Abstract
The paper presents a model of an adaptive control system for the torque of a mainline electric locomotive traction drive with a variable structure and adhesion conditions at the "wheel - rail" point. The model structure includes two circuits: the first and the second. The first circuit generates torque assignment directly from the driver. In the second circuit, the torque assignment is generated by the automatic control system. Switching between the circuits occurs based on the excess slip. The model includes a noise and delay block for modeling delays in the feedback signal and noise. Modeling of a traction drive with the "frequency converter - induction motor" structure is performed using a nonperiodic first-order link. A distinctive feature of the control system is the presence of an adaptive PI controller block and a slip setpoint block. A mathematical description of the slip quality assessment criteria block has been developed and presented. The mathematical description of the system main blocks is provided. The article presents the results of computer modeling for the traction force control system in the mode with and without excess slip. The model has been verified by the acceleration criterion. The verification was performed by comparing the acceleration graphs of the numerical experiment and the full-scale experiment directly on the object, the 3ES8 electric locomotive. The results of the numerical experiment in the excess slip mode are presented, namely, the oscillograms of the adaptive PI controller operation. It is shown that the use of the adaptive PI controller allows reducing traction motor torque fluctuations due to the dynamic change in the proportional coefficient of the controller. The results of the numerical experiment with different adhesion coefficient curves are presented. The result analysis showed that the law of choosing the slip speed allows determining the optimal slip speed with an error of no more than 4%.
Keywords
electric locomotive, traction electric drive, traction force, adhesion coefficient, wheel slip, slip speed, adaptive PI controller, adhesion torque.
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