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Journal of Sensors
Volume 2018, Article ID 2740679, 12 pages
Research Article

Online Accurate Estimation of the Wheel-Rail Adhesion Coefficient and Optimal Adhesion Antiskid Control of Heavy-Haul Electric Locomotives Based on Asymmetric Barrier Lyapunov Function

College of Electrical and Information Engineering, Hunan University of Technology, Zhuzhou 412007, China

Correspondence should be addressed to Changfan Zhang; ten.362@nafgnahcgnahz

Received 18 October 2017; Accepted 17 January 2018; Published 8 April 2018

Academic Editor: Jesus Corres

Copyright © 2018 Kaihui Zhao et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposes a new scheme of online accurate estimation of wheel-rail adhesion coefficient and optimal adhesion antiskid control of heavy-haul electric locomotives (HHEL) based on sliding mode and asymmetric barrier Lyapunov function (ABLF) theory. To achieve optimal adhesion control of the HHEL, it is necessary to precisely estimate the wheel-rail adhesion coefficient. However, the adhesion coefficient is difficult to be measured with a conventional physical sensor. The first novelty of this paper is to design a smart adhesion coefficient sensor based on sliding mode observer (SMO). The perception of the adhesion coefficient is transformed into the observation of load torque of the traction motors, and the wheel-rail adhesion coefficient is further calculated by using the load torque observed value. The HHEL achieves maximum traction from operating in the optimal adhesion point. However, wheel skidding is most likely to occur at this point. According to the changing trend of the adhesive coefficient characteristic curve, the operating state of a locomotive can be divided into two regions: the stable and skid regions. The second novelty of this paper is the adaptation of ABLF to guarantee that the HHEL operated at a stable region and the optimal adhesion antiskid control of HHEL is achieved. Finally, the simulation and experimental results verify the feasibility and effectiveness of the proposed method.