位置式PID控制算法在城轨ATO系统中的应用

On the application of positional PID control algorithm in the ATO system of urban railway transportation

为了使城市轨道交通CBTC(基于通信的列车运行控制系统)中的自动驾驶系统(ATO)实现更加精确的控制,通过对传统的PID控制理论进行分析,探索了位置式PID控制算法的详细控制过程,并使用现代计算机技术实现了该算法。将位置式PID控制算法与状态方程结合起来,并将改进后的算法应用于自动驾驶系统中:通过调节PID算法公式中的Kp,Ki,Kd三个参数值,可以得出最适合应用于自动驾驶系统的系数,以决定牵引和制动命令的执行时间点。研究结果表明,在自动驾驶系统中,应用位置式PID算法可以实现列车更加理想的精确控制,减少列车牵引和制动时间以实现节能,保证列车提速平稳以提高列车的舒适度和稳定性。

In order to achieve more precise control of the urban railway transportation Auto- matic Train Operation （ATO） system, by analyzing traditional PID control theory, this pa- per explores the detailed process of positional PID control algorithm and realizes the process using modern computer science.This paper also studies how to combine positional PID control algorithm and state equation and the possibility and methods to apply the improved version to the above-mentioned ATO system, by changing three parameters in the equation of the algorithm, the most suitable coefficient will be obtained for the ATO system to decide the precise timing for traction and braking. The results show that application of positional PID control algorithm can control the train with greater accuracy achieve energy conservation by decreasing the time of traction and braking and improve the comfort and stability by stable speed increase.