基于EKF转速辨识的机车防空转控制研究

Study on Locomotive Anti-Slip Control Based on Identification of Rotor Speed by Using Extended Kalman Filter

在电力机车行驶的过程中,发生空转时轮对的加速度和轮轨间的蠕滑速度都会急剧增大,造成有效功率下降,会引起运行事故。为防止轮对空转,可利用加速度和蠕滑速度相结合的组合法对空转进行识别,通过减小机车牵引力来抑制空转的持续发生。由于机车运行环境的复杂性,要准确获取机车和轮对的速度比较困难,且目前使用的速度传感器会增加机车的不稳定性和维修成本。为改善上述问题,通过建立牵引电机的状态空间模型,利用扩展卡尔曼滤波算法来辨识电机的转速,从而实现电力机车的无速度传感器防空转控制。在MATLAB/Simulink平台的建模仿真结果证明,扩展卡尔曼滤波算法对牵引电机的转速辨识思想,从而通过组合法可及时的识别机车的空转并进行有效的防空转控制。

In the operation of electric locomotive, acceleration and creep increase sharply when slip occurs. The slip can be detected by using the combination method of acceleration and creep, and then the traction force can be re- duced to suppress the occurrence of slip. As the complexity of the locomotive operating environment, it is difficult to measure accurately the speed of the locomotive and the wheel. And it increases the instability and maintenance costs by using the speed sensor now. In order to solve the problems, we firstly established a state-space model of the trac- tion motor, then identified the motor speed by using the Extended Kalman Filter, and finally achieved the method of anti-slip control without speed sensor for electric locomotives. The simulation result based on MATLAB/Simulink shows that the Extended Kalman Filter can identify the rotor speed accurately. And the locomotive slip can be detec- ted and controlled opportunely by the combination method.