Modeling and Precision Stop of Metropolitan Train with Receding Horizon Control

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