Slip controllers are crucial for railway vehicle operation when a high tractive effort is required. The slip controllers have been developed for decades, and their developments continue. The developed slip controllers are based on many more or less effective principles. One of the perspective slip controllers determines a phase shift between an injected excitation signal to the required torque of the electric drive and the signal representation in a measured wheel angular velocity. The slip controllers that are based on the principle can effectively work with any adhesion conditions. However, the slip controller principle has some drawbacks like high filtration requirements, possible failure due to mechanical shock in the wheel-rail contact and long response time. The paper proposes a novel phase shift detection method for the slip controller based on an unscented Kalman filter that can cope with the known disadvantages of the original slip controller. When the proper output of the UKF is used, the slip controller becomes faster, more reliable and can work when the original slip controller fails. The proposed slip controller was verified on the measured data in an open-loop calculation and the mathematical model in the closed-loop simulation.

中文翻译：

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基于UKF的车轮滑移控制附着特性斜率估计


当需要高牵引力时，打滑控制器对于铁路车辆的运行至关重要。滑动控制器已经发展了数十年，而且其发展还在继续。所开发的滑动控制器基于许多或多或少有效的原理。透视滑差控制器之一确定注入的激励信号与电驱动器所需扭矩之间的相移以及以测量的车轮角速度表示的信号。基于该原理的滑移控制器可以在任何附着条件下有效工作。然而，滑差控制器原理存在一些缺点，如过滤要求高、轮轨接触时可能因机械冲击而发生故障、响应时间长等。本文提出了一种基于无迹卡尔曼滤波器的滑差控制器的新型相移检测方法，可以克服原始滑差控制器的已知缺点。当使用UKF的正确输出时，滑差控制器变得更快、更可靠并且可以在原滑差控制器出现故障时继续工作。所提出的滑差控制器通过开环计算中的测量数据和闭环仿真中的数学模型进行了验证。