離散時間系スライディングモード制御に基づいた鉄道車両の車輪速度サーボブレーキ

摘要

Recently, the studies about wheel slip control based on sliding mode control theory were developed and reported. The proposed controllers based on sliding mode control were effective for wheel slip control against railway vehicles. However, those were considered as continuous-time system, and not designed the discrete time system. This paper will present the experimental results about the new wheel slip control, designed by the discrete sliding mode control. The experiments for the proposed wheel slip control are performed while comparing a continuous-time system sliding mode controller. The experimental results proved the effectiveness of the proposed control as compared with a continuous-time system sliding mode, and showed the high brake performance under the nonlinear characteristics of brake dynamics.%鉄道は大量輸送機関であり，安全上，非常時の制動 距離は短く，かつ，そのばらつきが少ない方が望まし い．その一方策として，鉄道車両の滑走制御にスライ ディングモード制御理論を適用することが試みられて いる．しかし，従来の研究は，連続時間系ス ライディングモード制御であり，実車に適用する場合， 車両のブレーキ制御装置のサンプリング周期が20ms～50msであるため，連続時間系スライディングモード 制御では，期待された性能が劣化している恐 れがある．