Adhesion control in low-speed region and experiment verification with considering low-resolution pulse generator

An adhesion control performance in low-speed region considering a low-resolution pulse generator (PG) and experiment results are reported. In the proposed adhesion control methods, the wheel speed is required. However, in the railway field, the PG used for the wheel speed measurement is attached on the main motor and with only 60 pulse-per-revolution (ppr). Therefore, in the low-speed region, the speed value cannot be obtained in each control period. To solve this problem, a disturbance-instantaneous speed observer is proposed in this paper. The effectiveness of the proposed adhesion control with instantaneous wheel speed estimation has been verified by simulations and experiments.