基于简捷鲁棒的列车精准停车算法研究

Research on precise train stop algorithm based on concise robust

随着城轨列车的快速发展,列车自动驾驶模式(ATO)逐步取代人工驾驶模式。城轨列车在ATO模式下的停车精度直接决定了列车能否安全、可靠、准时运行。通过对列车停车阶段进行分析,基于列车制动模型,设计基于简捷鲁棒控制的制动控制器。在制动过程中由于电气传输和机械装置造成的时延现象,将简捷鲁棒控制与Smith预估器结合起来来削弱这一现象。通过MATLAB仿真,这种结合算法可以提高列车制动减速的响应速度,并与PID控制算法相比列车停车精度提高,且计算量小,算法简单快捷。

With the rapid development of urban rail trains,automatic train operation(ATO)gradually replaces manual driving mode.The parking accuracy of urban rail trains under ATO mode directly determines whether the train can run safely,reliably and on time.Through the analysis of the train stopping phase,based on the train braking model,a brake controller based on concise control is designed.In the braking process,due to the time delay caused by the electrical transmission and mechanical devices,the concise control is combined with the Smith predictor to weaken this phenomenon.Through MATLAB simulation,this combined algorithm can improve the response speed of train braking and deceleration,and compared with PID control algorithm,the accuracy of train stopping is improved,and the amount of calculation is small,and the algorithm is simple and fast.