Keywords: antislip device, motor current control, pulse width modulation


The reliability of electric transport depends on the performance of traction motors, which is disturbed by the emergency modes of operation of these devices in certain traffic conditions. During tram movement, traction may exceed the clutch force, which results in slipping, which is an undesirable phenomenon - it reduces the traction force (loss of power) of the engine.

The antislip device based on regulating the excitation winding current to change the electromechanical characteristic to a more rigid are treated in paper. The transition to a more rigid characteristic is performed by applying a parallel circuit for connecting the motors and regulating the current using pulse width modulation. For this purpose, a control module is included in the circuit, which receives signals from current and voltage sensors to estimate the speed and intensity of slip. The control module calculates the frequency of rotation of the armature of the motors and, according to the data obtained, opens the transistor using pulse-width modulation, which leads to an increase in current in the field windings and an increase in the magnetic flux of the slip engine. As a result, the rotational speed of the wheelset slip decreases and the slipping stops. The antislip device work was evaluated using software. The program calculates the value of the currents on the skidding engine with a step-by-step difference in the speed of rotation of the wheel pairs. Was investigated the skid for certain values of excess slip. The dependences of the change in current through the transistor on certain values of excess slip for different speeds of the tram car are built. The evaluation of the traction device showed the effectiveness of its use on operated tram cars. On the basis of the conducted researches there is a possibility of creation of automatic control system for PWM, and consequently and automatization of work of all protivobuksovochny device.

Author Biographies

S. Zakurday, O.M. Beketov National University of Urban Economy in Kharkiv

Ph.D., Associate Professor

N. Kulbashna, O.M. Beketov National University of Urban Economy in Kharkiv

Ph.D.,  senior lecturer

V. Shavkun, O.M. Beketov National University of Urban Economy in Kharkiv

Ph.D., Associate Professor

O. Babicheva, O.M. Beketov National University of Urban Economy in Kharkiv

Ph.D., Associate Professor


Gallardo-Hernandez, E.A., Lewis, R. (2008). Twin disc assessment of wheel / rail adhesion. Wear. No 265 (9-10). Р. 1309-1316.

Seyedtabaii, S., Velayati, A. (2019) Adaptive optimal slip ratio estimator for effective braking on a non-uniform condition road Automatika. 60(4). Р. 413-421.

Soomro Z. A. (2015). Computation of slip analysis to detect adhesion for the protec tion of rail vehicle derailment. Journal of Applied and Computational Mechanics. No 3. Pp. 145-151.

Lhomme-Desages D., Grand Ch., Guinot J-C. (2007). Trajectory Control of a Four-Wheel Skid-Steering Vehicle over Soft Terrain using a Physical Interaction Model. IEEE International Conference on Robotics and Automation Roma, Italy. Рp. 1164-1169.

Han K., Choi M., Lee B., Choi S. B. (2018). Development of a Traction Control System Using a Special Type of Sliding Mode Controller for Hybrid 4WD Vehicles. IEEE Tran. Vehicular technology. Pp. 264-274.

Gursky N.N., Slabko Yu.I., Furunzhiev R.I. (2009). The theoretical basis of anti-lock and anti-slip systems of the new generation. Bulletin of BNTU. № 3. Рр. 46-49.

Gavrilović В., Bundalo Z., Vukadinovic R. (2009). Тhe railway vehicles of «serbian railways» with wheel slip control. Mechanics Transport: аcademic journal. No 3. Рp. 1-9.

Mousavi A., Davaie Markaz A. H.i, Saleh Masoudi. (2017). Сomparison of Adaptive Fuzzy Sliding-Mode Pulse Width Modulation Control With Common Model-Based Nonlinear Controllers for Slip Control in Antilock Braking Systems. Article in Journal of Dynamic Systems Measurement and Control. No 140(1).

Mousavi A., Markazi A., Masoudi S. (2017). Adaptive Fuzzy Sliding-Mode Control of Wheel Slide Protection Device for ER24PC Locomotive. Latin American Journal of Solids and Structures. No 14. Рp. 2019-2045.

Rajkamal, R., Karthi, A. (2017). Analysis of PWM techniques for inverters driving AC motors. Pertanika Journal of Science and Technology. 25(4), Р. 1211-1222.

Ganthia, B.P., Rana, P.K., Pattanaik, S.A., Rout, K., Mohanty, S. (2016) Space vector pulse width modulation fed direct torque control of induction motor drive using MATLAB-Simulink IET Conference Publications, (CP739).

Protsenko D. P. (2009). System of detection of slipping of wheel pairs of the tram. Municipal economy of cities, 90, 427–430.

Smirny M. F., Mogila V. I., Gorbunov M. I., Kovtunets M. V. (2017). Device for detection of slipping and using the wheels of a rail vehicle. Patent Of Ukraine № 120251.

How to Cite
ZakurdayS., KulbashnaN., ShavkunV., & BabichevaO. (2019). PULSE WIDTH MODULATION APPLICATION IN ENGINE CURRENT REGULATION DURING TRAM SLIP. Municipal Economy of Cities, 6(152), 9-15. Retrieved from https://khg.kname.edu.ua/index.php/khg/article/view/5484