城轨列车电子机械制动系统的非线性PI控制

doi:10.13229/j.cnki.jdxbgxb20200558

摘要/Abstract

摘要：

设计了一种适用于城轨列车的电子机械制动系统，推导其数学模型，以常规小区段设定预置PI控制算法为基础，提出了一种双曲正割非线性PI控制算法，以提高系统的鲁棒性与适应性。此外，通过改进型变结构抗积分饱和算法，减小了系统稳态误差。静态试验结果验证了本文控制算法的有效性。最后，由等比例惯性台制动试验验证了电子机械制动系统在轨道交通领域应用的可行性，为电子机械制动系统在轨道交通领域的应用提供了理论基础。

关键词: 列车制动, 电子机械制动, 非线性PI, 抗积分饱和, 惯性试验台

Abstract:

The study establishes the mathematical model of the EMB system. Based on the PI control algorithm with constant set values in small zones， a hyperbolic secant nonlinear PI control algorithm is devised. It can enhance the adaptability and robustness of the system. Furthermore， the improved variable-structure anti-windup algorithm is adopted to decrease the steady-state error. Static experiments verify the effectiveness of the proposed control algorithm. At last， the equal proportion inertia dynamometer brake experiment demonstrates the feasibility of the electro-mechanical braking system. It provides a theoretical foundation for the application of EMB systems in rail transportation.

Key words: train braking, electromechanical brake, nonlinear PI, anti-windup, inertia dynamometer

中图分类号:

TM921.5

赵逸云,林辉,李兵强,苗峰. 城轨列车电子机械制动系统的非线性PI控制[J]. 吉林大学学报(工学版), 2021, 51(5): 1593-1600.

Yi-yun ZHAO,Hui LIN,Bing-qiang LI,Feng MIAO. Electromechanical brake system based on the nonlinear PI controller of urban rail trains[J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(5): 1593-1600.

图/表 15

图1

图2

图3

图4

表1

图5

表2

表3

EMA系统主要参数"

参数	数值
直流母线电压 $V D C$ /V	24
额定转速/（ $r ? m i n - 1$ ）	3028
定子电阻 $R m$ / $Ω$	0.01
定子电感 $L$ /H	3.3648×10^-7
额定转矩 $T e$ /（N·m）	2.96
磁极对数 $p$	4
行星齿轮减速比 $G R$	40
丝杠导程 $L 0$ /mm	10

表3

图6

图7

表4

图8

图9

图10

图11

参考文献 16

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系统误差	比例系数	系统误差	比例系数
-30~-25	20	30~25	20
-25~-20	18	25~20	18
-20~-15	14	20~15	14
-15~-10	10	15~10	10
-10~-5	6	10~5	6
-5~-0.5 -0.5~0.5	4 2	5~0.5	4

系统误差	积分系数	系统误差	积分系数
-30~-20	0	-30~-25	20
-20~-15	0.1	-25~-20	18
-15~-10	0.25	-20~-15	14
-10~-5	0.4	-15~-10	10
-5~-2.5	0.7	-10~-5	6
-2.5~-0.5 -0.5~0.5	1 0	5~0.5	4

评价指标	常规方法	本文方法
平均绝对误差/kN	0.9114	0.2350
均方根误差	0.1570	0.0431

[1]	夏利红, 邓兆祥. 电子机械制动执行器的整体最优匹配设计[J]. 吉林大学学报(工学版), 2018, 48(4): 998-1007.
[2]	吴坚, 赵阳, 何睿. 基于支持向量机回归算法的电子机械制动传感器系统故障诊断[J]. 吉林大学学报(工学版), 2013, 43(05): 1178-1183.
[3]	吴东岩, 刘大欣, 谢徐州, 曾志勇, 陈胜根. 大型多功能风电机组主轴制动器惯性试验台的研制[J]. 吉林大学学报(工学版), 2013, 43(04): 951-957.