自动驾驶系统运行模式曲线最优预见跟踪控制算法
张彦栋;王青元;刘强强;纪云霞;徐茂峻
【期刊名称】《计算机应用》 【年(卷),期】2017(037)0z2
【摘要】为研究城轨列车自动驾驶系统(ATO)运行模式曲线跟踪算法,通过分析列车运行过程,结合列车牵引计算模型,建立不同工况下的动力学模型.在保障平稳驾驶和操纵合理性基础上,提出跟踪算法的设计目标,即在保障舒适性的前提下实现高精度的速度跟踪及精确停车.将列车运行控制系统与最优预见跟踪控制相结合,以自动驾驶系统离线优化计算的运行模式曲线为目标,线路附加阻力及基本阻力视为扰动,设计城轨列车自动驾驶系统运行模式曲线最优预见跟踪控制算法.为验证该算法的有效性,引入PID控制进行仿真对比.仿真结果表明,设计的算法在兼顾了运行舒适性的同时,具有良好的速度跟踪性并满足停车精度要求.%Aiming at studying Automatic Train Operation (ATO) systems,by analyzing the automatic operation process of urban trains and combining the train traction calculation model,the dynamic model in different operation modes for urban trains was built.On the basis of smooth driving and rational operation,the goals of an automatic train control method were proposed,to realize the precise speed tracking and train stop on premise of comfort.Then the automatic train control method based on optimal preview tracking control system was proposed.This method was designed on taking operation speed curve calculated by ATO as target and regarding additional resistance and
自动驾驶系统运行模式曲线最优预见跟踪控制算法
