Modeling and Precision Stop of Metropolitan Train with Receding Horizon Control
- Title
- Modeling and Precision Stop of Metropolitan Train with Receding Horizon Control
- Alternative Title
- 열차 모델링과 Receding Horizon Control 을 적용한 정밀 도시철도 정위치 정차 제어
- Author(s)
- Aum, Sung Min
- DGIST Authors
- Aum, Sung Min ; Eun, Yong Soon ; Choi, Hong Soo
- Advisor
- Eun, Yong Soon
- Co-Advisor(s)
- Choi, Hong Soo
- Issued Date
- 2015
- Awarded Date
- 2015. 8
- Type
- Thesis
- Subject
- metro train ; train precision stop ; receding horizon control ; model predictive control ; 도시철도 ; 정위치 정차 제어 ; 열차 브레이크 모델 ; 이동구간 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
- Publisher
- DGIST
- Related Researcher
-
-
Eun, Yongsoon
- Research Interests Resilient control systems; Control systems with nonlinear sensors and actuators; Quasi-linear control systems; Intelligent transportation systems; Networked control systems
-
- Files in This Item:
-
기타 데이터 / 2.51 MB / Adobe PDF
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- Appears in Collections:
- Department of Electrical Engineering and Computer Science Theses Master
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