Research Of Adhesion Control Method And Hardware-in-the-loop Simulation Based On Straddle Monorail Train

With the large-scale construction of urban rail transit,straddle type monorail train has broad development prospects because of its advantages of low cost,short construction period and small terrain restrictions.As the key technology of electric traction drive control,adhesion control technology has been widely studied on electric locomotive,but the research on adhesion control algorithm for straddle monorail train is insufficient.Therefore,it is of great significance to analyze the mechanical structure characteristics and traction transmission system of straddle type monorail train,study the corresponding adhesion control methods,improve the adhesion utilization of straddle type monorail train,and ensure trains safe and stable operation.It is difficult and costly to install,test and debug the adhesion control system on the train.The detection of signal and the judgment basis of idling state are affected by many factors,such as train environmental factors,rail surface state,operation and sensor signal accuracy,so it has great randomness.Even the same adhesion control system needs careful debugging in different trains and running lines,so as to maximize the adhesion utilization during train operation.However,the test and data collection of the adhesive control system are often difficult and costly.Therefore,this paper studies the adhesion control of straddle type monorail train,and constructs the corresponding hardware in the loop simulation platform,so as to shorten the debugging cycle of adhesion control system and improve the traction power and adhesion utilization rate of straddle type monorail train.Firstly,the overall structure and mechanical characteristics of straddle type monorail train are analyzed,and the structure topology diagram of straddle type monorail train is given.According to the topology diagram,the multi-body dynamic model of straddle type monorail train is established.Combined with the current dynamic evaluation standard of urban rail train operation,the dynamic simulation of the established model is carried out,and analyzes the influence on the dynamic performance of the train when the adhesion coefficient decreases due to the change of vehicle speed and rail surface state.Secondly,combined with the running system and mechanical structure characteristics of straddle type monorail train,two adhesion control models based on combination correction and creep rate are established,and a co-simulation platform is built with the dynamic model of straddle type monorail train.The adhesion control and dynamic characteristics of train are studied as a whole.The co-simulation platform can simulate the running characteristics and dynamic characteristics of Straddle Monorail in real time,debug the adhesion control algorithm quickly,and analyze the performance of adhesion control method to restrain wheel idling and improve the overall traction of the train.Finally,in order to further reduce the wheel idling of straddle monorail train and improve the overall traction of straddle monorail train.Aiming at the driving mode of straddle type monorail,the mathematical model of parallel operation of traction motor of straddle type monorail is established,and the vector control method based on weighted value is given.The hardware-in-the-loop simulation platform is built and compared with the average vector control method.The experimental results show that this method can reduce the load imbalance between the two traction motors,avoid the idling of the train wheel pair due to excessive traction,and improve the adhesion utilization rate of the train.