Method for controlling and possibly recovering the adhesion of the wheels of a controlled axle of a railway vehicle
A method for controlling and recovering the adhesion, during a slipping phase, of wheels (W i ) belonging to at least two controlled axles (A i ) of a railway vehicle, comprising the steps of: generating speed signals indicative of the angular speed (ω i ) of said wheels (W i ); estimating the value of the instantaneous adhesion (μ(T j )) at the point of contact of such wheels (W i ) and the rails, using an adhesion observer; generating a target-slip value (δ) for the wheels (W i ) of the controlled axles (A i ) by means of an optimization algorithm which processes the estimated adhesion values (μ i (T j )), and modifying the target-slip value continuously in time, with a predetermined sampling period, such as to maximize the average value of the adhesion of the wheels of the vehicle.
1. A method for controlling and recovering adhesion of wheels belonging to at least two controlled axles of a railway vehicle, during a wheel skidding phase, comprising the steps of:
generating speed signals indicative of an angular speed of said wheels;
estimating values of an instantaneous adhesion at a point of contact of said wheels and the rails, using an adhesion observer;
generating a target-slip value for the wheels of said at least two axles by means of an optimization algorithm which processes the estimated values of the instantaneous adhesion, and modifying said target-slip value continuously in time, with a predetermined sampling period, such as to maximize an average value of the adhesion of the wheels of the vehicle.
2. A method according to claim 1 , wherein a derivative of the average value of the adhesion of the wheels of said axles as a function of variation of the target-slip value of said wheels is computed, and through an adaptive filter the target-slip value for a subsequent sampling interval is modified, such as to make said derivative go to zero and to maximize the average value of the adhesion of the wheels of said axles.
3. A method according to claim 1 , wherein a derivative of the average value of the adhesion of the wheels of said axles as a function of variation of the target-slip value of said wheels is computed and thereafter integrated by means of an integrator with an output of which modifies the target-slip value and becomes stable when said derivative is equal to zero and when the average value of the adhesion of said axles tends to a maximum value of the average value of the adhesion.
4. A method according to claim 1 , wherein a sign of a derivative of the average value of the adhesion of the wheels of said axles as a function of variation of the target-slip value of said wheels is computed and thereafter integrated by means of an integrator with an output of which modifies the target-slip value and becomes stable when said derivative is equal to zero and when the average value of the adhesion of said axles reaches a maximum value of the average value of the adhesion.
5. A method according to claim 1 , wherein a value of a difference between a maximum value of the adhesion of the wheels of said controlled axles and and a minimum adhesion of the wheels of said controlled axles are computed and through a predetermined function with hysteresis, which links the target-slip value with the adhesion, the target-slip value is modified and stabilized about a maximum value of the average value of the adhesion.
6. A method according to claim 1 , wherein the average value of the adhesion a maximum variation of the adhesion and the target-slip value are computed, and through fuzzy logic devices, a subsequent value of the target-slip value, is generated, to be assigned to an adhesion recovery module.
7. A method according to claim 1 , wherein a last skidding axle of the axles, with respect to a direction of travel, is maintained in a condition of controlled slipping at a peak value of the adhesion that is available.
8. A method according to claim 7 , wherein in order to maintain at least one of the axles in a condition of skidding at a peak value of the adhesion that is available, a control algorithm for said at least one of the axles is used, wherein on a basis of the adhesion the at least one of the axles, a derivative of the adhesion as a function of the target-slip value is computed, and through an adaptive filter a torque value to be assigned to a system for controlling a torque applied to the at least one of the axles is modified, such as to keep said derivative substantially at zero.
9. A method according to claim 7 , wherein in order to keep said last skidding axle in a condition of skidding at the peak value of the adhesion, a control algorithm for each of the axles is used, wherein a sign of the derivative of the adhesion as a function of the target-slip value is value computed and thereafter integrated by means of an integrator, an output of which modifies a torque value to be assigned to a system for controlling the torque applied to the last skidding axle, such as to make said derivative substantially equal to zero.
10. A method according to claim 1 , wherein a vehicle speed is computed by means of an instantaneous speed of at least one of the axles which is skidding, said at least one axle which is skidding being kept in a condition of controlled slipping at a peak value of the adhesion that is available.
11. A method according to claim 1 , wherein at least two of the axles which are skidding are maintained in a condition of controlled slipping at a peak value of the adhesion that is available for determining a direction of travel of the vehicle.
12. A method according to claim 1 , applied during a condition of skidding in a traction phase, or in a condition of slipping in a braking phase.