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dc.contributor.advisor Eun, Yong Soon -
dc.contributor.author Aum, Sung Min -
dc.date.accessioned 2016-12-06T07:54:22Z -
dc.date.available 2015-07-19T07:54:22Z -
dc.date.issued 2015 -
dc.identifier.uri http://dgist.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002067753 -
dc.identifier.uri http://hdl.handle.net/20.500.11750/992 -
dc.description.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 en_US
dc.description.tableofcontents 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
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dc.format.extent 85 -
dc.language.iso en en_US
dc.publisher DGIST en_US
dc.subject metro train en_US
dc.subject train precision stop en_US
dc.subject receding horizon control en_US
dc.subject model predictive control en_US
dc.subject 도시철도 -
dc.subject 정위치 정차 제어 -
dc.subject 열차 브레이크 모델 -
dc.subject 이동구간 제어 -
dc.title Modeling and Precision Stop of Metropolitan Train with Receding Horizon Control en_US
dc.title.alternative 열차 모델링과 Receding Horizon Control 을 적용한 정밀 도시철도 정위치 정차 제어 -
dc.type Thesis en_US
dc.identifier.doi 10.22677/THESIS.000002067753 -
dc.description.alternativeAbstract 근시일내 한국 도시철도에 적용될 신기종 열차의 모델링과 이에 기반하여 설계된 제어기를 시뮬레이션을 통해 검증하였다. 모델링은 한국철도기술연구원에서 제공된 실제 실험 파라미터와 기 측정된 수치를 바탕으로 진행하였다. 제어기는 두 단계로 나누어지는데, 열차 출발 시에는 feedforward 와 PI 에 기반한 제어기가 적용되고, 정차 위치 근처에 다다라 속도가 액추에이터에 끼치는 비선형성이 거의 사라졌을 때 선형 이동구간 제어기로 바뀌어 제어된다. 선형 이동구간 제어기가 도입되는 시점에 새로운 레퍼런스가 온라인으로 새로 생성된다. 적정 수준의 측정오차와 액추에이터 외란, 모델 오차등을 감안하여 시뮬레이션을 진행하였고, 이때 모두 정해진 0.1 미터 오차 안에 정차하였음을 확인할 수 있었다. ⓒ 2015 DGIST -
dc.description.degree Master -
dc.contributor.department Information and Communication Engineering -
dc.contributor.coadvisor Choi, Hong Soo -
dc.date.awarded 2015. 8 -
dc.publisher.location Daegu -
dc.description.database dCollection -
dc.contributor.alternativeDepartment 대학원 정보통신융합공학전공 -
dc.contributor.affiliatedAuthor Aum, Sung Min -
dc.contributor.affiliatedAuthor Eun, Yong Soon -
dc.contributor.affiliatedAuthor Choi, Hong Soo -
dc.contributor.alternativeName 엄성민 -
dc.contributor.alternativeName 은용순 -
dc.contributor.alternativeName 최홍수 -
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Department of Electrical Engineering and Computer Science Theses Master

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