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. We have already proposed the anti-slip control system based on ordinary zero order disturbance observer. which has a good anti-slip response. In order to realize the more stable anti-slip re-adhesion control in, case of large variation of adhesion force coefficient, this paper proposes a new adhesion control based on torque feedback control using the first order disturbance observer. In the numerical simulation results in this paper, the proposed anti-slip adhesion control well regulates the driving wheel torque of electric motor coach more stably and more robustly.