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

Abstract

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