电力牵引传动系统建模.docx

摘 要近年来，我国铁路不断重载化、高速化，因此机车需要获取更大的平均牵引力。机车牵引力的形成，主要依赖于轮轨间的粘着。有效的利用轮轨间的粘着一方面能提高机车的平均牵引力、有效发挥电机功率，另一方面能提升机车运行时的安全性和舒适性。然而轮轨间的粘着对环境状况比较敏感，常常会受多方面因素的影响。大量的工程实践和研究表明，机车的防空转系统可以有效地抑制空转，对恢复轮轨间的粘着和降低牵引电机的功率损失作用明显。目前现有的粘着控制研究通常是基于简化的机车数学模型，不能准确的表征复杂的机车模型的各种性能，与实际机车和轮轨接触模型相差甚远，而且从仿真模型到实际控制器设计跨度太大，实际实验成本过高，实验环境受实际情况限制。本文利用多体动力学仿真软件Simpack搭建HXD2C机车的模型，配合Matlab/Simulink软件搭建的电机传动牵引及其控制系统构建了粘着控制的虚拟样机仿真平台，能够建立较真实的机车模型，仿真各种路况。为解决仿真算法向实物平台移植困难的问题，Mathworks公司提出的基于模型设计（MBS）的概念，利用Real Time Workshop Embedded Coder生成所需的特定硬件的代码，在虚拟样机仿真环节中加入DSP控制器，构建处理器在环（PIL）仿真平台，用DSP来验证粘着控制算法的有效性。最后为使实物DSP控制器和仿真模型隔离开，加入数据采集卡作为仿真平台与DSP控制器之间数据传输的通道，把修改粘着控制算法并移植到DSP控制器中，并编写了DSP端数据采集和滤波通信协议，建立以DSP控制器为实物，Simpack机车模型，Simulink电机控制模型为仿真对象的半实物仿真平台。实验和仿真结果表明，虚拟样机仿真平台、PIL仿真平台和半实物仿真平台能够详细的反应机车在粘着控制中运行的各种详细状况，电机运行参数，验证粘着控制算法。在粘着控制器的研发上加速开发过程，节约成本。关键词：粘着控制；半实物仿真；DSP；Simulink；Simpack；处理器在环；虚拟样机AbstractIn recent years, overloaded and high speed is the main development direction of China’s railway, and therefore requires greater traction. Locomotive traction mainly depends on the adhesion force between wheel and rail. Using wheel-rail adhesion effectively not only can improve the locomotive traction, utilize motor power effectively, but also enhance the safety and comfort of the locomotives However, the adhesion between wheel and rail is sensitive to environment conditions, often affected by many factors. A large number of engineering practice and research shows locomotive anti-slip system can effectively avoid the slip occurrence, restore adhesion force between wheel and rail and reduce the power loss of traction motor.Current adhesion control studies are usually based on a simplified mathematical locomotives model, but a variety of performance can not be accurately characterized because of complex model locomotives, particularly rail-wheel contact model. What is more, there is a big gap between simulation model and real controller. This paper builds HXD2C locomotive model by using multi-body dynamics simulation software S