A Novel Maximum Adhesive Force Control without Vehicle Speed Sensor

Maximum adhesive force control has been proposed to limit the adhesive force to a maximum value by utilizing the fact that the adhesive coefficient between the wheel and the rail peaks at a specific slip ratio when the drive wheel slips. Maximum adhesive force control requires vehicle speed and wheel speed to estimate the slip speed at the peak adhesive force value. In this paper, maximum adhesive force control is proposed using the estimated vehicle speed through the LPF of the driving wheel speed instead of the vehicle speed. Simulation results showed that the torque was controlled to drive at the maximum adhesive force. This paper will present the results of verification of the effectiveness of this control on an experimental setup.