CN106080266A - The startup control method of a kind of rail vehicle and device - Google Patents
The startup control method of a kind of rail vehicle and device Download PDFInfo
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- CN106080266A CN106080266A CN201610633892.8A CN201610633892A CN106080266A CN 106080266 A CN106080266 A CN 106080266A CN 201610633892 A CN201610633892 A CN 201610633892A CN 106080266 A CN106080266 A CN 106080266A
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- slipping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2072—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off
- B60L15/2081—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off for drive off on a slope
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The startup control method of the rail vehicle that the present invention provides, according to slipping the velocity amplitude of speed and the relation of the slip value of motor slip after rail vehicle, provide the startup control method under two kinds of different operating modes, when slip after rail vehicle the velocity amplitude of speed more than the slip value of motor slip time, control motor output corresponding with motor slip and slip the identical electric braking torque in direction after rail vehicle, speed of slipping after making rail vehicle constantly reduces, until slipping the velocity amplitude of speed after rail vehicle less than the slip value of motor slip；When slip after rail vehicle the velocity amplitude of speed less than the slip value of motor slip time, control motor output corresponding with motor slip and slip pull-up torque in opposite direction after rail vehicle, speed of slipping after making rail vehicle constantly reduces, until rail vehicle slips after stopping and normally starting.The smooth starting of speed lower railway vehicle is slipped after present invention achieves difference.
Description
Technical field
The present invention relates to rail vehicle field, particularly relate to startup control method and the device of a kind of rail vehicle.
Background technology
Along with developing rapidly of China's economy and carrying forward vigorously of urbanization, the construction of track traffic is all significantly increasing every year
Long, the running environment of rail vehicle is increasingly sophisticated, often occur rail vehicle on ramp in start-up course vehicle derailing lead
Draw control, slip after being moved rearwards by occurring.Therefore, how to ensure normally to start when rail vehicle slips after occurring to become rail vehicle
Start the study hotspot of control field.
In prior art, air when rail vehicle starts on ramp, is used to keep the side that braking coordinates with motor traction force
Method, if rail vehicle slips after occurring, can trigger brake hard, and air damping plays a role completely, the inversion of block traction simultaneously
Device, must make locomotive stop restarting, it is impossible to the locomotive slipped after making to have occurred and that is normal when causing rail vehicle to slip after occurring
Start.
Summary of the invention
In view of this, the application provides startup control method and the device of a kind of rail vehicle, to solve in prior art
Rail vehicle slips, after occurring, the problem that cannot normally start.Technical scheme is as follows:
A kind of startup control method of rail vehicle, described method includes:
When slipping after rail vehicle occurs, after obtaining presently described rail vehicle, slip speed and motor slip；
Slip the velocity amplitude of speed whether more than the slip value of described motor slip after judging described rail vehicle；
If so, control motor output corresponding with described motor slip and with described rail vehicle after to slip direction identical
Electric braking torque, speed of slipping after making described rail vehicle constantly reduces, until slipping the speed of speed after described rail vehicle
Value is less than the slip value of described motor slip；
If it is not, control motor output corresponding with described motor slip and with described rail vehicle after slip in opposite direction
Pull-up torque, speed of slipping after making described rail vehicle constantly reduces, until described rail vehicle slips after stopping and normally starting.
Preferably, speed of slipping after the presently described rail vehicle of described acquisition includes with motor slip:
Obtaining the motor speed of motor speed sensor output, described motor speed is to slip speed after described rail vehicle
Degree；
Given motor torque T1 according to current orbit vehicle calculates motor slip S, described given motor torque and driver
Handle is corresponding, S=K1*T1, and wherein, K1 is proportionality coefficient.
Preferably, the output of described control motor is corresponding with described motor slip and slips direction after described rail vehicle
Identical electric braking torque includes:
Calculate according to described motor slip S and after described rail vehicle, slip the identical electric braking torque T2, T2=K2* in direction
S, wherein K2 is proportionality coefficient；
Control motor output described with slip the identical electric braking torque in direction after described rail vehicle.
Preferably, corresponding with same motor slip electric braking torque is identical with the value of pull-up torque.
Preferably, described method also includes:
The phase relation of the two-way square-wave signal according to motor speed sensor output judges the direction of rotation of motor, and root
Judge rail vehicle slips after whether occurring according to the direction of rotation of described motor.
A kind of control device of rail vehicle, described device includes:
Acquisition module, when slipping after occurring when rail vehicle, slips speed with electric after obtaining presently described rail vehicle
Machine slip；
First judge module, whether the velocity amplitude of speed of slipping after judge described rail vehicle turns more than described motor
The slip value of difference；
First control module, for when slip after described rail vehicle speed velocity amplitude more than described motor slip turn
During difference, control motor output corresponding with described motor slip and slip the identical electric braking in direction after described rail vehicle
Torque, speed of slipping after making described rail vehicle constantly reduces, and is less than until slipping the velocity amplitude of speed after described rail vehicle
The slip value of described motor slip；
Second control module, for when slip after described rail vehicle speed velocity amplitude less than described motor slip turn
During difference, control motor output corresponding with described motor slip and slip traction in opposite direction and turn after described rail vehicle
Square, speed of slipping after making described rail vehicle constantly reduces, until described rail vehicle slips after stopping and normally starting.
Preferably, described acquisition module includes:
Obtaining submodule, for obtaining the motor speed of motor speed sensor output, described motor speed is described rail
Speed is slipped after road vehicle；
First calculating sub module, calculates motor slip S for the given motor torque T1 according to current orbit vehicle, described
Given motor torque is corresponding with driver's handle, and S=K1*T1, wherein, K1 is proportionality coefficient.
Preferably, described first control module includes:
Second calculating sub module, for calculating with to slip direction after described rail vehicle identical according to described motor slip S
Electric braking torque T2, T2=K2*S, wherein K2 is proportionality coefficient；
Control submodule, for control motor output described with slip the identical electric braking in direction after described rail vehicle and turn
Square.
Preferably, corresponding with same motor slip electric braking torque is identical with the value of pull-up torque.
Preferably, described device also includes:
Second judge module, the phase relation for the two-way square-wave signal according to motor speed sensor output judges electricity
The direction of rotation of machine, and judge rail vehicle slips after whether occurring according to the direction of rotation of described motor.
The startup control method of rail vehicle that the present invention provides, according to slipping the velocity amplitude of speed and electricity after rail vehicle
The relation of the slip value of machine slip, it is provided that the startup control method under two kinds of different operating modes, when slipping speed after rail vehicle
Velocity amplitude more than the slip value of motor slip time, control motor output corresponding with motor slip and slip after rail vehicle
The electric braking torque that direction is identical, speed of slipping after making rail vehicle constantly reduces, until slipping the speed of speed after rail vehicle
Angle value is less than the slip value of motor slip；When slip after rail vehicle the velocity amplitude of speed less than the slip value of motor slip time,
Control motor output corresponding with motor slip and slip pull-up torque in opposite direction after rail vehicle, make rail vehicle
After slip speed and constantly reduce, until rail vehicle slips after stopping and normally starting.Rail under speed is slipped after present invention achieves difference
The smooth starting of road vehicle.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to
The accompanying drawing provided obtains other accompanying drawing.
Fig. 1 is the startup control method flow chart of a kind of rail vehicle disclosed by the invention；
Fig. 2 is the another method flow diagram of startup control method of a kind of rail vehicle disclosed by the invention；
Fig. 3 is that the startup of a kind of rail vehicle disclosed by the invention controls apparatus structure schematic diagram；
Fig. 4 is that the startup of another kind of rail vehicle disclosed by the invention controls apparatus structure schematic diagram.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Please participate in the startup control method flow chart that Fig. 1, Fig. 1 are a kind of rail vehicle disclosed by the invention, described method
Specifically include following steps:
Step S101: when slipping after rail vehicle occurs, speed of slipping after obtaining presently described rail vehicle turns with motor
Difference；
During carrying out rail vehicle starting control, the direction of rotation of acquiescence motor and rail vehicle controller handle
Direction be consistent, if rail vehicle slips after occurring when ramp starts, the now direction of rotation of motor and controller hands
The direction of handle is inconsistent, and the motor absolute direction when present invention slips after being occurred when ramp starts by rail vehicle is defined as-1,
Motor absolute direction when normally being travelled by rail vehicle is defined as 1.
At motor slip S, between motor stator rotational speed of magnetic field V2 and motor speed V1, there is certain calculated relationship, described
Motor speed is to slip speed after rail vehicle, may determine that with motor slip by slipping speed after obtaining described rail vehicle
Speed of slipping after described rail vehicle is bigger the least.
Step S102: slip the velocity amplitude of speed after judging described rail vehicle whether more than the slip of described motor slip
Value；If so, step S103 is performed；If it is not, perform step S104；
Concrete, the startup control method of rail vehicle disclosed by the invention, for slipping speed after different, motor is entered
The different control of row, according to slipping the velocity amplitude of speed after described rail vehicle whether more than the slip value of described motor slip,
Control to be divided into two kinds of forms by the startup of rail vehicle, when slipping the velocity amplitude of speed after described rail vehicle more than described motor
During the slip value of slip, speed of slipping after described rail vehicle is relatively big, performs step S103 and is controlled, when described rail vehicle
After slip the velocity amplitude of speed less than the slip value of described motor slip time, speed of slipping after described rail vehicle is less, performs
Step S104 is controlled.
Step S103: control motor output corresponding with described motor slip and slip direction phase after described rail vehicle
Same electric braking torque, speed of slipping after making described rail vehicle constantly reduces, until slipping speed after described rail vehicle
Velocity amplitude is less than the slip value of described motor slip；
Concrete, when slip after described rail vehicle speed bigger time, now motor absolute direction is-1, motor stator magnetic
Rotating speed V2, calculated relationship between motor slip S and motor speed be: V2=D*V1+S, and wherein, D is motor absolute direction,
Now D is-1.
Therefore, stator field rotating speed V2=S-V1 < 0, control motor output corresponding with described motor slip and with institute
Slip the identical electric braking torque in direction after stating rail vehicle, along with the output of electric braking torque, after described rail vehicle, slip speed
Degree is gradually lowered, until slipping the velocity amplitude of speed after described rail vehicle less than the slip value of described motor slip, performs step
Rapid S104.
Step S104: control motor output corresponding with described motor slip and slip direction phase after described rail vehicle
Anti-pull-up torque, speed of slipping after making described rail vehicle constantly reduces, until described rail vehicle slips and normally after stopping
Start.
Concrete, when slip after described rail vehicle speed less time, now motor absolute direction is-1, and stator field turns
Speed V2=S-V1 > 0, control motor output corresponding with described motor slip and with described rail vehicle after slip in opposite direction
Pull-up torque, slips speed after reducing described rail vehicle, until described rail vehicle slips after stopping and normally starting.
The startup control method of rail vehicle that the present invention provides, according to slipping the velocity amplitude of speed and electricity after rail vehicle
The relation of the slip value of machine slip, it is provided that the startup control method under two kinds of different operating modes, when slipping speed after rail vehicle
Velocity amplitude more than the slip value of motor slip time, control motor output corresponding with motor slip and slip after rail vehicle
The electric braking torque that direction is identical, speed of slipping after making rail vehicle constantly reduces, until slipping the speed of speed after rail vehicle
Angle value is less than the slip value of motor slip；When slip after rail vehicle the velocity amplitude of speed less than the slip value of motor slip time,
Control motor output corresponding with motor slip and slip pull-up torque in opposite direction after rail vehicle, make rail vehicle
After slip speed and constantly reduce, until rail vehicle slips after stopping and normally starting.Rail under speed is slipped after present invention achieves difference
The smooth starting of road vehicle.
Referring to Fig. 2, described method also included before performing step S101:
Step S105: judge the rotation of motor according to the phase relation of the two-way square-wave signal of motor speed sensor output
Direction, and judge rail vehicle slips after whether occurring according to the direction of rotation of described motor.
Concrete, motor speed sensor output A, B two-way square-wave signal, if a-signal is ahead of B signal, motor is just
To rotation, motor absolute direction is 1, and described rail vehicle slips after not occurring；If B signal is ahead of a-signal, motor is reverse
Rotating, motor absolute direction is-1, and described rail vehicle slips after occurring.
Concrete, when slipping after rail vehicle occurs, rail vehicle can be realized by controlling motor output actual torque
Normal start, when slip after rail vehicle speed bigger time, the actual torque controlling motor output is and described motor slip phase
Corresponding and with slip the identical electric braking torque in direction after described rail vehicle, when slip after rail vehicle speed less time, control
The actual torque of motor processed output is corresponding with described motor slip and slips in opposite direction leading after described rail vehicle
Draw torque.
The actual torque T2 of motor output is directly proportional to described motor slip S: T2=K2*S, and wherein, K2 is proportionality coefficient,
So, the corresponding electric braking torque of same motor slip is identical with the value of pull-up torque.
Speed of slipping after the described rail vehicle of described acquisition includes with motor slip:
Obtaining the motor speed of motor speed sensor output, described motor speed is to slip speed after described rail vehicle
Degree；
Given motor torque T1 according to current orbit vehicle calculates motor slip S, described given motor torque and driver
Handle is corresponding, S=K1*T1, and wherein, K1 is proportionality coefficient.
Referring to Fig. 3, startup control method based on rail vehicle a kind of disclosed in the invention described above, correspondence of the present invention is public
Having opened the dynamic control device that opens of a kind of rail vehicle, described device includes:
Acquisition module 101, for when rail vehicle occur after slip time, slip after obtaining presently described rail vehicle speed with
Motor slip；
During carrying out rail vehicle starting control, the direction of rotation of acquiescence motor and rail vehicle controller handle
Direction be consistent, if rail vehicle slips after occurring when ramp starts, the now direction of rotation of motor and controller hands
The direction of handle is inconsistent, and the motor absolute direction when present invention slips after being occurred when ramp starts by rail vehicle is defined as-1,
Motor absolute direction when normally being travelled by rail vehicle is defined as 1.
At motor slip S, between motor stator rotational speed of magnetic field V2 and motor speed V1, there is certain calculated relationship, described
Motor speed is to slip speed after rail vehicle, and acquisition module 101 slips speed and motor slip after obtaining described rail vehicle,
Speed of slipping after may determine that described rail vehicle is bigger the least.
Whether first judge module 102, slip the velocity amplitude of speed after judge described rail vehicle more than described electricity
The slip value of machine slip；
Concrete, rail vehicle disclosed by the invention open dynamic control device, for slipping speed after different, motor is entered
The different control of row, according to slipping the velocity amplitude of speed after described rail vehicle whether more than the slip value of described motor slip,
Motor is controlled with the second control module 104 by the first control module 103 respectively, when slipping speed after described rail vehicle
When the velocity amplitude of degree is more than the slip value of described motor slip, speed of slipping after described rail vehicle is relatively big, controls by first
Motor is controlled by module 103, when slipping the velocity amplitude of speed after described rail vehicle less than the slip of described motor slip
During value, speed of slipping after described rail vehicle is less, is controlled motor by the second control module 104.
First control module 103, for when slipping the velocity amplitude of speed after described rail vehicle more than described motor slip
Slip value time, control motor output corresponding with described motor slip and slip the identical electricity in direction after described rail vehicle
Braking moment, speed of slipping after making described rail vehicle constantly reduces, until slipping the velocity amplitude of speed after described rail vehicle
Slip value less than described motor slip；
Concrete, when slip after described rail vehicle speed bigger time, now motor absolute direction is-1, motor stator magnetic
Rotating speed V2, calculated relationship between motor slip S and motor speed be: V2=D*V1+S, and wherein, D is motor absolute direction,
Now D is-1.
Therefore, stator field rotating speed V2=S-V1 < 0, the first control module 103 controls motor output and described motor slip
Corresponding and with slip the identical electric braking torque in direction after described rail vehicle, along with the output of electric braking torque, described rail
Speed of slipping after road vehicle is gradually lowered, until slipping the velocity amplitude of speed after described rail vehicle less than described motor slip
Slip value, triggers the second control module 104.
Second control module 104, for when slipping the velocity amplitude of speed after described rail vehicle less than described motor slip
Slip value time, control motor output corresponding with described motor slip and slip in opposite direction leading after described rail vehicle
Drawing torque, speed of slipping after making described rail vehicle constantly reduces, until described rail vehicle slips after stopping and normally starting.
Concrete, when slip after described rail vehicle speed less time, now motor absolute direction is-1, and stator field turns
Speed V2=S-V1 > 0, the second control module 104 control motor output corresponding with described motor slip and with described railcar
Slip pull-up torque in opposite direction after, after reducing described rail vehicle, slip speed, until described rail vehicle slips after stopping
And normally start.
The rail vehicle that the present invention provides open dynamic control device, according to slipping the velocity amplitude of speed after described rail vehicle
With the relation of the slip value of motor slip, including for slipping startup control module after two under two kinds of operating modes, when described track
Slip after vehicle the velocity amplitude of speed more than the slip value of described motor slip time, the first control module 103 controls motor output
Corresponding with described motor slip and slip the identical electric braking torque in direction after described rail vehicle, reduce described railcar
Speed is slipped, until slipping the velocity amplitude of speed after described rail vehicle less than the slip value of described motor slip after；Work as institute
Slip after stating rail vehicle the velocity amplitude of speed less than the slip value of described motor slip time, the second control module 104 controls electricity
Machine output is corresponding with described motor slip and slips pull-up torque in opposite direction after described rail vehicle, reduces described rail
Speed is slipped, until described rail vehicle slips after stopping and normally starting after road vehicle.Speed is slipped after present invention achieves difference
The smooth starting of lower railway train, it is adaptable to slip startup after the track train under different ramps, different load-carrying operating mode.
Refer to the startup control that Fig. 4, Fig. 4 are the another kind of rail vehicle opening dynamic control device based on above-mentioned rail vehicle
Apparatus structure schematic diagram processed, relative to the dynamic control device that opens of above-mentioned rail vehicle, the startup of the rail vehicle that Fig. 4 is corresponding controls
Device also includes:
Second judge module 105, the phase relation for the two-way square-wave signal according to motor speed sensor output is sentenced
The direction of rotation of power machine, and judge rail vehicle slips after whether occurring according to the direction of rotation of described motor.
Concrete, motor speed sensor output A, B two-way square-wave signal, if a-signal is ahead of B signal, motor is just
To rotation, motor absolute direction is 1, and described rail vehicle slips after not occurring；If B signal is ahead of a-signal, motor is reverse
Rotating, motor absolute direction is-1, and described rail vehicle slips after occurring.
Described acquisition module 101 includes:
Obtaining submodule 106, for obtaining the motor speed of motor speed sensor output, described motor speed is described
Speed is slipped after rail vehicle；
First calculating sub module 107, calculates motor slip S for the given motor torque T1 according to current orbit vehicle,
Described given motor torque is corresponding with driver's handle, S=K1*T1, and wherein, K1 is proportionality coefficient.
Described first control module includes:
Second calculating sub module 108, for calculating with to slip direction after described rail vehicle identical according to described motor slip S
Electric braking torque T2, T2=K2*S, wherein K2 is proportionality coefficient；
Control submodule 109, for control motor output described with slip the identical electric braking in direction after described rail vehicle
Torque.
Concrete, when slipping after rail vehicle occurs, rail vehicle can be realized by controlling motor output actual torque
Normal start, when slip after rail vehicle speed bigger time, the actual torque controlling motor output is and described motor slip phase
Corresponding and with slip the identical electric braking torque in direction after described rail vehicle, when slip after rail vehicle speed less time, control
The actual torque of motor processed output is corresponding with described motor slip and slips in opposite direction leading after described rail vehicle
Draw torque.
The actual torque T2 of motor output is directly proportional to described motor slip S: T2=K2*S, and wherein, K2 is proportionality coefficient,
So, the corresponding electric braking torque of same motor slip is identical with the value of pull-up torque.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein
General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one
The widest scope caused.
Claims (10)
1. the startup control method of a rail vehicle, it is characterised in that described method includes:
When slipping after rail vehicle occurs, after obtaining presently described rail vehicle, slip speed and motor slip；
Slip the velocity amplitude of speed whether more than the slip value of described motor slip after judging described rail vehicle；
If so, motor output is controlled corresponding with described motor slip and slip the identical electricity in direction and make after described rail vehicle
Dynamic torque, speed of slipping after making described rail vehicle constantly reduces, until it is little to slip the velocity amplitude of speed after described rail vehicle
Slip value in described motor slip；
If it is not, it is corresponding with described motor slip and slip traction in opposite direction after described rail vehicle to control motor output
Torque, speed of slipping after making described rail vehicle constantly reduces, until described rail vehicle slips after stopping and normally starting.
Method the most according to claim 1, it is characterised in that slip after the presently described rail vehicle of described acquisition speed with
Motor slip includes:
Obtaining the motor speed of motor speed sensor output, described motor speed is to slip speed after described rail vehicle；
Given motor torque T1 according to current orbit vehicle calculates motor slip S, described given motor torque and driver's handle
Corresponding, S=K1*T1, wherein, K1 is proportionality coefficient.
Method the most according to claim 1, it is characterised in that the output of described control motor is corresponding with described motor slip
And include with slipping the identical electric braking torque in direction after described rail vehicle:
Calculate according to described motor slip S and after described rail vehicle, slip identical electric braking torque T2, the T2=K2*S in direction, its
Middle K2 is proportionality coefficient；
Control motor output described with slip the identical electric braking torque in direction after described rail vehicle.
Method the most according to claim 1, it is characterised in that the electric braking torque corresponding with same motor slip with lead
The value drawing torque is identical.
Method the most according to claim 1, it is characterised in that described method also includes:
The phase relation of the two-way square-wave signal according to motor speed sensor output judges the direction of rotation of motor, and according to institute
The direction of rotation stating motor judges rail vehicle slips after whether occurring.
6. the control device of a rail vehicle, it is characterised in that described device includes:
Acquisition module, when slipping after occurring when rail vehicle, speed of slipping after obtaining presently described rail vehicle turns with motor
Difference；
Whether first judge module, slip the velocity amplitude of speed after judge described rail vehicle more than described motor slip
Slip value；
First control module, for when slipping the velocity amplitude of speed after described rail vehicle more than the slip value of described motor slip
Time, control motor output corresponding with described motor slip and slip the identical electric braking in direction and turn after described rail vehicle
Square, speed of slipping after making described rail vehicle constantly reduces, until slipping the velocity amplitude of speed after described rail vehicle less than institute
State the slip value of motor slip；
Second control module, for when slipping the velocity amplitude of speed after described rail vehicle less than the slip value of described motor slip
Time, control motor output corresponding with described motor slip and slip pull-up torque in opposite direction after described rail vehicle,
Speed of slipping after making described rail vehicle constantly reduces, until described rail vehicle slips after stopping and normally starting.
Device the most according to claim 6, it is characterised in that described acquisition module includes:
Obtaining submodule, for obtaining the motor speed of motor speed sensor output, described motor speed is described railcar
Speed is slipped after；
First calculating sub module, calculates motor slip S for the given motor torque T1 according to current orbit vehicle, described given
Motor torque is corresponding with driver's handle, S=K1*T1, and wherein, K1 is proportionality coefficient.
Device the most according to claim 6, it is characterised in that described first control module includes:
Second calculating sub module, for according to described motor slip S calculate with slip after described rail vehicle direction identical electricity make
Dynamic torque T2, T2=K2*S, wherein K2 is proportionality coefficient；
Control submodule, for control motor output described with slip the identical electric braking torque in direction after described rail vehicle.
Device the most according to claim 6, it is characterised in that the electric braking torque corresponding with same motor slip with lead
The value drawing torque is identical.
Device the most according to claim 6, it is characterised in that described device also includes:
Second judge module, the phase relation for the two-way square-wave signal according to motor speed sensor output judges motor
Direction of rotation, and judge rail vehicle slips after whether occurring according to the direction of rotation of described motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610633892.8A CN106080266B (en) | 2016-08-04 | 2016-08-04 | A kind of startup control method and device of rail vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610633892.8A CN106080266B (en) | 2016-08-04 | 2016-08-04 | A kind of startup control method and device of rail vehicle |
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| CN106080266B CN106080266B (en) | 2018-07-10 |
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| CN106696994A (en) * | 2016-12-19 | 2017-05-24 | 交控科技股份有限公司 | Vehicle front sliding protection method and vehicle-mounted ATP |
| CN108082004A (en) * | 2017-12-19 | 2018-05-29 | 中国铁路总公司 | For the traction control method and system of railway transportation equipment |
| CN109968998A (en) * | 2019-04-26 | 2019-07-05 | 重庆交通大学 | A kind of control system and its control method of motor train compartment traction electric machine |
| CN110155121A (en) * | 2019-05-30 | 2019-08-23 | 中车青岛四方机车车辆股份有限公司 | A kind of method and system of railway vehicle traction system direction selection |
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| CN113635776A (en) * | 2020-04-27 | 2021-11-12 | 比亚迪汽车工业有限公司 | Train control method and train control and management system |
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