Anti-slip System Research Articles

Acceleration Slip Regulation Control Method for Distributed Electric Drive Vehicles under Icy and Snowy Road Conditions

To achieve a rapid and stable dynamic response of the drive anti-slip system for distributed electric vehicles on low-friction surfaces, this paper proposes an adaptive acceleration slip regulation control strategy based on wheel slip rate. An attachment coefficient fusion estimation algorithm based on an improved singular value decomposition unscented Kalman filter is designed. This algorithm combines Sage–Husa with the unscented Kalman filter for adaptive improvement, allowing for the quick and accurate determination of the road friction coefficient and, subsequently, the optimal slip rate. Additionally, a slip rate control strategy based on dynamic adaptive compensation sliding mode control is designed, which introduces a dynamic weight integral function into the control rate to adaptively adjust the integral effect based on errors, with its stability proven. To verify the performance of the road estimator and slip rate controller, a model is built with vehicle simulation software, and simulations are conducted. The results show that under icy and snowy road conditions, the designed estimator can reduce estimation errors and respond rapidly to sudden changes. Compared to traditional equivalent controllers, the designed controller can effectively reduce chattering, decrease overshoot, and shorten response time. Especially during road transitions, the designed controller demonstrates better dynamic performance and stability.

Investigation of the modes of occurrence of self-oscillations in the electric traction drive of an electric bus under operating conditions

When the tires interact with the road in contact, self-oscillations occur. The excitation of self-oscillating negatively affects the operation of the mechanical parts of the individual electric drive, leading to their breakdowns due to an increase in the dynamic components of the loads as a result of fluctuations in the values of rotational speeds and torques, including with a change in the sign of the moment. This paper presents the results of an experimental study of the occurrence of selfoscillations in the zone of interaction of the tire with the support base under operating conditions. The modes of occurrence of self-oscillations during partial and full sliding in the case of anti-lock and anti-slip systems are analyzed. Self-oscillations of the torque and wheel speed cause similar processes on the shaft of the electric motor, which is accompanied by fluctuations in the stator current. Keywords self-oscillation, wheel, sliding, electric motor, individual drive, experimental studies, stator current, operation

Research on a Comprehensive Evaluation Method of Train Anti-Slip System Performance

The quality of a train’s braking anti-slip control system has a significant impact on train safety and braking performance. Currently, there is no established standard evaluation method for anti-slip control systems, making it an important area of research in the academic community. This article comprehensively considers four key indexes: adhesive coefficient utilization rate, air consumption increase ratio, wheel slip work, and anti-slip valve action frequency. The evaluation system takes into account the influence of load layer and braking level, and proposes a comprehensive evaluation method for train anti-slip control based on multi-factor hierarchical analysis. A series of experiments were conducted using a semi-physical simulation test bench for anti-slip evaluation, aimed at comprehensively evaluating two different anti-slip control strategies. By applying the method proposed in this article, the above four indexes and their corresponding weights of two anti-slip control strategies under different conditions were calculated. Finally, the comprehensive evaluation result R1 of anti-slip control strategy 1 was calculated as 0.8389, while the comprehensive evaluation result R2 of anti-slip control strategy 2 was calculated as 0.7912. Based on the comprehensive evaluation results, it is evident that the anti-slip comprehensive evaluation method established in this article is comprehensive and scientific, with concise and clear evaluation results. This method carries certain reference significance for the design of future anti-slip evaluation methods.

Алгоритмы управления карьерным самосвалом при проскальзывании колес

Mine dump trucks with a carrying capacity of 90 tons or more are equipped with an electromechanical transmission that controls the traction motors of the driving wheels. Due to unfavorable operation conditions of dump trucks, there are strict requirements to the driving safety along unpaved roads of open pits. The results of BELAZ dump trucks tests and authors maintenance experience have shown that the active security system is especially needed and gives essential assistance to a driver. Loss of control of а loaded truck, for example, during sharp braking on a slippery icy road, can lead to а serious accident and additional costs for repairing mining equipment. Thus, the development of traffic safety systems of mine dump trucks with electromechanical transmission is an important task. The methods of automatic control, mathematical modeling and numerical solution of differential equations are used to develop control algorithms for a mine dump truck. To test the proposed solutions, the method of full-scale experiment is used in real-life driving conditions along the dirt and icy roads. Control algorithms that use data of additional front (driven) wheels sensor are proposed. The results of tests of a BELAZ dump truck with a carrying capacity of 90 tons are presented. The results confirm the effectiveness of the developed control system in comparison with the one currently used in stock-produced items. The developed ABS system with speed sensors of the front wheels of a dump truck has proved the braking effectiveness along a slippery road. It makes it possible to improve the controllability of the dump truck significantly under conditions of lack of road adhesion, preventing the dump truck from skidding and wheels blocking. And it makes it possible to reduce mechanical effects on the transmission and anti-slip system sensitivity to different traffic conditions. The adaptive system remains operational if one of the front wheel sensors fails and if compared to the standard system it works equally effectively in various traffic conditions. The implementation of the obtained results will improve traffic safety and reduce the accident rate of expensive mining equipment.

Analysis of anti-slip control system and dynamic performance of mechanical engineering drive based on improved social engineering algorithm

INTRODUCTION: The field of mechanical engineering technology is an emerging technology field with many research directions, and there are many directions of intersection with other disciplines, among which the field of mechanical engineering has outstanding research advantages. With the continuous development of mechanical engineering technology, the research direction of mechanical engineering applied to the field of mechanical engineering is also continuously enriched and developed. Mechanical engineering research focuses on realizing the monitoring and control of the dynamic performance of mechanical systems, as well as realizing the integration of design and system control.
 OBJECTIVES: In order to improve the disassembly efficiency, reduce the disassembly cost and disassembly energy consumption, it is optimized using social engineering methods to achieve better results and reduce the disassembly cost and energy consumption.
 METHODS: Aiming at the drive and anti-skid control strategy of four-wheel hub motor, it was simulated using improved social engineering algorithms, and based on this, three road recognition algorithms were selected for low, medium, and high adhesion road verification.
 RESULTS: Through the study of automobile anti-skid control system, the basic structure of automobile anti-skid control system is summarized and some solution measures are proposed. A new type of drive anti-skid control system is proposed for the problems of high vibration and noise of automobile brake. The drive anti-slip control system is characterized by simple structure, easy maintenance, simple control and reliable operation, and high operation efficiency.
 CONCLUSION: This study shows that the system not only has excellent drive anti-slip effect, but also has good control performance. In addition, this drive anti-slip system is able to ensure the safe and reliable operation of mechanical brakes in various harsh environments. This new drive anti-slip control system is a new type of drive device that can be widely used for driving force on various mechanical brakes and drive wheels, and the study of this device is of great significance.

Control signal algorithm of the accelerator pedal providing an effective energy consumption by an electrobus traction gear

BACKGROUND: At the present moment there become more electrobuses in big towns, and the problem of the increasing the their energy efficiency is actual in intertown traffic (that assumes stops and time limitation among stops) because of the limitated on-board capacitors.
 AIMS: Development of the control signal algorithm of the accelerator pedal providing an effective energy consumption by an electrobus traction gear.
 METHODS: The new method for control signal formation of the accelerator pedal is proposed. It has a feature that provides the system operation traction gear frequency converter in zone of the increased efficiency factor and limits the velocity of control signal level growing when a driver tromps gas.
 RESULTS: Analysis of the electrobus operation results in intertown traffic shows, that the aggregate average electric capacity, consumed at electrobus operating equipped with the energy saving systems, is less by 8,2% than at electrobus operating without energy-saving systems at the same conditions. The average efficiency factor of the traction gear frequency converter system of an electrobus equipped with energy-saving systems has been increased by 4.5%. The time of driving on the route of an electrobus equipped with energy saving systems increased by 27 seconds that is an acceptable result. Energy saving in linehaul operation was provided only by an antislip system operation. During the total time driving of the electrobus energy saving was 2.6%.
 CONCLUSIONS: A new method for generating a control signal from the side of the accelerator pedal is proposed, which differs in that it ensures the operation of the traction motor frequency converter system in the zone of increased efficiency and limits the rate of increase in the level of the control action when the driver abruptly presses the accelerator pedal.

Алгоритм динамической стабилизации курсового угла транспортного средства при торможении

As you know, a radical means to prevent skidding of the vehicle (TK) during braking is the use of such integrated automatic active safety systems as anti-lock braking system (ABS), emergency brake booster, traction control system (TRC), electronic brake force distribution system EBD), stability control system (VSC), tire pressure monitoring system (TPWS), electronic control brake system (ECB), electric power steering (EPS), integrated dynamic vehicle control system (VDIM). Also, the stable position of the vehicle when driving on the road is provided by a set of automatic devices (for example dynamic stabilization system, anti-lock and anti-slip systems, etc.). Most of the cases of violation of the stable position of the vehicle on the road are related to the process of its braking. The article considers an alternative approach to stabilizing the position of the vehicle on the road during braking due to another approach to the management of its braking system. The mathematical description and schemes of position of the vehicle in the course of braking are offered. The stability of the position of the vehicle is ensured by braking the rear wheels, or braking one of the rear wheels (internal in relation to the direction of skidding), due to the system of dynamic stabilization of the course angle. Braking of the rear wheels during the initial skidding during braking allows you to stabilize the course angle of the vehicle (with full braking of the rear wheels, the stabilization time is minimal). This significantly reduces the braking efficiency of the vehicle, as only the front wheels are brake. Braking of only one rear wheel allows to provide identical duration of transition process at the highest efficiency of braking of the vehicle. On the example of a conventional vehicle, a comparative analysis of the effectiveness of the methods of dynamic stabilization of the course angle by braking one and two rear wheels.

The selection of the engine unit - main engine generator during the modernization of the 19D/TEM2 locomotive

The paper aims to present a generating set selection methodology for a modernized diesel locomotive. An analysis of the number of rolling stock, with particular emphasis on the number of diesel locomotives owned by national carriers was performed. Based on the popularity of the locomotives operated on Polish railways, the TEM2 locomotive was chosen to be the base reference for the modernized 19D locomotive described in the paper. The scope of the locomotive's modernization was described. Modernization included: replacement of the internal combustion engine, replacement of the generator set, installation of a new braking system with a pneumatic board and air preparation and treatment system, application of a modern control and diagnostics system with anti-slip system at start-up and braking, and the installation of railway traffic safety devices.

Selection of the characteristics of the vertical rigidity of the suspension of a vehicle equipped with an antislip system

The widespread use of antislip systems in braking systems and the effect of changing the vertical rigidity of a vehicle suspension during braking (Kapitaniak, 1985) show the necessity for an up–to–date outlook on the selection of the characteristics of the vertical rigidity of a vehicle suspension. In this paper, a method is presented for selecting these characteristics fulfilling the given parameters of vertical vibration of a suspended mass during braking with the antislip system. This method takes into account the effect of changing the vertical rigidity of a vehicle suspension during braking and is based on human vibration immunity.

The exergetic and environmental impact assessment of underground electric train braking

Within the present industrial society, some of the greatest challenges of humanity are related to achieving a sustainable industrial metabolism, which integrates technical activity and ecological systems. Electric traction drive systems using induction motors fed by variable voltage variable frequency (VVVF) inverters have provided high performance for urban electric trains. Moreover, power converter technology based on advanced techniques in control electronics and efficient anti-slip systems allows optimum traction characteristics and minimum energy consumption. For underground electric trains, however, it is also important to assess the environmental impact of braking. From the viewpoint of exergy and environment, the braking regime, particularly electric braking, is a special aspect of non-autonomous vehicles using electric traction. As electric drive systems are used with VVVF inverters and traction induction motors, these machines with appropriate controls can realize both traction and electric braking regimes for electric traction vehicles. Concerns regarding mechanical braking are associated with unrecovered energy and material utilization. Also, for underground electric trains during mechanical braking, the abnormal but frequent situation involving the unequal charge of the traction induction motors is a concern. These aspects of underground electric trains are analysed in this article so as to assist in improving performance.

An embedded fuzzy anti-slippage system for heavy duty off road vehicles

This paper describes a fuzzy logic anti-slip system for Heavy Duty Off Road Vehicles. The anti-slippage system is based on distributed detection and local/global fuzzy control of slippage within an interconnected system of mechatronic wheel motors. Within this paper, the system layout, implementation, sensor data preprocessing, slip detection, four different local/global and test results under real working conditions are described. The system developed may serve as an example for successfully applied fuzzy control for a competitive (soon) commercially available product.