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Modeling and Precision Stop of Metropolitan Train with Receding Horizon Control

Title
Modeling and Precision Stop of Metropolitan Train with Receding Horizon Control
Translated Title
열차 모델링과 Receding Horizon Control 을 적용한 정밀 도시철도 정위치 정차 제어
Authors
Aum, Sung Min
DGIST Authors
Aum, Sung Min; Eun, Yong Soon; Choi, Hong Soo
Advisor(s)
Eun, Yong Soon
Co-Advisor(s)
Choi, Hong Soo
Issue Date
2015
Available Date
2015-07-19
Degree Date
2015. 8
Type
Thesis
Keywords
metro traintrain precision stopreceding horizon controlmodel predictive control도시철도정위치 정차 제어열차 브레이크 모델이동구간 제어
Abstract
Modeling of new type of metropolitan train, which is to be introduced on Korean railways in near future, and the control strategy for precision stop is tested in simulation. Modeling is carried out based on the raw test data and previously measured specifications provided by the Korean Railroad Research Institute. Control strategy is divided to two stages. Feed-forward and PI controller was implemented for initial stage. The controller is then switched to a Linear Receding Horizon Controller closed to the train stop, when velocity is low enough to disregard the actuator and plant nonlinearities. New reference is generated online for Linear Receding Horizon Controller interval. Simulations under the reasonable amount of measurement noise and model mismatch show that the proposed controller satisfies precision stop specification of ±0.1m. ⓒ 2015 DGIST
Table Of Contents
1 Introduction 4 -- 1.1 Motivation 4 -- 1.2 Contribution 5 -- 1.3 Methodology 5 -- 1.4 Summary 6 -- 2 Background Information 7 -- 2.1 Previous Work 7 -- 2.2 Automatic Train Control (ATC) 8 -- 2.3 Automatic Train Operation (ATO) 8 -- 2.4 Precision Stop Marker (PSM) 8 -- 2.5 Car types 9 -- 2.6 Train formation 9 -- 2.7 Brakes 10 -- 3 Modeling 11 -- 3.1 Train model 11 -- 3.2 Actuator characteristics 13 -- 3.3 Resistance 19 -- 3.4 Brake blending 20 -- 4 Controller Design 22 -- 4.1 Control Strategy 22 -- 4.2 Reference Generation 24 -- 4.3 Controllers 29 -- 5 Simulation 41 -- 5.1 Simulation 41 -- 5.2 Implementation details 42 -- 6 Result 44 -- 6.1 Test for robust stability and robust performance 44 -- 6.2 Test for performance under different horizon window size and different controller output frequency 45 -- 6.3 Test for the effect of reference shape on stop error 46 -- 7 Conclusion 48 -- 7.1 Summary 48 -- 7.2 Future Work 48 -- 7.3 Concluding Remark 49 -- Appendix 50 -- Reference 84
URI
http://dgist.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002067753
http://hdl.handle.net/20.500.11750/992
Degree
Master
Department
Information and Communication Engineering
University
DGIST
Files:
Collection:
Information and Communication EngineeringThesesMaster


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