TR2020-087

A Reference Governor for Wheel-Slip Prevention in Railway Vehicles with Pneumatic Brakes


    •  Danielson, C., Di Cairano, S., "A Reference Governor for Wheel-Slip Prevention in Railway Vehicles with Pneumatic Brakes", American Control Conference (ACC), June 2020.
      BibTeX TR2020-087 PDF
      • @inproceedings{Danielson2020jun,
      • author = {Danielson, Claus and Di Cairano, Stefano},
      • title = {A Reference Governor for Wheel-Slip Prevention in Railway Vehicles with Pneumatic Brakes},
      • booktitle = {American Control Conference (ACC)},
      • year = 2020,
      • month = jun,
      • url = {https://www.merl.com/publications/TR2020-087}
      • }
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    Control

This paper applies reference governor (RG) design to the problem of preventing excessive wheel-slip in railway vehicles with pneumatic brakes. The RG minimizes the difference between the desired and implemented deceleration set-point such that the system state remains inside a constraint admissible positive invariant set where wheel-slip is maintained below a prescribed level. This problem is complicated by the non-linear slip-dynamics and hysteresis in the pneumatic brake which results in a non-convex invariant set. The RG is evaluated in numerical simulations where we observe that the governor produces non-linear integral-action that has the beneficial properties of fast transient response and offset-free tracking while being robust to delays from hysteresis and uncertainty on the slip dynamics.

 

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