城市轨道交通列车自动驾驶各阶段速度控制算法的研究

Research on speed control algorithm of Automatic Train Operation in Urban Transit

本文介绍列车自动驾驶(ATO)的基本功能,重点描述列车速度调节和控制功能。将列车自动驾驶过程划分为车站发车、速度跟踪、目标制动3个阶段,对每个阶段的目标速度曲线、速度控制策略和计算算法进行了分析,提出了速度跟踪阶段采用的速度离散化PID控制方法并对其进行了重点研究。

This article described the basic functions of Automatic Train Operation（ATO）,emphatically described the function of train speed regulation and control.The process of ATO between stations was divided into three stages as station departure,speed tracking and target braking.The target speed curve generation,the speed control strategy and algorithms in each stage were analyzed.The speed discretization PID control method was proposed and researched in the stage of speed tracking.