Research Of Automatic Train Operation System Based On Fuzzy Self-adaptive Pid

With the development of urban rail transit in China, the traditional man driving mode cannot fulfill the demands of train operation due to the fact that the speed and density of trains keep increasing. An automatic train operation (ATO) system is proposed, which integrates advanced computer, communication and control, and railway signal technologies, to solve this problem. The ATO system is capable to enhance the safety and improve the efficiency of rail transit, as it can control the traction, brake, and cruising of train automatically.This paper reviews development of ATO control technologies abroad according to different train dynamic model. It is proved that:PID controller is effective in most areas, but is with disadvantages in train control system; fuzzy control theory is with advantages in train control system. Therefore, a novel Fuzzy Self-Adaptive PID controller is introduced, which combines the advantages of the classic PID with fuzzy control algorithms. Designing a velocity-time (V-T) curve from the situation of Ciqu station to Jinghailu station of the subway Yizhuang line reasonably, which is considered as input, through simulation with simulink it can be shown that, the proposed algorithm has its unique superiority to solve this complicated control system with nonlinearities and multiple objectives. Considering the fact that track profile changes with distance, and the effect of disturbance factors, the proposed algorithm can track the input V-T curve precisely, make the distance error fulfill the requirement of ATO, and have a good capability of anti-disturbances to uncertain disturbance.Applying the fuzzy self-adaptive PID technology to ATO system, the simulation results in this paper show that the proposed solution can satisfy the basic demands of automatic driving. It is a meaningful research to promote the development of the ATO system.