Model of Two-Mass Electric Drive of DC Electric Locomotive with the Full Order Observer

The paper deals with development of the mathematical model of the two-mass electric drive of a direct current of the electric locomotive with the observer of a full order. The model provides an opportunity to study the change in the ratio of the moments of inertia of the two masses of the electric drive in order to reduce speed fluctuations and inconsistencies in the speeds of these masses. The observer estimates the speed on the basis of information about the supply voltage and motor current. Instead of directly measuring the speed, an observer is used, who uses the measured armature current and supply voltage to change the task to speed. As a comparison, the classical model of subordinate coordinate control for a two-mass electric drive is considered. The disadvantages of the latter are the complexity of calculating the parameters of the links during debugging. Identification and description of the load moment is carried out by a system of differential equations. Reproduction of the vector of coordinates of the system and the vector of perturbations (load moment) is carried out by the observer with an error in the steady state. To compensate for it, the load torque signal in the static is fed to the input of the speed circuit through the debugging link. The results of research on the mathematical model, with its appropriate adjustment under the conditions of a particular electric drive, can significantly reduce the impact loads on the electric drive by accurately matching the speeds of two masses and from a practical point of view provide information on calculations of the kinematic circuit and selection of optimal gear ratio.