원문정보
초록
영어
This paper addresses an optimal train trajectory planning and tracking problem for automatic train operation (ATO) with consideration of the train model uncertainty and constraints. Based on the discrete linear multi-points train model, an ATO control algorithm is presented to track piecewise reference by using model predictive control with constraints tightening such that the feasibility and robust convergence of this algorithm are guaranteed under the varying running resistance, automatic train protection (ATP) constraint, and train motor physical limits. Specifically, the features of the algorithm are: (i) taking traction and braking force of locomotives and braking force of carriges into account explicitly; (ii) integrating constraints tightening approach into piecewise reference tracking problem to ensure robustness; (iii) combining the optimal planning level and tracking control level together. Finally two case studies are conducted to verify the effectiveness of the algorithm.
목차
1. Introduction
2. Train Multi-Points Model
2.1. Notations and Symbols
2.2. Train Dynamics
3. Problem Formulation
3.1. Stage Cost Function
3.2. Constraints
3.3. The Maximal Admissible Invariant Set
3.4. MPC Optimization Problem Formulation
4. ATO Algorithm Based on CTMPC
5. Numerical Simulation
5.1. Case A
5.2. Case B
6. Conclusion
Appendix.
References