Anti-slip/skid Re-adhesion Control Based on Disturbance Observer Considering Bogie Vibration

This paper proposes a new anti-slip/skid re-adhesion control system for electric commuter train driven by inverter-fed induction motors. This paper designs an instantaneous tangential force estimator between driving wheel and rail, which is based on disturbance observer. The torque command of proposed system regulates to exceed this estimated tangential force in order to avoid undesirable slip phenomenon of driving wheels. For the actual bogie of electric commuter train, we have already proposed the anti-slip/skid re-adhesion control system based on the ordinary disturbance observer and the speed sensor-less vector control. This system has the fine torque response for slip condition. However, this system does not consider the vibration phenomenon of actual bogie dynamics of electric commuter train. In order to extend the anti-slip/skid re-adhesion control to the actual bogie system considering the vibration phenomenon, this paper proposes a new anti-slip/skid re-adhesion control based on a new high order disturbance observer considering the first resonant frequency. The numerical simulation results confirm the validity of the proposed control system.

I. Introduction

Generally, the tangential force is the function of the axle weight of electric commuter train and the tangential force coefficient between rail and driving wheel. The characteristics of tangential force coefficient are strongly affected by the conditions of rails and driving wheels, such as wet, dust, oil and so on. When the tangential force coefficient decreases, a slip phenomenon of the driving wheel is generated[1] [2]. A slip phenomenon is uncomfortable for the passengers, and the rails and the driving wheels are damaged. Then, the driving system of electric commuter train should have a fine anti-slip/skid re-adhesion control system[3].