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Anti-slip control systems are essential for railway vehicle systems with traction. In order to propose an effective anti-slip control system, adhesion information between wheel and rail can be useful. However, direct measurement or observation of adhesion condition for a railway vehicle in operation is quite demanding. Therefore, a proportional–integral controller, which operates simultaneously with a recently proposed swarm intelligence-based adhesion estimation algorithm, is proposed in this study. This approach provides determination of the adhesion optimum on the adhesion-slip curve so that a reference slip value for the controller can be determined according to the adhesion conditions between wheel and rail. To validate the methodology, a tram wheel test stand with an independently rotating wheel, which is a model of some low floor trams produced in Czechia, is considered. Results reveal that this new approach is more effective than a conventional controller without adhesion condition estimation.

A novel anti-slip control approach for railway vehicles with traction based on adhesion estimation with swarm intelligence