中文摘要：

列车在制动过程中,如果轮轨间滑移率超过了最佳滑移率,车轮就会打滑甚至空转,损伤车轮和轨道。为避免这种现象的产生,建立了制动气缸压力的非线性模型,利用干扰观测器对黏着系数进行估计,运用递归最小二乘法预测切向力系数与滑移率关系曲线的斜率,采用滑模变结构与逻辑门限值相结合的控制方法对系统进行控制。仿真结果表明,这种方法能够有效地使车轮圆周方向的切向力保持在最大值附近,使滑移率保持在最佳值附近,防止因车轮打滑而损伤轮轨,达到了期望的控制效果。

英文摘要：

The nonlinear model of the brake cylinder was established. The disturbance observer was used to estimate the adhesion coefficient. The recursive least squares method was applied to forecast the tangential force coefficient and slip curve slope. The sliding mode and logic threshold controll algorithm were combined to control the slip rate of wheel and vehicle velocity. The simulation results show the proposed method is effective to maintain the tangential force around the maximum and the slip rate around the optimal value. Wheel and rail damages caused by a slip are effectively prevented. The expected effect of control is achieved.