| With the vigorous promotion of urban and rural construction, the of urbanization process in our country has been accelerated, and the different types of rail transportation has entered into a parallel and diversified development period, leading to the rail transit an important factor of promoting the development of urban economy and the environment coordination.The system of Automatic Train Operation(ATO) is an effective way to improve the rail transit operation efficiency, as well as reduce driver’s fatigue during the train transit. Given that the existing vehicle model of ATO system is too simple and the train running environment is complicated, and also the establishment of accurate three-dimensional mathematical model is difficult, so it becomes more complex to make the change of the features of train control strategy, thus posing a crucial role of improving the control performance of ATO system. The traditional PID control algorithm which could achieve automatic driving by a large number of experimental debugging and adjust PID parameters repeatedly, resulting in its complex to manual control, time-consuming and laborious, and difficult to meet the real-time requirements of the system.For the sake of those problems, a speed control algorithm of the automatic train operation base on fuzzy adaptive-PID control will be studied in this article. Main content of the research are as follows:Firstly, aiming at the problem of large number of the parameters to vehicle model, the huge amount of operation data, the complex and unstable train operation environment, as well as difficulties to establish accurate three-dimensional mathematical model, a solution that could simplify vehicle model, line data, motor parameter and other parameters, and direct invoking of the parameters between the data structure, will be introduced. Linear ramp model for stress analysis of the train operation process, describe the train traction and braking characteristics,and establish the related traction mechanics model.Secondly, in order to meet the accurate requirements of train parking, punctuality, energy saving, comfort index,this paper has established parking model, time model, energy saving and comfort model by studying the structure, function, operational strategy and selection principle of the train automatic system working condition, providing a speed control algorithm of the automatic train operation on the basis of fuzzy adaptive-PID control, to realize planning and control during the train traction, braking and other operating status. On top of that, based on the debugging result of Shanghai metro line 1 from CASCO signal Ltd, this paper will use PIDcontrol system and fuzzy-PID control system to achieve the target speed curve tracking control simulation to verify the feasibility of the algorithm.Finally, based on the Visual C++6.0 integrated development environment, this paper will develop the subway train traction mechanics simulation system, accomplishing the design of the system functional, structural, interface, and database, as well as establish some class module include vehicle model, running model and control algorithm, and build a simulation systems of subway train traction systems combined with a given time step iterative numerical method.Furthermore, building the vehicle model, and targeting parameters of Shenzhen Metro Line 1 as the mock object, to achieve the optimal solution of target speed curve and the optimal solution of the tracking speed curve, then verify the effectiveness of the system. |
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