Dynamic Modeling and Active Control of Slip Phenomenon in a Four-axle Locomotive

Today, active control of rail vehicles, especially wheel slip control, is of great importance. Regarding to the various methods of slip control, selection of the best method is necessary in the design of the rail vehicles. In this paper, first, a slip simulator for a four-axle locomotive was selected to simulate the slip phenomenon, then components of this simulator were separately designed, and finally its 3D model was presented. Afterwards, dynamic equations based on nonlinear creep theory for this simulator were derived and by solving state space equations, the dynamic modeling of the slip phenomenon was obtained. Using fuzzy control method with three different methods: per vehicle, per bogie and per wheelset, the controller was designed and finally with adding this controller to the dynamic model, the best method for controlling the slip was determined.