Journal of Jilin University(Engineering and Technology Edition) ›› 2021, Vol. 51 ›› Issue (5): 1593-1600.doi: 10.13229/j.cnki.jdxbgxb20200558

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Electromechanical brake system based on the nonlinear PI controller of urban rail trains

Yi-yun ZHAO1(),Hui LIN1,Bing-qiang LI1,Feng MIAO2   

  1. 1.College of Automation，Northwestern Polytechnical University，Xi'an 710129，China
    2.CRRC Qingdao Sifang Rolling Stock Research Institute Co. ，Ltd. ，Qingdao 266031，China
  • Received:2020-07-23 Online:2021-09-01 Published:2021-09-16

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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

CLC Number: 

  • TM921.5

Fig.1

EMB system of urban rail train"

Fig.2

EMA stiffness curve of EMB system"

Fig.3

Block diagram of controller"

Fig.4

Graph of clearance adjustment experimental data"

Table 1

Relationships of e and KP"

系统误差比例系数系统误差比例系数
-30~-252030~2520
-25~-201825~2018
-20~-151420~1514
-15~-101015~1010
-10~-5610~56

-5~-0.5

-0.5~0.5

4

2

5~0.54

Fig.5

Curve of nonlinear PI function"

Table 2

Relationships of e and KI"

系统误差积分系数系统误差积分系数
-30~-200-30~-2520
-20~-150.1-25~-2018
-15~-100.25-20~-1514
-10~-50.4-15~-1010
-5~-2.50.7-10~-56

-2.5~-0.5

-0.5~0.5

1

0

5~0.54

Table 3

Parameters of EMA system"

参数数值
直流母线电压VDC/V24
额定转速/（r?min-1）3028
定子电阻Rm/Ω0.01
定子电感L/H3.3648×10-7
额定转矩Te/（N·m）2.96
磁极对数p4
行星齿轮减速比GR40
丝杠导程L0/mm10

Fig.6

Static experimental platform of EMB system"

Fig.7

Step response curve of static test"

Table 4

Steady state error evaluation table for different control strstegies"

评价指标常规方法本文方法
平均绝对误差/kN0.91140.2350
均方根误差0.15700.0431

Fig.8

Frequency response curve of static test"

Fig.9

Dynamic experimental platform of EMB system"

Fig.10

Curve of brake gear operation test"

Fig.11

Curve of brake gear switch test"

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[1] XIA Li-hong, DENG Zhao-xiang. Optimal design of electromechanical brake actuator through an integrated mechatronic approach [J]. 吉林大学学报(工学版), 2018, 48(4): 998-1007.
[2] WU Jian, ZHAO Yang, HE Rui. Fault detection and diagnosis of EMB sensor system based on SVR [J]. 吉林大学学报(工学版), 2013, 43(05): 1178-1183.
[3] WU Dong-yan, LIU Da-xin, XIE Xu-zhou, ZENG Zhi-yong, CHEN Sheng-gen. Multi-functional inertia dynamometer for main shaft brake of large scale wind turbine generator [J]. 吉林大学学报(工学版), 2013, 43(04): 951-957.
[4] LI Jing, ZHANG Jian, WANG Meng-chun, CHENG Chao, GUO Li-shu, SHI Zheng-tang. Electromechanical brake actuator modeling and accurate control algorithm [J]. 吉林大学学报(工学版), 2012, 42(增刊1): 1-6.
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