Research On Urban Rail Train Precision Stop Algorithm Under ATO Mode

Urban rail train takes the lead in public transit,because of its high density and high efficiency.With the rapid development of urban rail transit,Automatic Train Operation gradually replaces manual driving to improve the efficiency,safety,comfort and punctuality of urban rail transit.The stopping accuracy is one of the most important performance indexes for measuring the Automatic Train Operation system.Accurate parking is the key to ensure that passengers get on or off smoothly on the platform with screen doors,and is also the important factor to ensure the normal operation of the urban rail train.Therefore,it is of great significance to achieve accurate train stop under Automatic Train Operation mode.This paper takes the urban rail train as the research object,establishes the urban rail train parking control model according to the stress characteristics of the parking process of urban rail train.Based on the idea of "simplifying the complexity",concise robust control algorithm for urban rail train parking is proposed to achieve the the goal of accurate train parking.In order to improve the ride comfort and operation energy saving of urban rail train,the train stop control algorithm is further improved,which makes the algorithm achieve high-precision tracking of the target stop curve under the premise of zero overshoot and fast response.The specific research contents and innovative achievements are as follows:(1)The accurate parking control model of urban rail transit train is established,and the identification algorithm based on Particle Swarm Optimization is proposed.Based on the actual operation of the train,the parking control model of urban rail train is established from the perspective of force generation.The Particle Swarm Optimization identification algorithm is applied to the parameter identification of urban rail train model,and the accuracy of the identification model is verified by comparing with the actual line data.(2)According to the characteristics of urban rail train parking process,an accurate parking control algorithm based on concise robust control is proposed.Based on the identified mathematical model,a parking control algorithm based on concise robust control is designed.Compared with the PID control method,the feasibility and effectiveness of the algorithm are verified,and the performance of the algorithm is analyzed.(3)In order to meet the ride comfort and energy saving of urban rail train,an improved concise robust accurate parking control method is proposed.Smith predictive control is combined with concise robust control algorithm.Smith predictive control is used to suppress overshoot and oscillation of time delay system,and concise robust control algorithm is used to improve the robustness of Smith predictive control model mismatch.The simulation results show that:compared with a single control method,the combined algorithm can achieve zero overshoot,fast response to the target parking speed curve tracking,and meet the requirements of urban rail train parking accuracy.