Anti-slip re-adhesion control of electric motor coach based on force control using disturbance observer

In electric motor coaches, when the adhesion force coefficient between rail and driving wheel decreases suddenly, the electric motor coach has slip phenomena. In order to overcome this problem, the authors have already proposed the anti-slip control system based on ordinary disturbance observer. However, on condition of large variation of adhesion force coefficient, it is sometimes difficult for this control method to carry out the desired anti-slip re-adhesion control. For the purpose of realizing the desired anti-slip re-adhesion control, this paper proposes a new force control method using a new disturbance observer and a new torque command function. The numerical simulation results shows that the proposed control method accelerates the driving wheel torque of electric motor coach stably and robustly on condition of large variation of adhesion force coefficient.