最后，分析了机车牵引动态模型，并且建立了干扰观测器的粘着系数估计系统。

Finally, the dynamics of locomotive traction are analyzed, and a disturbance observer is used to estimate adhesion coefficient.

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介绍了矿用电机车的简要工作原理、粘着系数、牵引力及其相关参数的选择与计算。

This paper analyses the main principle, adhesion factor, traction and relative parameters calculation of mine electric locomotive.

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