基于扰动力观测器的电动滚筒制动位置控制

IF 1.6 4区 工程技术 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC
Dong-Hee Lee
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引用次数: 0

摘要

虽然重型无动力拖车可以由主牵引车轻松移动和驾驶,但定位和停车并不容易。因为这需要高度熟练的驾驶技能。电动拖车系统可以利用拖车车轮上的电动滚筒,在没有原动机的情况下自行驱动重型无动力拖车。在驱动模式下,移动辊与拖车车轮分离,以减轻牵引车辆的负荷。在停车模式下,辊筒与拖车轮胎固紧,然后通过电机带动拖车轮旋转,以调整停车位置。为了抑制移动辊筒与拖车轮胎之间的适当摩擦,必须在辊筒的适当制动点停止执行电机。这可以通过制动器电机电流检测来实现。通常使用简单的过电流和保持时间来确定辊筒和轮胎之间的制动点。传统的过电流检测非常简单且功能强大,但由于各侧推杆的负载和运行条件不同,各轮胎的实际摩擦力也不尽相同。为了平衡移动辊和每个轮胎之间的摩擦力,提出了基于执行器电机无传感器速度估计的非线性干扰力观测器。与传统的过电流保持时间方法相比,所提出的方法改善了每个车轮和移动辊的摩擦控制性能。与传统的过电流保持时间方法相比,建议的方法改善了每个车轮和移动辊的摩擦控制性能,而且由于平衡了摩擦,移动扭矩也得到了改善。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Brake Position Control of Electric Mover Based on the Disturbance Force Observer

Brake Position Control of Electric Mover Based on the Disturbance Force Observer

Although the heavy non-powered trailer can be easily moved and driven by the prime traction vehicle, positioning and parking are not easy. This is because it requires highly skilled driving skills. The electric mover system can drive the heavy non-powered trailer itself without a prime vehicle using the electric driven roller at the trailer wheel. During the driving mode, the mover roller is detached from the trailer wheel to reduce the traction vehicle load. The roller is solid-firmed to the trailer tire and then rotates the trailer wheel by the electric motor to adjust the parking position during the parking mode.

To suppress the proper friction between the mover roller and trailer tire, the actuator motor has to be stopped at the proper braking point of the roller. And, this can be implemented by the actuator motor current detection. A simple over-current with the holding time is generally used to determine the actuator braking point between the roller and the tire. The conventional over-current detection is very simple and powerful, but the actual frictions at each tire are not similar due to the load and operating conditions of each side mover. The different frictions at each side tire increase the motion and moving errors at the actual positioning and parking motion.

To balance the friction between the mover rollers and each tire, the non-linear disturbance force observer based on the sensorless speed estimation of the actuator motor is proposed. To keep the same friction force, the actuator motors are stopped at the same pre-fixed friction level using the estimated disturbance force and estimated actuator motor speed.

Compared to the conventional over-current holding time method, the proposed method shows improved friction control performance at each wheel and mover roller. And, the moving torques are improved due to the balanced friction.

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来源期刊
Journal of Electrical Engineering & Technology
Journal of Electrical Engineering & Technology ENGINEERING, ELECTRICAL & ELECTRONIC-
CiteScore
4.00
自引率
15.80%
发文量
321
审稿时长
3.8 months
期刊介绍: ournal of Electrical Engineering and Technology (JEET), which is the official publication of the Korean Institute of Electrical Engineers (KIEE) being published bimonthly, released the first issue in March 2006.The journal is open to submission from scholars and experts in the wide areas of electrical engineering technologies. The scope of the journal includes all issues in the field of Electrical Engineering and Technology. Included are techniques for electrical power engineering, electrical machinery and energy conversion systems, electrophysics and applications, information and controls.
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