A mechatronic approach for effective wheel slip control in railway traction

2008 ◽  
Vol 223 (3) ◽  
pp. 295-304 ◽  
Author(s):  
T X Mei ◽  
J H Yu ◽  
D A Wilson
Keyword(s):  
Dynamic Properties ◽  
Wheel Slip ◽  
Dynamic Interactions ◽  
Contact Conditions ◽  
New Approach ◽  
Traction Motors ◽  
Control Schemes ◽  
Railway Traction ◽  
Braking Control ◽  
Adhesion Control

This article proposes a radically new approach for the detection of wheel slip/slide and re-adhesion control of AC traction motors in railway applications, which provides an important alternative and advantageous technique in traction/braking control systems to maximize the use of adhesion in poor contact conditions. The proposed concept explores the variations in the wheelset dynamic properties caused by the condition changes at the wheel—rail contact, and detects and controls the slip conditions from the dynamic behaviour of a wheelset, indirectly. All the dynamic motions of rail wheelset, which are closely related to wheel—rail contact mechanics, are included in the study; the influence of contact conditions on the relevant modes is assessed, which is essential in the development of a mechatronic solution based on dynamic interactions. This is different from the more general approaches in many other studies on traction controls where the inclusion of only wheelset rotation and longitudinal motions are considered as sufficient. The development of the slip detection and re-adhesion control schemes is presented and comprehensive simulation results are produced to support the proposed idea.

Measurement of vehicle ground speed using bogie-based inertial sensors

2008 ◽  
Vol 222 (2) ◽  
pp. 107-116 ◽  
Author(s):  
T X Mei ◽  
H Li
Keyword(s):  
Inertial Sensors ◽  
Dynamic Responses ◽  
Time Shift ◽  
Vehicle Speed ◽  
Wheel Slip ◽  
Bogie Frame ◽  
Ground Speed ◽  
Measurement Scheme ◽  
Railway Traction ◽  
Braking Control

This paper presents a novel technique for the measurement of vehicle ground speed using inertia sensors mounted on a bogie frame of railway vehicles. The measurement is achieved indirectly from the time shift of the dynamic motions between two wheelsets, by exploring vehicle/bogie dynamic responses to track excitations and extracting particular features of motion at the wheelsets. There is no need for the use of conventional position encoders and therefore difficulties associated with inaccuracies in wheel slip/slide conditions or limited resolutions of the encoders are eliminated. The basic principle of the proposed technique is explained and detailed development of a practical measurement scheme presented. A full performance assessment is provided to illustrate that a fast and accurate measurement of the vehicle speed can be obtained with the proposed measurement scheme. Limitations and further improvements of the new method are also discussed. The method presented in the paper may provide a reliable and accurate measurement of the absolute vehicle speed essential for railway traction and braking control systems and may be extended for automotive applications.

OPTIMUM ADHESION CONTROL OF TRACTION MOTORS BY A DIGITAL FILTER

1988 ◽  
Vol 17 (sup1) ◽  
pp. 113-116
Author(s):  
Takehiko Fujioka ◽  
Masakazu Iguchi ◽  
Takahiro Ito
Keyword(s):  
Digital Filter ◽  
Traction Motors ◽  
Adhesion Control

Proprioceptive control of interjoint coordination

1995 ◽  
Vol 73 (2) ◽  
pp. 273-284 ◽  
Author(s):  
Claude Ghez ◽  
Robert Sainburg
Keyword(s):  
Internal Model ◽  
Dynamic Properties ◽  
Three Dimensional ◽  
Specific Response ◽  
Proprioceptive Information ◽  
Dynamic Interactions ◽  
Line Segments ◽  
Interjoint Coordination ◽  
Straight Line ◽  
Interaction Torques

This paper reviews a series of experiments comparing intact controls with functionally deafferented patients to determine the role of proprioception in controlling dynamic interactions between limb segments during movement. We examine the control of hand path in a planar movement-reversal task and in a familiar three-dimensional gesture with similar biomechanical characteristics. In the planar task subjects had to move their hand out and back along a series of straight-line segments in the horizontal plane without visual feedback. The lengths and directions of the target line segments were chosen to require different amounts of shoulder motion while requiring the same elbow excursion. In controls, hand paths were, as required, straight with sharp bends at the outermost point. In patients, however, distinctive errors appeared at movement reversals, consisting of widened hand paths resulting from desynchronization in the reversals of elbow and shoulder motions. These errors reflected an inability to program elbow muscle contractions in accord with interaction torques produced at the elbow by variations in acceleration of the shoulder. The reversal errors were substantially reduced after patients had practiced for a few trials while visually monitoring movements of their arm. The improvement was not limited to the direction where they had practiced with vision, but also extended to other directions in which the elbow torques were different. This suggests that practice with vision of the arm served to improve the general rules that subjects used to plan movement, rather than simply improving the performance of a specific response. Similar to their performance on the planar task, the patients made errors in interjoint coordination during unconstrained three-dimensional gestures with movement reversals. We conclude (i) that both the planning and the learning of movement required an internal model of the dynamic properties of the limb that takes account of interaction torques acting at different joints; (ii) that this internal model is normally established and updated using proprioceptive information; but (iii) that when proprioception is lacking, vision of the limb in motion partially substitutes for proprioception.Key words: proprioception, multijoint coordination, limb movement, multijoint dynamics, deafferentation.

scholarly journals Integrated Braking Control for Electric Vehicles with In-Wheel Propulsion and Fully Decoupled Brake-by-Wire System

Vehicles ◽  
2021 ◽  
Vol 3 (2) ◽  
pp. 145-161
Author(s):  
Marius Heydrich ◽  
Vincenzo Ricciardi ◽  
Valentin Ivanov ◽  
Matteo Mazzoni ◽  
Alessandro Rossi ◽  
...  
Keyword(s):  
Electric Vehicles ◽  
Sliding Mode ◽  
Control Strategies ◽  
Continuous Control ◽  
Wheel Slip ◽  
Integrated Chassis Control ◽  
Robust Observers ◽  
Braking Control ◽  
Safety Features ◽  
Rule Based Approach

This paper introduces a case study on the potential of new mechatronic chassis systems for battery electric vehicles, in this case a brake-by-wire (BBW) system and in-wheel propulsion on the rear axle combined with an integrated chassis control providing common safety features like anti-lock braking system (ABS), and enhanced functionalities, like torque blending. The presented controller was intended to also show the potential of continuous control strategies with regard to active safety, vehicle stability and driving comfort. Therefore, an integral sliding mode (ISM) and proportional integral (PI) control were used for wheel slip control (WSC) and benchmarked against each other and against classical used rule-based approach. The controller was realized in MatLab/Simulink and tested under real-time conditions in IPG CarMaker simulation environment for experimentally validated models of the target vehicle and its systems. The controller also contains robust observers for estimation of non-measurable vehicle states and parameters e.g., vehicle mass or road grade, which can have a significant influence on control performance and vehicle safety.

scholarly journals A New Approach to Detection of Changes in Multidimensional Patterns

2021 ◽  
Vol 11 (3) ◽  
pp. 217-227
Author(s):  
Tomasz Gałkowski ◽  
Adam Krzyżak ◽  
Zofia Patora-Wysocka ◽  
Zbigniew Filutowicz ◽  
Lipo Wang
Keyword(s):  
Abrupt Change ◽  
Dynamic Properties ◽  
Multivariate Functions ◽  
Jump Detection ◽  
New Approach ◽  
3 Dimensional ◽  
Fault Protection ◽  
Functions Of Two Variables ◽  
Abrupt Changes ◽  
Engineering Problems

Abstract In the paper we develop an algorithm based on the Parzen kernel estimate for detection of sudden changes in 3-dimensional shapes which happen along the edge curves. Such problems commonly arise in various areas of computer vision, e.g., in edge detection, bioinformatics and processing of satellite imagery. In many engineering problems abrupt change detection may help in fault protection e.g. the jump detection in functions describing the static and dynamic properties of the objects in mechanical systems. We developed an algorithm for detecting abrupt changes which is nonparametric in nature and utilizes Parzen regression estimates of multivariate functions and their derivatives. In tests we apply this method, particularly but not exclusively, to the functions of two variables.

scholarly journals The Relief-Reconstruction-Development Dynamic: A New Approach to the Concept of Linking Relief, Reconstruction, and Development

Refuge ◽  
1998 ◽  
pp. 33-37
Author(s):  
Paul Spiegel
Keyword(s):  
Dynamic Interactions ◽  
Chronic Instability ◽  
New Approach ◽  
Linear Pattern ◽  
Humanitarian Emergencies ◽  
Complex Humanitarian Emergencies ◽  
Development Phases ◽  
Donor Agencies ◽  
Interactive Dynamic ◽  
Over Time

After a critical analysis of the relief-development continuum, a new conceptual model is proposed for areas with chronic instability in complex humanitarian emergencies - the Relief-Reconstruction- Development Dynamic (R2D2). This model incorporates the dynamic interactions of the relief, reconstruction and development phases over time and geography. Using the chronic instability of Liberia between 1990 and 1997 as an example, the author applies the R2D2 model. Liberia is divided into "maximal geographic units" and a conflict scale is applied. The resulting graph shows varying degrees of conflict between different regions which varied independently over time. Situations of chronic instability do not follow a linear pattern but instead, form a complex interactive dynamic of phases which varies over time and geography. Donor agencies and nongovernmental organizations should recognize this dynamic process and consequently fund and design programs which more appropriately address the different needs of areas within a situation of chronic instability over time.

scholarly journals Dynamic damping under introduction of additional couplings and external actions

2019 ◽  
Vol 19 (1) ◽  
pp. 38-44 ◽  
Author(s):  
S. V. Eliseev ◽  
A. S. Mironov ◽  
Quang Truc Vuong
Keyword(s):  
Mathematical Models ◽  
Automatic Control ◽  
Dynamic Properties ◽  
System Structure ◽  
Dynamic Effects ◽  
Technical Object ◽  
Dynamic Interactions ◽  
Study Objective ◽  
Oscillating Systems ◽  
Analytical Relations

Introduction.The dynamic interaction features in mechanical oscillating systems, whose structure includes additional couplings, are considered. In practice, such cases occur when using various optional mechanisms and motion translation devices under the formation of technical objects. The study objective is to develop a method for constructing mathematical models in the problems of dynamics of the mechanical oscillating systems with optional devices and features in the system of external disturbing factors.Materials and Methods. The techniques used to study properties of the systems and the dynamic effects are based on the ideas of structural mathematical modeling. It is believed that the mechanical oscillating system, considered as a design model of a technical object, can be compared to the dynamically equivalent automatic control system. The mathematical apparatus of the automatic control theory is used.Research Results.A method for constructing mathematical models is developed. The essential analytical relations for plotting oscillating systems are obtained, which enable to form a methodological basis for the integral estimation and comparative analysis of the initial system properties in various dynamic states. Dynamic properties of the two-degree-offreedom systems within the framework of the computer simulation are investigated. The implementability of dynamic oscillation damping mode simultaneously in two coordinates with the joint action of two in-phase kinematic perturbations in the mechanical oscillating systems is shown.Discussion and Conclusions.The possibilities of new dynamic effects, which are associated with the change in the system structure under certain forms of dynamic interactions, are noted. The study is of interest to experts in machine dynamics, robotics, mechatronics, nano and mesomechanics.

Dynamic Behaviour of a Road Vehicle with Rear Wheel Adaptive Braking Control

1976 ◽  
Vol 190 (1) ◽  
pp. 233-244
Author(s):  
S. W. E. Earles ◽  
B. R. Aurora
Keyword(s):  
Mathematical Model ◽  
Rear Wheel ◽  
Linear Functions ◽  
Analogue Computer ◽  
Wheel Slip ◽  
The Road ◽  
Hybrid Computer ◽  
Braking Control ◽  
Pressure Modulation ◽  
Predicted Values

SYNOPSIS Initially the vehicle response during braking is investigated with the aid of a mathematical model having a realistic road input. Using an integrated hybrid computer, the road-tyre characteristics are simulated by generating non-linear functions on the digital computer, while the mathematical model is described on the analogue computer with parallel logic facility. An adaptive braking control system is proposed which measures and processes the rear-wheel motion. Activation of the system occurs when the wheel deceleration and a quasi wheel slip reach given reference values. The adaptive system as developed and optimised on the hybrid computer is implemented on the rear wheels of the test vehicle. The predicted values of wheel speed, brake-pressure modulation, stopping distance and vehicle yaw are shown to compare favourably with the test results.

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