空気圧制動系における非線形粘着状態観測器

Abstract

This paper shows that the VSS observer has the possibility to estimate adhesion force using wheel slip simulation and wheel slip experiments. It has been shown that the disturbance observer was effectives in estimation of adhesion force. To apply a strain gauge to the brake caliper in order to measure the braking torque is difficult, because the delicate parts on bogies are to be avoided at the train depot. When all the axles of vehicles slip, the wheel slip prevention cannot work sufficiently. Moreover, the brake systems of railway vehicles possess strong nonlinear characteristics with variable parameters, such as adhesion force and friction coefficient of brake materials. It is important that the estimation method has robustness against such disturbance and parameter changes, and it is known that the Variable Structure System (VSS) observer has robustness against parameter change, disturbance input and so on. However, there have been no research reports about a Variable Structure System (VSS) observer for the brake system or wheel slip preventing methods in a railway vehicle. In order to compare the theoretical value of adhesion force with estimated value by a VSS observer, wheel slip simulation was preformed. Simulation results show that the VSS observer can estimate the adhesion force efficiently. Moreover, estimation experiments of adhesion force using VSS observer were performed, and it has been clarified that the VSS observer can efficiently estimate the tangential force coefficient from the experimental results.