The Hierarchical Real-time Control Of
High Speed Trains For Automatic Train Operation
Author(s)
Q. Y. Wang, P. Wu, Z. C. Liang & X. Y. Feng
Abstract
The on-board controllers of high speed trains have been used to relieve drivers’
work by introducing a cruising control strategy or a target-speed automatic
control strategy. However, the two control strategies above can only play a
minor role during train operation, and the punctuality should be ensured by the
train driver and the gradient profile may not be utilized to reduce energy
consumption without debasing the punctuality. This paper investigates the
real-time control problem of high speed trains, and then proposes a hierarchical
control strategy to reduce energy consumption and improve the punctuality of
the train operation planned by the railway timetable. The control strategy
comprises of two modules, one of which is a speed profile planner, and the other
is a speed tracking actuator. In the speed profile planner, an efficient algorithm
via solving the optimal switching of adjoint variable based on the maximum
principle is adopted to calculate the optimal speed profile of the train running
section, meeting both the objective of energy consumption minimization and
punctuality constraint. Then an active disturbance rejection controller is designed
as the actuator to track the planned speed profile, implementing an accurate
tracking of the accelerating process, cruising process and decelerating process.
An extended state observer is designed to produce real-time estimates and
compensation for the total disturbance. Simulations show that the hierarchical
controller can ameliorate train operation effectively, from the aspects of planning
and self-regulating ability which can improve operation punctuality offered by
the speed profile planner, energy saving and riding comfort mainly offered
by the speed tracking actuator with proper parameter values.
Keywords: automatic train operation (ATO), energy-efficient control, train
control, active disturbance rejection control (ADRC).
Keywords
automatic train operation (ATO), energy-efficient control, train
control, active disturbance rejection control (ADRC).
Related Book
Other papers in this volume
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