Adhesion control effect evaluation method, device, storage medium, and program product

Abstract

The present disclosure relates to the technical field of control of rail transit vehicles, and particularly relates to a method, device, storage medium and computer program for evaluating adhesion control effect, the method comprising: obtaining torque adjustment, maximum creep speed, maximum acceleration and maximum deceleration in a target control period; detecting whether the four indexes are within corresponding preset ranges; if the four indexes are within corresponding preset ranges, determining that instantaneous adhesion control effect reaches expectation; obtaining average creep speed and adhesion utilization coefficient in multiple target control periods; when the average creep speed and the adhesion utilization coefficient are within corresponding preset ranges, determining that overall adhesion control effect reaches expectation; when the instantaneous adhesion control effect and the overall adhesion control effect both reach expectation, determining that adhesion control effect reaches expectation. The method improves the comprehensiveness and reliability of adhesion control effect evaluation, and solves the problem that calculation of rail transit vehicles without absolute vehicle speed is easy to be distorted.

Description

Technical Field

[0001] This disclosure relates to the field of control technology for rail transit vehicles, and in particular to a method, device, storage medium, and program product for evaluating the effect of adhesion control. Background Technology

[0002] When the rail surface is exposed to natural weather conditions such as rain or snow, or when there are foreign objects on its surface, the adhesion coefficient of the rail surface or road surface decreases, and the vehicle is prone to wheel spin during operation. The problem that adhesion control in the rail transit field needs to solve is to quickly suppress wheel spin when wheel spin occurs, so as to avoid damage to the wheel and rail and ensure vehicle power.

[0003] In practical applications, the actual wheel-rail adhesion conditions cannot be predicted in advance. When adhesion control detects slippage, adjusting the traction force can eventually suppress it. However, how to confirm whether adhesion control has effectively suppressed slippage in a timely manner, whether the traction force adjustment is appropriate, and how to determine whether the adhesion control is at an optimal level are all questions that are currently commonly addressed by calculating the adhesion utilization efficiency, which is expressed as the ratio of the actual vehicle acceleration integral value to the integral value of the vehicle acceleration outer envelope. The specific calculation method is as follows:

[0004]

[0005] However, this representation method is prone to calculation distortion for rail transit vehicles without absolute vehicle speed. Furthermore, this computational representation method is affected by adhesion control parameters and cannot effectively represent adhesion utilization under various conditions. Summary of the Invention

[0006] This disclosure provides a method, device, storage medium, and program product for evaluating the effect of adhesion control, in order to solve the problem that the existing method of calculating adhesion utilization efficiency to evaluate whether adhesion control is in an optimal state is prone to distortion, especially for rail transit vehicles without absolute vehicle speed. This method more effectively characterizes the adhesion utilization under various conditions.

[0007] Firstly, this disclosure provides a method for evaluating the effectiveness of adhesion control, including:

[0008] Acquire the target torque adjustment, target maximum creep speed, target maximum acceleration, and target maximum deceleration within the target control cycle during idling control;

[0009] The detection measures whether the target maximum creep speed is within a first preset range, whether the target maximum acceleration is within a second preset range, whether the target maximum deceleration is within a third preset range, and whether the target torque adjustment is within a fourth preset range.

[0010] When all of the above test results are yes, it is determined that the instantaneous adhesion control effect has achieved the expected result.

[0011] Obtain the average creep velocity and adhesion utilization coefficient within multiple target control cycles;

[0012] Detect whether the average creep speed is within a fifth preset range and whether the adhesion utilization coefficient is within a sixth preset range;

[0013] When all of the above test results are yes, it is determined that the overall adhesion control effect has reached the expected level.

[0014] When the instantaneous adhesion control effect and the overall adhesion control effect both reach the expected level, it is determined that the adhesion control effect has reached the expected level.

[0015] In one embodiment, after the steps of detecting whether the target maximum creep velocity is within a first preset range, whether the target maximum acceleration is within a second preset range, whether the target maximum deceleration is within a third preset range, and whether the target torque adjustment is within a fourth preset range, the method further includes:

[0016] If at least one of the detection results corresponding to the target maximum creep velocity, target maximum acceleration, target maximum deceleration, and target torque adjustment is negative, it is determined that the instantaneous adhesion control effect has not met expectations.

[0017] In one embodiment, after the steps of detecting whether the average creep speed is within a fifth preset range and whether the adhesion utilization coefficient is within a sixth preset range, the method further includes:

[0018] If at least one of the detection results corresponding to the average creep velocity and the adhesion utilization coefficient is negative, it is determined that the overall adhesion control effect has not met expectations.

[0019] In one embodiment, after determining that the overall adhesion control effect has not met expectations, the method further includes:

[0020] The first preset range, the second preset range, the third preset range, and the fourth preset range are adjusted according to the average creep speed and the adhesion utilization coefficient, so that the average creep speed is within the fifth preset range and the adhesion utilization coefficient is within the sixth preset range.

[0021] In one embodiment, the step of obtaining the average creep velocity and adhesion utilization coefficient within a plurality of target control cycles includes the following calculation process for the adhesion utilization coefficient:

[0022] The motor torque during idling is obtained in multiple control cycles, and the maximum single idling torque in each control cycle among the multiple motor torques is determined.

[0023] Integrating the torques of the multiple motors yields the first integral torque;

[0024] Integrating the multiple single-cycle maximum torques, a second integral torque is obtained;

[0025] The adhesion utilization coefficient is obtained based on the ratio of the first integral torque to the second integral torque.

[0026] In one embodiment, in the step of integrating the torques of the plurality of motors to obtain a first integral torque, the first integral torque is calculated according to the following formula:

[0027] T add1 =T add1 +(T1 i +T1 i+1 ) / 2

[0028] Among them, T add1 For the first integral torque, T1 i T1 i+1 The initial torque T represents the motor torque in any two adjacent control cycles. add1 It is 0.

[0029] Secondly, this disclosure provides an adhesion control effect evaluation device, comprising:

[0030] The first acquisition module is used to acquire the target torque adjustment, target maximum creep speed, target maximum acceleration, and target maximum deceleration within the target control cycle in idling control.

[0031] The first detection module is used to detect whether the target maximum creep speed is within a first preset range, whether the target maximum acceleration is within a second preset range, whether the target maximum deceleration is within a third preset range, and whether the target torque adjustment amount is within a fourth preset range.

[0032] The first determining module is used to determine that the instantaneous adhesion control effect has reached the expected level when all of the above detection results are yes.

[0033] The second acquisition module is used to acquire the average creep speed and adhesion utilization coefficient within multiple target control cycles;

[0034] The second detection module is used to detect whether the average creep speed is within a fifth preset range and whether the adhesion utilization coefficient is within a sixth preset range.

[0035] The second determining module is used to determine that the overall adhesion control effect has reached the expected level when all of the above detection results are yes.

[0036] The effect determination module is used to determine that the adhesion control effect has reached the expected level when both the instantaneous adhesion control effect and the overall adhesion control effect have reached the expected level.

[0037] Thirdly, this disclosure provides a computer device including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the foregoing aspects.

[0038] Fourthly, this disclosure provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the methods described in the above aspects.

[0039] Fifthly, this disclosure provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the methods described in the foregoing aspects.

[0040] This disclosure provides a method, device, storage medium, and program product for evaluating adhesion control effectiveness. The method uses the maximum / minimum creep speed to measure the final degree of creep and confirm the wheel-rail adhesion state's final location within the adhesion characteristic region. The maximum / minimum acceleration measures the drastic change in wheel-rail adhesion characteristics during idling. The maximum / minimum deceleration measures the appropriateness of traction load reduction. The torque adjustment determines whether the adhesion control is too sensitive or too lagging. The method comprehensively measures the single-cycle adhesion control effectiveness from four perspectives: maximum / minimum creep speed, maximum / minimum acceleration, maximum / minimum deceleration, and torque adjustment. When the control conditions of all four perspectives meet the corresponding preset standards, the instantaneous adhesion control process is considered to have achieved the expected effect. Subsequently, the average creep speed and adhesion utilization coefficient over multiple target control cycles are used to further determine the overall control effect. The final adhesion control effect is determined by combining the instantaneous adhesion control effect and the overall adhesion control effect. The proposed solution, by determining the instantaneous adhesion control effect, can better confirm whether the adhesion control effectively and timely suppresses idling, whether the traction adjustment is appropriate, and whether the adhesion control is at a superior control level, which helps to adjust the control parameters more effectively. Furthermore, by confirming the quality of the adhesion control effect through the overall adhesion control effect, the comprehensiveness and reliability of the adhesion control effect evaluation are improved, and the problem of calculation distortion for rail transit vehicles without absolute vehicle speed is mitigated, thus more effectively characterizing the adhesion utilization under various conditions. Attached Figure Description

[0041] The present disclosure will be described in more detail below based on embodiments and with reference to the accompanying drawings:

[0042] Figure 1 A flowchart illustrating an adhesion control effect evaluation method provided in this embodiment of the present disclosure;

[0043] Figure 2 A schematic diagram of adhesion characteristics provided in an embodiment of this disclosure;

[0044] Figure 3 A schematic diagram of an actual torque integration method provided in an embodiment of this disclosure;

[0045] Figure 4 This is a structural block diagram of an adhesion control effect evaluation device provided in an embodiment of the present disclosure.

[0046] In the accompanying drawings, the same parts are referred to by the same reference numerals, and the drawings are not drawn to scale. Detailed Implementation

[0047] To enable those skilled in the art to better understand the technical solutions of this disclosure, and to fully understand and implement the process of how this disclosure applies technical means to solve technical problems and achieve corresponding technical effects, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, not all embodiments. The embodiments of this disclosure and the various features within them can be combined with each other without conflict, and the resulting technical solutions are all within the protection scope of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort should fall within the protection scope of this disclosure.

[0048] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0049] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0050] Adhesion characteristics refer to the ability of a wheel and rail to maintain an adhesive state during traction or braking. Within the stable region of adhesion characteristics, the wheel and rail can maintain a good adhesive relationship, achieving effective traction or braking. Typically, wheel-rail adhesion characteristics vary depending on different weather conditions and wheel-rail conditions. Figure 2 As shown, taking a dry and clean rail surface as an example, its adhesion characteristics are generally as follows: Figure 2 As shown in the adhesion characteristic curve 1, the maximum adhesion coefficient is relatively large, the optimal creep degree is relatively small, and after the creep degree exceeds the optimal creep degree, the adhesion coefficient decreases rapidly with the increase of creep degree. Taking wet and slippery rail surfaces in rainy and snowy weather as an example, its adhesion characteristics are shown in the adhesion characteristic curve 3 above: the maximum adhesion coefficient is relatively small, the optimal creep degree is relatively large, and after the creep degree exceeds the optimal creep degree, the adhesion coefficient decreases relatively slowly with the increase of creep degree. If there are methods such as sand spreading to improve wheel-rail adhesion conditions in rainy and snowy weather, its adhesion characteristics are generally as shown in the adhesion characteristic curve 2 above, which is between the adhesion characteristics of dry rail and the adhesion characteristics in rainy and snowy weather.

[0051] The region to the left of the adhesion characteristic's extreme point is the stable region, where the adhesion coefficient increases with increasing creep. The region to the right of the adhesion characteristic's extreme point is the unstable region, where the adhesion coefficient decreases with increasing creep speed. If adhesion control is too sensitive, it may judge wheel slippage as occurring while the adhesion characteristic is still within the stable region. This leads to the inability to reuse the wheel-rail adhesion limit. In other words, the control system incorrectly judges wheel slippage as occurring when the wheel-rail adhesion characteristic is still in the stable region, thus reducing torque output before reaching the wheel-rail adhesion limit. This prevents full utilization of the adhesion between the wheel and rail, resulting in reduced traction or braking efficiency and accelerated wear on the wheels and rails.

[0052] When adhesion control is too slow, and slippage is only initiated after the adhesion characteristics have already entered the unstable region, slippage will continue to develop. Slippage causes a sharp decrease in friction between the wheels and the rails, resulting in rapid wheel rotation with almost no traction or braking force. This leads to significant loss of traction / braking force, which may prevent the train from reaching its destination on time.

[0053] Therefore, accurately determining the sensitivity or sluggishness of adhesion control can provide important guidance for the design of control systems. Based on the determination, the parameters and algorithms of the control system can be adjusted to make the control system more adaptable to changes in adhesion characteristics under different operating environments and conditions, thereby improving the adaptability and robustness of the control system.

[0054] Example 1

[0055] Figure 1 This is a flowchart illustrating a method for evaluating adhesion control effectiveness provided in an embodiment of this disclosure. Figure 1As shown, a method for evaluating the effectiveness of adhesion control includes:

[0056] Step 110: Obtain the target torque adjustment, target maximum creep speed, target maximum acceleration, and target maximum deceleration within the target control cycle during idling control.

[0057] In this embodiment, the maximum creep speed refers to the maximum speed difference that can be achieved by the creep phenomenon between the wheel and the rail. It can measure the final degree of creep and confirm the position of the wheel-rail adhesion state in the region of adhesion characteristics.

[0058] Maximum acceleration refers to the maximum acceleration achievable in creep control, and it measures the drastic change in wheel-rail adhesion characteristics when slippage occurs. With constant traction, adhesion decreases as creep speed increases; the faster the adhesion decreases, the greater the maximum acceleration.

[0059] The maximum deceleration refers to the maximum deceleration achievable during braking in creep control, and it measures whether the traction force reduction is appropriate. When the traction force is reduced to less than the adhesion force, the wheelset acceleration becomes negative, which is the deceleration. The greater the deceleration, the greater the relative reduction in traction force.

[0060] The torque adjustment amount can be used to evaluate whether the torque adjustment before and after idling is up to standard. According to the adhesion characteristics, if the torque adjustment amount is very small, the control may be too sensitive; if the torque adjustment range is very large, the control may be too lagging.

[0061] Maximum and minimum creep speed, maximum and minimum acceleration, maximum and minimum deceleration, and torque adjustment can serve as direct bases for adjusting control parameters. Analyzing the maximum and minimum creep speed reveals the adhesion state between the wheel and the rail, allowing for optimization of traction and braking strategies and reducing the likelihood of wheel spin or skidding. Maximum and minimum acceleration and deceleration provide direct feedback on wheel dynamic performance, helping to adjust acceleration and deceleration control thresholds to better adapt to different road conditions and load conditions. Precise control of torque adjustment ensures that the traction motor's torque output matches the wheel's adhesion state, thereby improving system stability and safety. In the event of spin or skidding, timely and accurate torque adjustment helps to quickly restore normal adhesion between the wheel and the rail, reducing safety risks associated with spin or skidding.

[0062] Therefore, determining the target maximum creep speed, target maximum acceleration, target maximum deceleration, and target torque adjustment during each idling control process helps to adjust control parameters more accurately, improve system stability, enhance operating efficiency, and better adapt to actual conditions for flexible adjustments.

[0063] Step 120: Detect whether the target maximum creep speed is within a first preset range, whether the target maximum acceleration is within a second preset range, whether the target maximum deceleration is within a third preset range, and whether the target torque adjustment amount is within a fourth preset range;

[0064] In actual adhesion control, the adhesion conditions between the wheel and rail are affected by various factors, such as the cleanliness of the rail, the roughness of the wheel and rail surfaces, humidity, and temperature. When these conditions change, the adhesion force between the wheel and rail will also change accordingly. This can result in situations where the actual maximum creep speed (target maximum creep speed) exceeds the theoretical maximum creep speed, the actual maximum acceleration (target maximum acceleration) exceeds the theoretical maximum acceleration, and the actual maximum deceleration (target maximum deceleration) is lower than the theoretical maximum deceleration. By capturing the changes in creep speed and acceleration in real time and comparing them with the theoretically calculated maximum creep speed, maximum acceleration, and maximum deceleration, the instantaneous creep control state can be grasped more accurately, and thus the instantaneous creep control state can be adjusted more precisely.

[0065] Based on the above objectives, by comprehensively comparing the differences between the target maximum creep velocity and the theoretical maximum creep velocity, the differences between the target maximum acceleration and the theoretical maximum acceleration, the differences between the target maximum deceleration and the theoretical maximum deceleration, and the differences between the target torque adjustment and the theoretical torque adjustment, we can more effectively characterize the adhesion utilization under various conditions and more accurately grasp the state of instantaneous creep control.

[0066] In this embodiment, the first preset range defines the maximum and minimum values ​​of the extreme creep speed. When the target extreme creep speed is within the first preset range, it indicates that the control of the extreme creep speed meets expectations. Similarly, the second preset range defines the range of variation (fluctuation) of the extreme acceleration, the third preset range defines the range of variation (fluctuation) of the extreme deceleration, and the fourth preset range defines the maximum and minimum values ​​of the torque adjustment. It is understood that when the extreme creep speed is within its preset range, it indicates that the adhesion between the wheel and rail is stable and acceptable. At this time, if the extreme acceleration is within the preset range, it indicates that the idling process is relatively timely, without prolonged violent idling or erroneous load reduction. Similarly, when the extreme deceleration is within its preset range, it indicates that the torque reduction is appropriate, without excessive or erroneous load reduction. When the torque adjustment is within the fourth preset range corresponding to the preset adjustment range, the vehicle's adhesion control does not exhibit excessive sensitivity or excessive sluggishness.

[0067] By setting specific thresholds (i.e., the first preset range, the second preset range, the third preset range, and the fourth preset range) for the extreme creep speed, extreme acceleration, extreme deceleration, and torque adjustment, the adhesion control system can achieve good control of various indicators during operation and remain in a state of precise control. This avoids the problem in existing technologies where the method of calculating adhesion utilization efficiency by only using the ratio of the actual vehicle acceleration integral value to the vehicle acceleration envelope integral value cannot grasp the changes in real-time creep speed and real-time acceleration during the adhesion control process. This enables a more comprehensive evaluation of the adhesion control process, and the instantaneous state of creep speed, real-time acceleration, etc., can be used to determine whether there are system fluctuations or control errors caused by external interference during the control process.

[0068] Step 130: When all the above test results are yes, it is determined that the instantaneous adhesion control effect has reached the expected level.

[0069] In this embodiment, only when the detection results of the target maximum creep velocity within the first preset range, the target maximum acceleration within the second preset range, the target maximum deceleration within the third preset range, and the target torque adjustment within the fourth preset range are all true, it indicates that the instantaneous adhesion control effect has reached the expected level and all aspects of the control effect are in an ideal state.

[0070] Step 140: Obtain the average creep velocity and adhesion utilization coefficient within multiple target control cycles;

[0071] In this embodiment, the process of detecting whether the overall adhesion control degree during the idling control process reaches the preset control range by using the average creep speed and adhesion utilization coefficient is similar to comparing whether the target maximum creep speed is within the first preset range in the above embodiment. The fifth preset range limits the maximum and minimum values ​​of the average creep speed, and the sixth preset range limits the maximum and minimum values ​​of the adhesion utilization coefficient.

[0072] Step 150: Detect whether the average creep speed is within a fifth preset range and whether the adhesion utilization coefficient is within a sixth preset range;

[0073] In this embodiment, by comprehensively considering the average creep speed and the adhesion utilization coefficient, the effectiveness of the overall adhesion control during idling control can be evaluated more comprehensively and accurately. By setting specific preset ranges (the fifth and sixth preset ranges), the control process becomes more precise, and the system is easier to adjust and optimize according to actual conditions. For example, under different operating environments and load conditions, the system performance can be optimized by adjusting the preset ranges. At the macro level, this embodiment uses the average creep speed and the adhesion utilization coefficient to detect whether the overall adhesion control during idling control has reached the preset control range. Only when all parameters simultaneously meet the preset conditions does the system determine that the overall adhesion control has achieved the expected effect, helping to ensure the high performance and stability of the system.

[0074] Step 160: When all the above test results are yes, it is determined that the overall adhesion control effect has reached the expected level.

[0075] In this embodiment, the system determines that the overall adhesion control has achieved the expected effect only when the average creep speed is within the fifth preset range and the adhesion utilization coefficient is within the sixth preset range.

[0076] Step 170: When the instantaneous adhesion control effect reaches the expected level and the overall adhesion control effect reaches the expected level, it is determined that the adhesion control effect has reached the expected level.

[0077] Typically, the first, second, third, and fourth preset ranges are set based on experience, which can lead to imprecise settings and affect the accuracy of the instantaneous adhesion control effect. For example, the instantaneous adhesion control effect may meet expectations, but the overall adhesion control effect may not be up to standard. Therefore, in this embodiment, a dual-judgment approach is adopted to improve the accuracy of the adhesion control effect evaluation. At the microscopic level, the control effect within a single adhesion control cycle is evaluated by acquiring the torque adjustment before and after idling, the real-time creep speed within the target control cycle during idling control, and the real-time acceleration. Furthermore, at the macroscopic level, the average creep speed and adhesion utilization coefficient are used to detect whether the overall adhesion control degree during idling control reaches the preset control range, thereby determining the quality of the adhesion control effect.

[0078] In summary, the adhesion control effect evaluation method, device, storage medium, and program product provided in this embodiment can measure the final degree of creep by using the maximum creep speed to confirm the wheel-rail adhesion state at the final location of the adhesion characteristic region; the maximum acceleration can measure the drastic change in wheel-rail adhesion characteristics when idling occurs; the maximum deceleration can measure whether the traction load reduction is appropriate; and the torque adjustment amount can determine whether the adhesion control is too sensitive or too lagging. The single adhesion control effect is measured from four perspectives: maximum creep speed, maximum acceleration, maximum deceleration, and torque adjustment amount. When the control conditions of all four perspectives meet the corresponding preset standards, the instantaneous adhesion control process is considered to have achieved the expected effect. Then, the average creep speed and adhesion utilization coefficient within multiple target control cycles are used to further determine the overall control effect. The final adhesion control effect is determined by combining the instantaneous adhesion control effect and the overall adhesion control effect. The proposed solution, by determining the instantaneous adhesion control effect, can better confirm whether the adhesion control effectively and timely suppresses idling, whether the traction adjustment is appropriate, and whether the adhesion control is at a superior control level, which helps to adjust the control parameters more effectively. Furthermore, by confirming the quality of the adhesion control effect again through the overall adhesion control effect, the comprehensiveness and reliability of the adhesion control effect evaluation are improved, solving the problem of calculation distortion for rail transit vehicles without absolute vehicle speed, and more effectively characterizing the adhesion utilization under various conditions.

[0079] Example 2

[0080] Based on the above embodiments, after the steps of detecting whether the target maximum creep speed is within a first preset range, whether the target maximum acceleration is within a second preset range, whether the target maximum deceleration is within a third preset range, and whether the target torque adjustment amount is within a fourth preset range, the method further includes: when at least one of the detection results corresponding to the target maximum creep speed, target maximum acceleration, target maximum deceleration, and target torque adjustment amount is negative, it is determined that the instantaneous adhesion control effect has not met expectations.

[0081] In this embodiment, if any of the target maximum creep velocity, target maximum acceleration, target maximum deceleration, and target torque adjustment exceeds the corresponding preset range, the instantaneous adhesion control effect is determined to be unsatisfactory. For example, if the target maximum deceleration is lower than the lower limit of the third preset range, the instantaneous adhesion control effect is determined to be too slow; if the target torque adjustment is higher than the upper limit of the fourth preset range, the instantaneous adhesion control effect is determined to be too sensitive.

[0082] Excessive creep speed, acceleration, and deceleration can lead to system instability and even danger. For example, excessive acceleration or deceleration may damage the vehicle structure or affect passenger comfort. Inappropriate torque adjustment can cause unstable power output, affecting the normal operation of the vehicle or system. Setting multiple parameters to meet standards simultaneously increases the precision required for system control, contributing to the efficient and stable operation of the vehicle system.

[0083] Example 3

[0084] Based on the above embodiments, after the steps of detecting whether the average creep speed is within a fifth preset range and whether the adhesion utilization coefficient is within a sixth preset range, the method further includes: when at least one of the detection results corresponding to the average creep speed and the adhesion utilization coefficient is negative, it is determined that the overall adhesion control effect has not met expectations.

[0085] In this embodiment, if either the average creep speed or the adhesion utilization coefficient is outside the corresponding preset range, it is determined that the overall adhesion control effect has not met expectations.

[0086] Average creep speed and adhesion utilization coefficient each reflect different aspects of adhesion control effectiveness. Average creep speed reflects the relative slippage between the wheel and the track or ground, and is an important indicator for evaluating vehicle operational stability and traction efficiency. Adhesion utilization coefficient is directly related to the adhesion state between the wheel and the ground, determining whether the wheel can fully utilize the friction provided by the ground. If the average creep speed is too high, it may cause wheel slippage, increasing safety risks; if it is inappropriate, it may lead to unstable power output or even damage to system components; while an insufficient adhesion utilization coefficient means that the friction between the wheel and the ground is not fully utilized, which may result in insufficient traction or poor braking performance. Therefore, only when all three parameters are met can the overall system performance be improved.

[0087] Example 4

[0088] Based on the above embodiments, after determining that the overall adhesion control effect has not met expectations, the method further includes: adjusting the first preset range, the second preset range, the third preset range, and the fourth preset range according to the average creep speed and the adhesion utilization coefficient, so that the average creep speed is within the fifth preset range and the adhesion utilization coefficient is within the sixth preset range.

[0089] In this embodiment, the first preset range, the second preset range, the third preset range, and / or the fourth preset range are adjusted using the detection results of the average creep speed and the adhesion utilization coefficient. For example:

[0090] If the adhesion utilization coefficient is high but does not exceed the upper limit of the sixth preset range, it indicates that the overall control effect is relatively good, but there is a possibility that the idling judgment is too sensitive. If the average creep speed is lower than the lower limit of the fifth preset range, it indicates that the idling phenomenon is not obvious and the control is too sensitive. Correspondingly, the fluctuation range of the extreme creep speed (or the upper and lower limits of the first preset range), the fluctuation range of the extreme acceleration (the upper and lower limits of the second preset range), or the fluctuation range of the torque adjustment (the upper and lower limits of the fourth preset range) can be increased to correct the evaluation parameters of the instantaneous adhesion control effect. If the average creep speed exceeds the upper limit of the fifth preset range, the upper and lower limits of the first, second, and fourth preset ranges should be decreased.

[0091] If the adhesion utilization coefficient is low, it indicates that the overall control effect is poor. If the average creep speed is higher than the upper limit, the idling suppression effect is poor, and the upper and lower limits of the first, second, third, and fourth preset ranges should be reduced. If the average creep speed is lower than the lower limit, the upper and lower limits of the third preset range should be increased, that is, the fluctuation range of the maximum and minimum deceleration should be expanded.

[0092] Based on the fuzzy rule-based judgment logic, the following processing result is obtained:

[0093] (κ 11 ,κ 22 )=f(η,S ave )

[0094] Among them, κ 11min <κ 11 <κ 11max ,0<κ 11min <1,1<κ 11max <2, η is the adhesion utilization coefficient, S ave This represents the average creep velocity. According to κ... 11 The upper and lower limits of the first preset range, the second preset range, and the fourth preset range are adjusted.

[0095] Among them, κ 22min <κ 22 <κ 22max ,0<κ 22min <1、1<κ 22max <2. According to κ 22 The value adjusts the upper and lower limits of the third preset range.

[0096] Example 5

[0097] Based on the above embodiments, after determining that the instantaneous adhesion control effect has not reached the expected level when at least one of the detection results corresponding to the target maximum creep speed, target maximum acceleration, target maximum deceleration, and target torque adjustment amount is negative, the method further includes: adjusting the adhesion control parameters so that the target maximum creep speed is within the first preset range, the target maximum acceleration is within the second preset range, the target maximum deceleration is within the third preset range, and the target torque adjustment amount is within the fourth preset range, wherein the adhesion control parameters include at least one of motor acceleration threshold, creep speed threshold, unloading slope, and loading slope.

[0098] In this embodiment, the control parameters are adjusted based on the values ​​of the target maximum / minimum creep speed, target maximum / minimum acceleration, target maximum / minimum deceleration, and target torque adjustment. For example:

[0099] The torque adjustment amount, maximum and minimum creep speed, and maximum and minimum acceleration are used to determine the sensitivity of the idling detection threshold. If the target torque adjustment amount is lower than the lower limit of the fourth preset range, it is necessary to consider whether the idling detection threshold is too sensitive. Further, the sensitivity of the idling detection threshold is judged based on the target maximum and minimum creep speed and the target maximum and minimum acceleration: if either the target maximum and minimum creep speed or the target maximum and minimum acceleration is lower than the lower limit of the corresponding preset range, it can be determined that the idling detection threshold is too sensitive and the idling detection threshold needs to be increased.

[0100] If the target torque adjustment is higher than the upper limit of the fourth preset range, it is necessary to consider whether there is a problem of slow idling judgment threshold. Further, based on the target maximum creep speed and target maximum acceleration, it is necessary to comprehensively judge whether the idling judgment threshold is slow: if there is a case where the target maximum creep speed or target maximum acceleration is higher than the lower limit of the corresponding preset range, it can be judged that the idling judgment threshold is too sensitive and the idling judgment threshold needs to be reduced.

[0101] Based on the fuzzy rule-based judgment logic, the following processing result is obtained:

[0102] κ1=f(γ,S max ,a max )

[0103] Among them, κ 1min <κ1<κ 1max ,0<κ 1min <1,1<κ 1max <2, γ is the target torque adjustment amount, S max Let a be the target maximum creep velocity. max The target is the maximum acceleration. The idling threshold is adjusted according to the κ1 value.

[0104] The target torque adjustment, target maximum / minimum deceleration, and target maximum / minimum creep speed are used to determine whether the load reduction slope is appropriate. If the target torque adjustment is higher than the corresponding upper limit, the appropriateness of the load reduction slope is judged based on a combination of the target maximum / minimum creep speed and target maximum / minimum deceleration. If both the target maximum / minimum creep speed and the target maximum / minimum deceleration exceed the corresponding upper limit, the load reduction slope is considered too low, failing to suppress idling in time, resulting in a large target maximum / minimum creep speed and significant loss of traction. If the target maximum / minimum creep speed is lower than the corresponding upper limit and the target maximum / minimum deceleration exceeds the corresponding upper limit, the load reduction slope is considered too high, with little idling but excessive traction reduction. Based on the fuzzy rule-based judgment logic, the following processing results are obtained:

[0105] κ2=f(γ,S max ,a min )

[0106] Among them, κ 2min <κ2<κ 2max ,0<κ 2min <1,1<κ 2max <2,a min The target is the maximum deceleration. The unloading slope is adjusted according to the κ2 value.

[0107] Example 6

[0108] Based on the above embodiments, in the step of obtaining the average creep velocity and adhesion utilization coefficient within multiple target control cycles, the calculation process of the adhesion utilization coefficient includes:

[0109] The motor torque during idling is obtained in multiple control cycles, and the maximum single idling torque in each control cycle among the multiple motor torques is determined.

[0110] Integrating the torques of the multiple motors yields the first integral torque;

[0111] Integrating the multiple single-cycle maximum torques, a second integral torque is obtained;

[0112] The adhesion utilization coefficient is obtained based on the ratio of the first integral torque to the second integral torque.

[0113] In this embodiment, if more than N consecutive instances of idling occur within a certain time T1, it is determined that continuous idling has occurred. The system starts timing and acquires the real-time creep speed and motor torque during multiple control cycles in the idling process. The number of control cycles is counted to obtain t. counter And accumulate the real-time creep velocity value to obtain S add The average creep velocity S is obtained from the average formula. ave =S add / tcounter .

[0114] The calculation process for the first integral torque is as follows:

[0115] Obtain the motor torque T during multiple control cycles in the idling process. 1i (i = 1, 2, 3...), the motor torque T in each control cycle 1i By summing (or integrating), the first integral torque T is obtained. add1 .

[0116] Specific T add1 The accumulation process is as follows:

[0117] like Figure 3 As shown, T is calculated using a two-point integration method based on the actual torque sampled in each control cycle. add1 :

[0118] Initial time T add1 =0;

[0119] T add1 =T add1 +(T1 i +T1 i+1 ) / 2

[0120] The calculation process for the second integral torque is as follows:

[0121] 1. Within the statistical time period, calculate the maximum actual torque T for each idle cycle. 2_i The second integral torque T is obtained by accumulating the results using the two-point integration method described above. 2_add ; Obtain the number of cycles n between two consecutive maximum torque values. i ,like Figure 2 As shown, the average value of the upper limit of the actual torque T is calculated according to the following method. 2_ave :

[0122] Initial time T add2 =0;

[0123] T add2 =T add2 +(T2 i +T2 i+1 )·n i / 2;

[0124] Finally, the adhesion utilization coefficient η is obtained according to the following formula:

[0125]

[0126] The adhesion utilization coefficient is an indicator that measures the degree of adhesion utilization between the locomotive and the rail during actual operation. By integrating the motor torque, the total torque accumulated by the motor over a period of time can be obtained. This total reflects the adhesion utilization between the locomotive and the rail during actual operation. During idling control, the adhesion state between the locomotive and the rail changes dynamically. By integrating the torque in each control cycle, this dynamic change can be captured more accurately.

[0127] Example 7

[0128] Based on the above embodiments, this embodiment provides an application example.

[0129] To better measure the effectiveness of adhesion control, an online adhesion control evaluation system is established, which evaluates the effectiveness of adhesion control by considering both instantaneous and comprehensive results, and provides guidance for the optimization and improvement of adhesion control.

[0130] I. Evaluation of Instantaneous Results

[0131] Instantaneous result evaluation measures the single-shot adhesion control effect from the perspectives of maximum creep velocity, maximum acceleration, maximum deceleration, and torque adjustment.

[0132] Maximum creep velocity S max This can measure the final degree of creep and confirm the location of the wheel-rail adhesion state in the final region of adhesion characteristics;

[0133] Maximum acceleration a max This can measure the drastic change in wheel-rail adhesion characteristics when slippage occurs. With constant traction, adhesion decreases as creep speed increases; the faster the adhesion decreases, the greater the maximum acceleration.

[0134] Maximum and minimum deceleration a min This can be used to measure whether the traction load reduction is appropriate. When the traction load is reduced, the traction force is less than the adhesion force, and the wheelset acceleration is negative, which is the deceleration. The greater the deceleration, the greater the relative load reduction of the traction force.

[0135] The torque adjustment amount γ is represented by the ratio of the difference between the motor torque before idling (before unloading) and the motor torque after idling is eliminated (after unloading) to the motor torque before idling. Based on adhesion characteristics, a very small torque adjustment may result in overly sensitive control; a very large torque adjustment may result in overly lagging control.

[0136] By recording the maximum and minimum creep speed, maximum and minimum acceleration, maximum and minimum deceleration, and torque adjustment during each idling control process, the quality of adhesion control during this idling process can be comprehensively evaluated.

[0137] 1.1 The online recording process is as follows:

[0138] (1) Under normal operation, when there is no idling, the motor torque T before idling occurs. m1 After the idling is eliminated, the motor torque T m2 Maximum creep velocity S max Maximum and minimum acceleration a max Maximum and minimum deceleration a min Both the torque adjustment value γ and 0.

[0139] (2) When idling is detected, record the torque T of the first motor before idling occurs. m1 .

[0140] (3) During the idling control process, the current creep speed S is recorded in real time according to the control cycle. t (Real-time creep speed), determine the maximum / minimum creep speed S max With S t The size relationship, if S max t Then S max =S t Otherwise S max It remains unchanged.

[0141] (4) During the idling control process, the current acceleration a is recorded in real time according to the control cycle. t (i.e., real-time acceleration), determine the maximum and minimum acceleration a max With a t The size relationship, if a max t Then a max =a t Otherwise a max It remains unchanged. Determine the extreme value of the deceleration 'a'. min With a t The size relationship, if a min >a t Then a min =a t Otherwise a min It remains unchanged.

[0142] (5) After the idling is eliminated, record the torque T of the second motor after the idling is eliminated. m2 The torque adjustment amount is calculated according to the following formula:

[0143]

[0144] 1.2 The control evaluation process is as follows:

[0145] (1) Establish evaluation indicators. Establish evaluation indicators for each parameter and set upper and lower limits.

[0146] ​​ parameter Upper limit lower limit value <![CDATA[S max ]]> <![CDATA[S2]]> <![CDATA[S1]]> <![CDATA[a max ]]> <![CDATA[a max2 ]]> <![CDATA[a max1 ]]> <![CDATA[a min ]]> <![CDATA[a min2 ]]> <![CDATA[a min1 ]]> γ <![CDATA[γ2]]> <![CDATA[γ1]]>

[0147] The torque adjustment amount, maximum and minimum creep speed, and maximum and minimum acceleration are used to determine the sensitivity of the idling detection threshold. If the target torque adjustment amount is lower than the lower limit of the fourth preset range, it is necessary to consider whether the idling detection threshold is too sensitive. Further, the sensitivity of the idling detection threshold is judged based on the target maximum and minimum creep speed and the target maximum and minimum acceleration: if either the target maximum and minimum creep speed or the target maximum and minimum acceleration is lower than the lower limit of the corresponding preset range, it can be determined that the idling detection threshold is too sensitive and the idling detection threshold needs to be increased.

[0148] If the target torque adjustment is higher than the upper limit of the fourth preset range, it is necessary to consider whether there is a problem of slow idling judgment threshold. Further, based on the target maximum creep speed and target maximum acceleration, it is necessary to comprehensively judge whether the idling judgment threshold is slow: if there is a case where the target maximum creep speed or target maximum acceleration is higher than the lower limit of the corresponding preset range, it can be judged that the idling judgment threshold is too sensitive and the idling judgment threshold needs to be reduced.

[0149] Based on the fuzzy rule-based judgment logic, the following processing result is obtained:

[0150] κ1=f(γ,S max ,a max )

[0151] Among them, κ 1min <κ1<κ 1max ,0<κ 1min <1,1<κ 1max <2, γ is the target torque adjustment amount, S max Let a be the target maximum creep velocity. max The target is the maximum acceleration. The idling threshold is adjusted according to the κ1 value.

[0152] The target torque adjustment, target maximum / minimum deceleration, and target maximum / minimum creep speed are used to determine whether the load reduction slope is appropriate. If the target torque adjustment is higher than the corresponding upper limit, the appropriateness of the load reduction slope is judged based on a combination of the target maximum / minimum creep speed and target maximum / minimum deceleration. If both the target maximum / minimum creep speed and the target maximum / minimum deceleration exceed the corresponding upper limit, the load reduction slope is considered too low, failing to suppress idling in time, resulting in a large target maximum / minimum creep speed and significant loss of traction. If the target maximum / minimum creep speed is lower than the corresponding upper limit and the target maximum / minimum deceleration exceeds the corresponding upper limit, the load reduction slope is considered too high, with little idling but excessive traction reduction. Based on the fuzzy rule-based judgment logic, the following processing results are obtained:

[0153] κ2=f(γ,S max ,a min )

[0154] Among them, κ 2min <κ2<κ 2max ,0<κ 2min <1,1<κ 2max <2,a min The target is the maximum deceleration. The unloading slope is adjusted according to the κ2 value.

[0155] II. Evaluation of Overall Results

[0156] The comprehensive evaluation uses the average creep velocity and adhesion utilization coefficient to measure the overall adhesion control effect during continuous idling. It also determines whether the adhesion control parameter adjustment strategy is reasonable and whether the expected control effect can be achieved. When both the overall adhesion control effect and the instantaneous adhesion control effect meet the preset standards, the adhesion control effect is considered to have met the standards.

[0157] 2.1 The online recording process is as follows:

[0158] (1) If more than N consecutive instances of idling occur within a certain time T1, it is determined that continuous idling has occurred, and timing begins. Each control cycle t counter Accumulate, and sum the real-time creep velocity value to obtain S. add and the actual torque value is T add Integrating the actual torque yields T. add1 ;

[0159] (2) Within the statistical time period, calculate the maximum actual torque value for each idling cycle and accumulate it to T. 2_add ; Calculate the minimum actual torque value for each idle cycle and accumulate it (T). 1_add Record and count the number of idle cycles; calculate the integral value T of the outer envelope of the actual torque. add2 ;

[0160] (3) If no idling occurs within a certain time T2 or the set traction force is less than a certain value F1, the cumulative count of the comprehensive evaluation ends.

[0161] (4) Calculate the average creep velocity S within the statistical time period. ave .

[0162] (5) According to T add1 and T 2_add Calculate the adhesion utilization coefficient η:

[0163]

[0164] 2.2 The control evaluation process is as follows:

[0165] (1) Establish evaluation indicators. Establish evaluation indicators for each parameter and set upper and lower limits.

[0166] parameter Upper limit lower limit value <![CDATA[S ave ]]> <![CDATA[S ave2 ]]> <![CDATA[S ave1 ]]> η <![CDATA[η2]]> <![CDATA[η1]]>

[0167] The first, second, third, and fourth preset ranges are adjusted using the detection results of average creep velocity and adhesion utilization coefficient. For example:

[0168] If the adhesion utilization coefficient is high but does not exceed the upper limit of the sixth preset range, it indicates that the overall control effect is relatively good, but there is a possibility that the idling judgment is too sensitive. If the average creep speed is lower than the lower limit of the fifth preset range, it indicates that the idling phenomenon is not obvious and the control is too sensitive. Correspondingly, the fluctuation range of the extreme creep speed (or the upper and lower limits of the first preset range), the fluctuation range of the extreme acceleration (the upper and lower limits of the second preset range), or the fluctuation range of the torque adjustment (the upper and lower limits of the fourth preset range) can be increased to correct the evaluation parameters of the instantaneous adhesion control effect. If the average creep speed exceeds the upper limit of the fifth preset range, the upper and lower limits of the first, second, and fourth preset ranges should be decreased.

[0169] If the adhesion utilization coefficient is low, it indicates that the overall control effect is poor. If the average creep speed is higher than the upper limit, the idling suppression effect is poor, and the upper and lower limits of the first, second, third, and fourth preset ranges should be reduced. If the average creep speed is lower than the lower limit, the upper and lower limits of the third preset range should be increased, that is, the fluctuation range of the maximum and minimum deceleration should be expanded.

[0170] Based on the fuzzy rule-based judgment logic, the following processing result is obtained:

[0171] (κ 11 ,κ 22 )=f(η,S ave )

[0172] Among them, κ 11min <κ 11 <κ 11max ,0<κ 11min <1,1<κ 11max <2, η is the adhesion utilization coefficient, S ave This represents the average creep velocity. According to κ... 11 The upper and lower limits of the first preset range, the second preset range, and the fourth preset range are adjusted.

[0173] Among them, κ 22min <κ 22 <κ 22max ,0<κ 22min <1、1<κ 22max <2. According to κ 22 The value adjusts the upper and lower limits of the third preset range.

[0174] Example 8

[0175] In this embodiment, as Figure 4 As shown, an adhesion control effect evaluation device is provided, comprising:

[0176] The first acquisition module 410 is used to acquire the target torque adjustment, target maximum creep speed, target maximum acceleration and target maximum deceleration during the target control cycle in idling control.

[0177] The first detection module 420 is used to detect whether the target maximum creep speed is within a first preset range, whether the target maximum acceleration is within a second preset range, whether the target maximum deceleration is within a third preset range, and whether the target torque adjustment amount is within a fourth preset range.

[0178] The first determining module 430 is used to determine that the instantaneous adhesion control effect has reached the expected level when all of the above detection results are yes.

[0179] The second acquisition module 440 is used to acquire the average creep speed and adhesion utilization coefficient within multiple target control cycles;

[0180] The second detection module 450 is used to detect whether the average creep speed is within a fifth preset range and whether the adhesion utilization coefficient is within a sixth preset range.

[0181] The second determining module 460 is used to determine that the overall adhesion control effect has reached the expected level when all of the above detection results are yes.

[0182] The effect determination module 470 is used to determine that the adhesion control effect has reached the expected level when the instantaneous adhesion control effect and the overall adhesion control effect have both reached the expected level.

[0183] In one embodiment, it also includes:

[0184] The third determining module is used to determine that the instantaneous adhesion control effect has not met expectations when at least one of the detection results corresponding to the target maximum creep velocity, target maximum acceleration, target maximum deceleration, and target torque adjustment is negative.

[0185] In one embodiment, it also includes:

[0186] The fourth determining module is used to determine that the overall adhesion control effect has not met expectations when at least one of the detection results corresponding to the average creep speed and the adhesion utilization coefficient is negative.

[0187] In one embodiment, it also includes:

[0188] The adjustment module is used to adjust the first preset range, the second preset range, the third preset range, and the fourth preset range according to the average creep speed and the adhesion utilization coefficient, so that the average creep speed is within the fifth preset range and the adhesion utilization coefficient is within the sixth preset range.

[0189] Specific limitations regarding the adhesion control effect evaluation device can be found in the limitations of the adhesion control effect evaluation method described above, and will not be repeated here. Each unit in the aforementioned adhesion control effect evaluation device can be implemented entirely or partially through software, hardware, or a combination thereof. These units can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each unit.

[0190] Example 9

[0191] Based on the above embodiments, this embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the above embodiments.

[0192] In some embodiments of this example, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the method described in the above embodiments.

[0193] In some embodiments of this example, a computer program product is provided, including a computer program / instructions, which, when executed by a processor, implements the steps of the method described in the above embodiments.

[0194] The processor may include, but is not limited to, one or more processors or microprocessors. Each processor may be implemented as an Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor, or other electronic component, for executing the methods described in the above embodiments.

[0195] Computer-readable storage media can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Computer-readable storage media may include, but are not limited to, random access memory (RAM), read-only memory (ROM), flash memory, EPROM memory, EEPROM memory, registers, and computer storage media (e.g., hard disks, floppy disks, solid-state drives, removable disks, Blu-ray discs, etc.).

[0196] Computer-readable storage media may also store at least one computer-executable program / instruction, such as computer-readable instructions. Computer-readable storage media include, but are not limited to, volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Computer-readable storage media may include, for example, read-only memory (ROM), hard disk, flash memory, etc. For example, a non-transitory computer-readable storage medium may be connected to a computing device such as a computer, and then, when the computing device executes the computer-readable instructions stored on the computer-readable storage medium, the various methods described above can be performed.

[0197] In addition, the computer device may include (but is not limited to) a data bus, an input / output (I / O) bus, a display, and input / output devices (e.g., keyboard, mouse, speakers, etc.).

[0198] The processor can communicate with external devices via the I / O bus through wired or wireless networks.

[0199] In one embodiment, the at least one computer-executable instruction may also be compiled into or comprise a software product / computer program product, wherein one or more computer-executable instructions are executed by a processor to perform the steps of the various functions and / or methods in the embodiments described herein.

[0200] In the embodiments provided in this disclosure, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0201] It should be noted that, in this disclosure, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element limited by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0202] While the embodiments disclosed herein are as described above, the foregoing content is merely for the purpose of facilitating understanding of this disclosure and is not intended to limit this disclosure. Any person skilled in the art to which this disclosure pertains may make any modifications and changes in form and detail of the implementation without departing from the spirit and scope of this disclosure; however, the scope of patent protection of this disclosure shall still be determined by the scope defined in the appended claims.

Claims

1. A method for evaluating the effect of adhesion control, characterized in that, include: Acquire the target torque adjustment, target maximum creep speed, target maximum acceleration, and target maximum deceleration within the target control cycle during idling control; The detection measures whether the target maximum creep speed is within a first preset range, whether the target maximum acceleration is within a second preset range, whether the target maximum deceleration is within a third preset range, and whether the target torque adjustment is within a fourth preset range. When all of the above test results are yes, it is determined that the instantaneous adhesion control effect has achieved the expected result. Obtain the average creep velocity and adhesion utilization coefficient within multiple target control cycles; Detect whether the average creep speed is within a fifth preset range and whether the adhesion utilization coefficient is within a sixth preset range; When all of the above test results are yes, it is determined that the overall adhesion control effect has reached the expected level. When the instantaneous adhesion control effect and the overall adhesion control effect both reach the expected level, it is determined that the adhesion control effect has reached the expected level. In the step of obtaining the average creep velocity and adhesion utilization coefficient within multiple target control cycles, the calculation process of the adhesion utilization coefficient includes: The motor torque during idling is obtained in multiple control cycles, and the maximum single idling torque in each control cycle among the multiple motor torques is determined. Integrating the torques of the multiple motors yields the first integral torque; Integrating the multiple single-cycle maximum torques, a second integral torque is obtained; The adhesion utilization coefficient is obtained based on the ratio of the first integral torque to the second integral torque. In the step of integrating the torques of the multiple motors to obtain the first integral torque, the first integral torque is calculated according to the following formula: in, For the first integral torque, These represent the motor torque in any two adjacent control cycles, initially... It is 0.

2. The method according to claim 1, characterized in that, After the steps of detecting whether the target maximum creep velocity is within a first preset range, whether the target maximum acceleration is within a second preset range, whether the target maximum deceleration is within a third preset range, and whether the target torque adjustment is within a fourth preset range, the method further includes: If at least one of the detection results corresponding to the target maximum creep velocity, target maximum acceleration, target maximum deceleration, and target torque adjustment is negative, it is determined that the instantaneous adhesion control effect has not met expectations.

3. The method according to claim 1, characterized in that, After the steps of detecting whether the average creep speed is within a fifth preset range and whether the adhesion utilization coefficient is within a sixth preset range, the method further includes: If at least one of the detection results corresponding to the average creep velocity and the adhesion utilization coefficient is negative, it is determined that the overall adhesion control effect has not met expectations.

4. The method according to claim 3, characterized in that, After determining that the overall adhesion control effect has not met expectations, the method further includes: The first preset range, the second preset range, the third preset range, and the fourth preset range are adjusted according to the average creep speed and the adhesion utilization coefficient, so that the average creep speed is within the fifth preset range and the adhesion utilization coefficient is within the sixth preset range.

5. An adhesive control effect evaluation device for implementing the adhesive control effect evaluation method according to any one of claims 1-4, characterized in that, include: The first acquisition module is used to acquire the target torque adjustment, target maximum creep speed, target maximum acceleration, and target maximum deceleration within the target control cycle in idling control. The first detection module is used to detect whether the target maximum creep speed is within a first preset range, whether the target maximum acceleration is within a second preset range, whether the target maximum deceleration is within a third preset range, and whether the target torque adjustment amount is within a fourth preset range. The first determining module is used to determine that the instantaneous adhesion control effect has reached the expected level when all of the above detection results are yes. The second acquisition module is used to acquire the average creep speed and adhesion utilization coefficient within multiple target control cycles; The second detection module is used to detect whether the average creep speed is within a fifth preset range and whether the adhesion utilization coefficient is within a sixth preset range. The second determining module is used to determine that the overall adhesion control effect has reached the expected level when all of the above detection results are yes. The effect determination module is used to determine that the adhesion control effect has reached the expected level when both the instantaneous adhesion control effect and the overall adhesion control effect have reached the expected level.

6. A computer device, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 4.

8. A computer program product comprising a computer program / instructions, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 4.

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