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Modeling and Precise Stop Control Simulator Design of Metropolitan Trains with Feedforward and PI control

Modeling and Precise Stop Control Simulator Design of Metropolitan Trains with Feedforward and PI control
Translated Title
도시철도 정위치 정차 제어를 위한 열차 모델링과 제어기 및 시뮬레이터 개발
Yu, Bu Yeon
DGIST Authors
Yu, Bu Yeon; Eun, Yong Soon
Eun, Yong Soon
Kim, Jung Tai
Issue Date
Available Date
Degree Date
2015. 2
metropolitan trainprecise stop controltrain brake modelvelocity profilefeedforward도시철도정위치 정차 제어열차 브레이크 모델속도프로파일
Precise position stop control of metropolitan train make the trains stop at appointed position of each station. It plays crucial role for train systems. It can improve the safety and punctuality of the metro trains. And it also can prevent interference between platform screen doors and trains’ doors. In order to improve stop control performance, many factors have to be considered. The factors of position stop control are formation of train units, brake type that each vehicle have, nonlinear characteristic of brake, velocity profile shape that trains are followed, error of passengers’ mass sensing sensors, and etc. This study fulfill making train model which is considered the factors and designing controller with simulator. In this study, two types of train formation model are considered. One is all vehicles of train have traction motor with two kind of brake, the other is half of vehicles have traction motor with two kinds of brakes and the other half of vehicles have one kind of brake without traction motor. And controller employ feedforward control and PI control. Control reference of train that is called velocity profile is predefined for each platform before the train move. It is same that we know every control reference on the future. In this case, feedforward control is suitable for the control strategy. In simulation, this study deal with three kinds of model parameters: error of passengers’ mass sensing sensors, brake time delay, and initial velocity at the stop sequence. In order to take performance assessment, this study consider three indicators: distance stop error, ride comfort, and stop time. Results show that all model meet the error specification for the stop accuracy even though train have model parameter error. And it show that the model that has traction motors in all vehicles represents superior performance. ⓒ 2015 DGIST
Table Of Contents
I. Introduction 1 -- A. Motivation 1 -- B. Objective 1 -- C. Approach 2 -- D. Outline 2 -- II. Background 3 -- A. Previous work 3 -- B. Types of vehicle 4 -- C. Types of train formation 5 -- D. Precision stop marker 5 -- E. Railroad system and velocity profile 5 -- III. Modeling 7 -- A. Train model 7 -- B. Brake time delay 8 -- C. Running resistance 9 -- D. Brake blending 10 -- IV. Velocity profile and controller design 11 -- A. Control strategy 11 -- B. Velocity profile design 11 -- C. Controller design 14 -- D. Controller stability 15 -- V. Simulator design 16 -- A. Simulator outline 16 -- B. Six train plant block 16 -- C. Force calculator block 17 -- D. Velocity profile block 19 -- E. Mass error estimation algorithm 20 -- VI. Simulation method and result 23 -- A. Simulation method 23 -- B. Simulation parameter range 23 -- C. Result 26 -- VII. Summary and Conclusion 33 -- A. Summary 33 -- B. Conclusion 33 -- References 34
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