Modeling and Simulation of Straddle-type Monorail Vehicle Adhesion Control

As a new type of urban rail transit, the straddle-type monorail is widely used with the key characteristics at the aspects of low cost, fast construction cycle and small impact on urban ecological environment. The poor road conditions may cause adhesion coefficient decrease, then lead to traction force reduce, even cause wheel slip, during the driving process of the vehicle. To analysis and improve the adhesion performance of straddle-type monorail vehicle accurately, a co-simulation model for adhesion control of straddle-type monorail vehicles is built. The model of adhesion control system and traction motor are established by Matlab/Simulink. Then the straddle-type monorail vehicle model is established by multi-body dynamics software Simpack, which analyzing the mechanical structure and dynamic characteristics of straddle-type monorail bogies. The validity of the co-simulation model is verified by the StarSim real-time simulator. Finally, the combined correction adhesion control and adhesion characteristic curve-based adhesion control on the straddle-type monorail are analyzed by the co-simulation model.