step S2 is that the load shedding operation needs to be adjusted, the control threshold and load shedding slope in the load shedding operation are adjusted according to the maximum creep rate, wheelset acceleration and locomotive acceleration during the load shedding operation. Fig.12 Step S3 includes the specific implementation of step 3022, which will not be repeated here.

[0166] Preferably, based on step 3022, step S3 also includes the following contents.

[0167] Adjust λ at the same time k1 and λ k2 The value of ensures that the control effect is quickly adjusted to the excellent range. The specific adjustment strategy is as follows:

[0168] (1) When the adjustment directions of λ1 or λ2 are opposite, i_k1 and λ i_k2 The value is limited and [λ i_k1 λ i_k2 ], so that λ i_k1 and λ i_k2 The deviation from 1 is smaller;

[0169] (2) When λ1 or λ2 is adjusted in the same direction for N1 consecutive times, i_k1 and λ i_k2 The value is restricted and the expansion [λ i_k1 λ i_k2 ], so that λ i_k1 and λ i_k2 The deviation from 1 is larger;

[0170] (3) When no parameter adjustment is required within a certain period of time, λ i_k1 and λ i_k2 Restore to initial value.

[0171] As can be seen from the above description, step S3 evaluates the adhesion control according to the real-time control results, and performs adaptive parameter adjustment based on this, and at the same time re-confirms the evaluation after the parameter adjustment, so as to ensure that the adhesion control can obtain the best control effect under different track surface conditions after the parameter adjustment. In addition, it should be noted that:

[0172] (1) A control threshold value, which may be a threshold value of a combined correction control method, a reference value of a PID control method, or a reference creep value of an optimal creep control;

[0173] (2) The load reduction slope can be a fixed slope or an adjustable slope related to the creep rate, acceleration or acceleration differential.

[0174] From the above description, it can be seen that the embodiment of the present invention provides a locomotive adhesion control method based on a self-evaluation mechanism, which has the following beneficial effects:

[0175] Adhesion characteristic feature acquisition: The maximum wheel-rail adhesion torque is estimated based on adhesion control, and the degree to which the adhesion torque decreases as the creep increases is confirmed based on the acceleration differential before and after idling, thereby acquiring the adhesion characteristic feature.

[0176] Self-evaluation of adhesion control effect: According to the adhesion characteristics, creep rate and load reduction ratio during the adhesion control process, an adhesion control evaluation system is set up to evaluate the adhesion control effect, thereby realizing online evaluation of the adhesion control effect.

[0177] Adaptive adjustment of control threshold: According to the adhesion control evaluation results, the control threshold is adaptively adjusted according to the creep rate and acceleration indicators to meet the optimal control requirements under various track surface conditions.

[0178] Adaptive adjustment of load reduction slope: According to the adhesion control evaluation results, the load reduction slope is adaptively adjusted according to the creep rate and acceleration indicators to meet the optimal control requirements under various track surface conditions.

[0179] Embodiment 4:

[0180] Based on the same inventive concept, the embodiments of the present application also provide a locomotive adhesion control device based on a self-evaluation mechanism, which can be used to implement the method described in the above embodiments, such as the following embodiments. Since the principle of solving the problem by the locomotive adhesion control device based on the self-evaluation mechanism is similar to that of the locomotive adhesion control method based on the self-evaluation mechanism, the implementation of the locomotive adhesion control device based on the self-evaluation mechanism can refer to the implementation of the locomotive adhesion control method based on the self-evaluation mechanism, and the repeated parts will not be repeated. As used below, the term "unit" or "module" can be a combination of software and / or hardware that implements a predetermined function. Although the system described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0181] The embodiment of the present invention provides a specific implementation of a locomotive adhesion control device based on a self-evaluation mechanism that can implement a locomotive adhesion control method based on a self-evaluation mechanism, see Fig.13 , the locomotive adhesion control device based on the self-evaluation mechanism includes:

[0182] The locomotive load shedding module 10 is used to perform a load shedding operation on the locomotive in response to a protection load shedding instruction, wherein the protection load shedding instruction is used to prevent the locomotive from idling and sliding;

[0183] A load shedding self-evaluation module 20, configured to self-evaluate the load shedding operation according to the motor torque and the maximum creep speed of the locomotive before and after the load shedding operation to generate a self-evaluation result;

[0184] The load shedding adjustment module 30 is used to adjust the control threshold and load shedding slope in the load shedding operation according to the maximum creep rate, wheelset acceleration and locomotive acceleration during the load shedding operation when the self-evaluation result indicates that the load shedding operation needs to be adjusted.

[0185] In one embodiment of the present invention, the load shedding self-assessment module comprises:

[0186] a characteristic curve determining unit, configured to determine an adhesion characteristic curve of the locomotive under a current working condition according to the motor torque of the locomotive before the load reduction operation;

[0187] a characteristic curve comparison unit, configured to compare the adhesion characteristic curve in a pre-generated adhesion characteristic curve experience library to generate a comparison result, wherein the comparison result includes an adhesion characteristic experience curve that is closest to the adhesion characteristic curve under the current working condition of the locomotive;

[0188] An evaluation result generating unit is used to generate the self-evaluation result according to the motor torque, the maximum creep speed and the comparison result of the locomotive before and after the load reduction operation.

[0189] In one embodiment of the present invention, the characteristic curve determining unit includes:

[0190] a maximum coefficient calculation unit, for generating a maximum adhesion coefficient of the locomotive wheel rail according to the motor torque of the locomotive before the load reduction operation;

[0191] The characteristic curve determination subunit is used to generate the adhesion characteristic curve according to the maximum adhesion coefficient.

[0192] In one embodiment of the present invention, the evaluation result generating unit includes:

[0193] A load reduction ratio generating unit, used for generating a torque load reduction ratio of the locomotive motor according to the motor torque of the locomotive before and after the load reduction operation;

[0194] An evaluation result generating subunit is used to generate the self-evaluation result according to the torque load reduction ratio, the maximum creep speed and the comparison result.

[0195] In one embodiment of the present invention, the evaluation result generating subunit includes:

[0196] A comparison parameter determination unit, used to determine the torque reduction ratio and the maximum creep speed corresponding to the adhesion characteristic experience curve according to the comparison result;

[0197] The result evaluation unit is used to generate the self-evaluation result according to the torque load reduction ratio and the maximum creep speed corresponding to the process of the load reduction operation and the torque load reduction ratio and the maximum creep speed corresponding to the adhesion characteristic experience curve.

[0198] In one embodiment of the present invention, the control threshold comprises: a creep rate threshold and an acceleration threshold;

[0199] The load reduction adjustment module comprises:

[0200] A maximum difference generating first unit, configured to generate a maximum difference between the wheelset acceleration and the locomotive acceleration during the load shedding operation;

[0201] The load shedding adjustment unit is used to adjust the control threshold and the load shedding slope in the load shedding operation according to the maximum creep rate and the maximum difference.

[0202] In one embodiment of the present invention, the load reduction adjustment unit includes:

[0203] A second maximum difference value generating unit is used to generate the maximum creep rate and the maximum difference value corresponding to the adhesion characteristic empirical curve;

[0204] The load reduction adjustment subunit is used to adjust the control threshold and the load reduction slope in the load reduction operation according to the maximum creep rate, the maximum difference, and the maximum creep rate and the maximum difference corresponding to the adhesion characteristic experience curve during the load reduction operation.

[0205] From the above description, it can be seen that an embodiment of the present invention provides a locomotive adhesion control method and device based on a self-evaluation mechanism, and the corresponding locomotive adhesion control device based on the self-evaluation mechanism includes: a locomotive load unloading module, which is used to respond to a protection load unloading instruction to perform a load unloading operation on the locomotive, wherein the protection load unloading instruction is used to prevent the locomotive from idling and sliding; a load unloading self-evaluation module, which is used to self-evaluate the load unloading operation according to the motor torque and maximum creep speed of the locomotive before and after the load unloading operation to generate a self-evaluation result; a load unloading adjustment module, which is used to adjust the control threshold and load unloading slope in the load unloading operation according to the maximum creep rate, wheelset acceleration and locomotive acceleration during the load unloading operation when the self-evaluation result indicates that the load unloading operation needs to be adjusted.

[0206] The locomotive adhesion control device based on the self-evaluation mechanism provided in the embodiment of the present invention evaluates each idling control result during the adhesion control process. Specifically, firstly, by acquiring the wheel-rail adhesion characteristic features, the adhesion control effect of each time is comprehensively evaluated from aspects such as creep rate and load reduction ratio. Then, according to the evaluation result of the adhesion control, the control threshold and the load reduction slope are adaptively adjusted according to the wheelset creep rate and acceleration index, so that a more significant adhesion control effect can be obtained under complex and changeable wheel-rail conditions.

[0207] Embodiment five:

[0208] The embodiment of the present application also provides a specific implementation of an electronic device capable of implementing all steps in the locomotive adhesion control method based on the self-evaluation mechanism in the above embodiment, see Fig.14 , electronic equipment specifically includes the following:

[0209] Processor (processor) 1201, memory (memory) 1202, communication interface (CommunicationsInterface) 1203 and bus 1204;

[0210] The processor 1201, the memory 1202, and the communication interface 1203 communicate with each other through the bus 1204; the communication interface 1203 is used to realize information transmission between the server device and the client device and other related devices;

[0211] The processor 1201 is used to call the computer program in the memory 1202. When the processor executes the computer program, all steps in the locomotive adhesion control method based on the self-evaluation mechanism in the above embodiment are implemented. For example, when the processor executes the computer program, the following steps are implemented:

[0212] Step 100: In response to a protection load shedding instruction, perform a load shedding operation on the locomotive, wherein the protection load shedding instruction is used to prevent the locomotive from idling and sliding;

[0213] Step 200: performing a self-evaluation on the load shedding operation according to the motor torque and the maximum creep speed of the locomotive before and after the load shedding operation to generate a self-evaluation result;

[0214] Step 300: When the self-evaluation result indicates that the load shedding operation needs to be adjusted, the control threshold and load shedding slope in the load shedding operation are adjusted according to the maximum creep rate, wheelset acceleration and locomotive acceleration during the load shedding operation.

[0215] Embodiment six:

[0216] The embodiment of the present application also provides a computer-readable storage medium capable of implementing all the steps of the locomotive adhesion control method based on the self-evaluation mechanism in the above embodiment. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, all the steps of the locomotive adhesion control method based on the self-evaluation mechanism in the above embodiment are implemented. For example, when the processor executes the computer program, the following steps are implemented:

[0217] Step 100: In response to a protection load shedding instruction, perform a load shedding operation on the locomotive, wherein the protection load shedding instruction is used to prevent the locomotive from idling and sliding;

[0218] Step 200: performing a self-evaluation on the load shedding operation according to the motor torque and the maximum creep speed of the locomotive before and after the load shedding operation to generate a self-evaluation result;

[0219] Step 300: When the self-evaluation result indicates that the load shedding operation needs to be adjusted, the control threshold and load shedding slope in the load shedding operation are adjusted according to the maximum creep rate, wheelset acceleration and locomotive acceleration during the load shedding operation.

[0220] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the hardware + program embodiment, since it is basically similar to the method embodiment, the description is simpler, and the relevant parts can be referred to the partial description of the method embodiment.

[0221] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0222] Although the present application provides method operation steps such as embodiments or flow charts, more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in the embodiments is only one way of executing the order of many steps and does not represent the only execution order. When the actual device or client product is executed, it can be executed in the order of the method shown in the embodiments or the drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment).

[0223] For the convenience of description, the above devices are described in various modules according to their functions. Of course, when implementing the embodiments of this specification, the functions of each module can be implemented in the same or more software and / or hardware, or the module implementing the same function can be implemented by a combination of multiple sub-modules or sub-units. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0224] Those skilled in the art also know that, in addition to implementing the controller in a purely computer-readable program code, the controller can be made to implement the same function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered as a hardware component, and the devices for implementing various functions included therein can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules for implementing the method and structures within the hardware component.

[0225] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0226] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0227] Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is simpler, and the relevant parts can be referred to the partial description of the method embodiment. In the description of this specification, the description of the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of this specification. In this specification, the schematic representation of the above terms does not necessarily target the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0228] The above is only an example of the embodiment of the present specification and is not intended to limit the embodiment of the present specification. For those skilled in the art, the embodiment of the present specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiment of the present specification shall be included in the scope of the claims of the embodiment of the present specification.

Claims

1. A locomotive adhesion control method based on a self-evaluation mechanism, characterized in that: include: In response to a protection load shedding instruction, performing a load shedding operation on the locomotive, wherein the protection load shedding instruction is used to prevent the locomotive from idling and sliding; Performing a self-evaluation on the load shedding operation according to the motor torque and the maximum creep speed of the locomotive before and after the load shedding operation to generate a self-evaluation result; When the self-evaluation result indicates that the load shedding operation needs to be adjusted, the control threshold and load shedding slope in the load shedding operation are adjusted according to the maximum creep rate, wheelset acceleration and locomotive acceleration during the load shedding operation.

2. The locomotive adhesion control method according to claim 1, characterized in that: The load shedding operation is self-evaluated according to the motor torque and the maximum creep speed of the locomotive before and after the load shedding operation to generate a self-evaluation result, including: Determining an adhesion characteristic curve of the locomotive under a current working condition according to the motor torque of the locomotive before the load reduction operation; Comparing the adhesion characteristic curve in a pre-generated adhesion characteristic curve experience library to generate a comparison result, wherein the comparison result includes an adhesion characteristic experience curve that is closest to the adhesion characteristic curve under the current working condition of the locomotive; The self-evaluation result is generated according to the motor torque, the maximum creep speed and the comparison result of the locomotive before and after the load reduction operation.

3. The locomotive adhesion control method according to claim 2, characterized in that: Determining the adhesion characteristic curve of the locomotive under the current working condition according to the motor torque of the locomotive before the load reduction operation includes: generating a maximum adhesion coefficient of the locomotive wheel rail according to the motor torque of the locomotive before the load reduction operation; The adhesion characteristic curve is generated according to the maximum adhesion coefficient.

4. The locomotive adhesion control method according to any one of claims 2 to 3, characterized in that: The self-evaluation result is generated according to the motor torque, the maximum creep speed and the comparison result of the locomotive before and after the load reduction operation, including: generating a torque load reduction ratio of the locomotive motor according to the motor torque of the locomotive before and after the load reduction operation; The self-evaluation result is generated according to the torque reduction ratio, the maximum creep speed and the comparison result.

5. The locomotive adhesion control method according to claim 4, characterized in that: The self-evaluation result is generated according to the torque reduction ratio, the maximum creep speed and the comparison result, including: Determine the torque load reduction ratio and the maximum creep speed corresponding to the adhesion characteristic experience curve according to the comparison result; The self-evaluation result is generated according to the torque load reduction ratio and the maximum creep speed corresponding to the process of the load reduction operation and the torque load reduction ratio and the maximum creep speed corresponding to the adhesion characteristic experience curve.

6. The locomotive adhesion control method according to claim 2, characterized in that: The control thresholds include: a creep rate threshold and an acceleration threshold; According to the maximum creep rate, wheelset acceleration and locomotive acceleration during the load shedding operation, the control threshold and load shedding slope in the load shedding operation are adjusted, including: generating a maximum difference between the wheelset acceleration and the locomotive acceleration during the load shedding operation; A control threshold and a load reduction slope in the load reduction operation are adjusted according to the maximum creep rate and the maximum difference.

7. The locomotive adhesion control method according to claim 6, characterized in that: Adjusting a control threshold and a load reduction slope in the load reduction operation according to the maximum creep rate and the maximum difference includes: generating the maximum creep rate and the maximum difference corresponding to the adhesion characteristic empirical curve; The control threshold and the load reduction slope in the load reduction operation are adjusted according to the maximum creep rate, the maximum difference, and the maximum creep rate and the maximum difference corresponding to the adhesion characteristic experience curve during the load reduction operation.

8. A locomotive adhesion control device based on a self-evaluation mechanism, characterized in that: include: A locomotive load reduction module, used to perform a load reduction operation on the locomotive in response to a protection load reduction instruction, wherein the protection load reduction instruction is used to prevent the locomotive from idling and sliding; A load shedding self-evaluation module, used to perform a self-evaluation on the load shedding operation according to the motor torque and the maximum creep speed of the locomotive before and after the load shedding operation to generate a self-evaluation result; The load shedding adjustment module is used to adjust the control threshold and load shedding slope in the load shedding operation according to the maximum creep rate, wheelset acceleration and locomotive acceleration during the load shedding operation when the self-evaluation result indicates that the load shedding operation needs to be adjusted.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the locomotive adhesion control method based on the self-evaluation mechanism described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the locomotive adhesion control method based on the self-evaluation mechanism described in any one of claims 1 to 7 are implemented.

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