基于列车电机械制动系统夹紧力的控制算法优化

Control Algorithm Optimization of Clamping Force Based on Train Electro-mechanical Braking System

针对轨道列车电机械制动系统(EMB),提出一种夹紧力的精确控制方法。首先,研究了EMB的开环控制特性。由于电机损耗、机械传动装置的加工与装配精度、内部阻力等因素影响,力的传递也会存在误差,从而导致EMB开环响应较差。以PID控制为基础,研究了系统闭环响应特性,并通过引入缓冲过程和跟踪微分器,设计了夹紧力控制优化算法。最后,通过硬件在环试验,验证了夹紧力优化算法的控制精度与跟随效果,同时对比分析了EMB夹紧力与某电控空气制动系统制动缸压力的频率特性。

A precise control method of clamping force is proposed for train electro-mechanical brake system(EMB).Firstly,the open-loop control characteristics of EMB were studied.Due to the influence of motor-loss,machining and assembly accuracy of mechanical transmission device,internal resistance,there is an error in the force transmission,resulting in poor response on EMB open-loop.Based on the PID control,the closedloop response characteristics of the system were studied,and the clamping force optimized algorithm was designed by adding buffer process and tracking-differential.Finally,the control accuracy and tracking effect of the clamping force optimized algorithm were verified by hardware-inloop experiments,meanwhile,the frequency characteristics of the EMB clamping force and the brake cylinder pressure of an electro-pneumatic braking system were contrastive analyzed.