轨道车辆轮对状态与线路特征的估计
Information Estimation on Wheelset State and Track Features of Railway Vehicles

为了方便、经济地获取轨道车辆轮对主动控制系统的轮对状态和线路特征信息，提出基于状态观测器的信息估计技术方案，实现了轮对状态和未知线路特征信息的共同估计.该技术方案使用惯性传感器（加速度计和陀螺仪）测得轮对摇头速度和横向加速度信号.应用该技术方案对典型的单个独立旋转车轮模型进行仿真验证.结果表明：由降维观测器和高阶滑模观测器组成的估计系统，估计效果优，不受轨道不平顺的影响，轮对状态估计误差小于0.10%；在理想线路上，线路曲率和超高信息的估计偏差在圆曲线上分别不超过0.26%和13.40%；有轨道不平顺输入的实际线路，曲率估计偏差不超过9.10%；在实际应用该技术方案时需去除滤波器波动误差.
： In order to get the wheelset state and track feature used for rail vehicle wheelset active control in an easy and economical way, an information estimation scheme based on state observers is proposed to simultaneously estimate the wheelset state and unknown track feature. The scheme obtains wheelset yaw velocity and lateral acceleration signal using some inertia sensors (accelerator and gyros). In addition, a single independent rotating wheelset model is set up to simulate and verify the proposed estimation scheme. Simulations show that the estimation system using a reduced order observer and a higher-order sliding mode observer presents good estimating performance, and is hardly affected by track irregularity. Errors of wheelset state estimation are less than 0.10%. In the ideal track, the error of the estimated track curvature and superelevation in curved track is no more than 0.26% and 13.40%, respectively. In the real track with irregularity, the error of the estimated track curvature is no more than 9.10%, but the filter fluctuation error should be removed when using this scheme in practical applications