Torque Distribution Control of Trains Equipped with Driven Independently Rotating Wheels for Guidance Control and Adhesion Control

This paper presents a torque distribution control of trains with driven independently rotating wheels. The control strategy makes full use of motors to achieve traction function and guidance function. Besides, the adhesion limit is considered. The concept of normal operation priority is applied in torque distribution. It means that avoidind trains idling/sliding has the highest priority, which is achieved by the adhesion control. The guidance control also gives the torque commands of left motors and right motors. Then, torque distribution rules are designed based on the wheel-rail adhesion state to realize the coordination of guidance control and adhesion control. The MATLAB/Simulink-SIMPACK co-simulation results show that the train runs safely with different wheel-rail adhesion conditions and guidance function is achieved. The proposed control strategy ensures train steering, traction and braking performance.