摘要
本文针对轨道交通用电子机械制动系统的精确力控问题,研究了电子机械制动系统的高动态、高可靠控制方法,基于该制动系统的结构特征和数学模型,提出了一种四闭环制动力控制策略。首先,基于力控制理论建立了系统制动力闭环控制策略,所提出的四闭环制动力控制指力闭环、位置闭环、速度闭环以及电流闭环,使用经典控制理论分析方法,与传统两闭环力控制的控制方法进行了对比。然后,基于线性仿真模型与联合仿真分别对两种控制方法进行了对比,线性仿真与联合仿真表明,四闭环制动力控制的控制方法提高了系统制动力响应的快速性与稳定性,所提出的方法提高了系统的安全性与可靠性。本文所提出的控制方法得到了实验验证。
Aiming at the precise force control of electro-mechanical brake system of rail transit,the high dynamic and reliable control method was studied in this paper.Based on the structural characteristics and mathematical model of the brake system,a four-closed-loop brake force control strategy was proposed.Firstly,the closed-loop control strategy of the brake force was established based on the force control theory.The proposed four-loop braking force control includes force closed-loop,position closed-loop,velocity closed-loop and current closed-loop.The four-closed loop control method was compared with the traditional two-closed loop force control method by using the analysis method of classical control theory.Then,the two control methods were compared based on linear simulation model and co-simulation respectively.The linear simulation and co-simulation show that the control method of four-closed loop brake force control improves the rapidity and stability of the braking force response of the system,that is,the proposed method increases the safety and reliability of rail transit.The control method proposed in this paper has been verified by experiments.
作者
杨磊
汪枫
杜运哲
臧传相
孙卫兵
张淦
童庆
YANG Lei;WANG Feng;DU Yunzhe;ZANG Chuanxiang;SUN Weibing;ZHANG Gan;TONG Qing(Nanjing CRRC Puzhen Haitai Braking Equipment Co.,LTD.,Nanjing 211800,China;Nanjing Vocational Institute of Railway Technology,Nanjing 210031,China;Southeast University,Nanjing 210096,China)
出处
《微电机》
2023年第11期38-44,共7页
Micromotors
基金
江苏省轨道交通控制工程技术研究开发中心开放基金项目(KFJ2006)。
关键词
电子机械制动
力控制
联合仿真
比例积分(PI)控制
轨道交通
electromechanical brake
force control
co-simulation
proportional integration(PI)control
rail traffic
