Iterative learning-based subway train automatic running speed control method

A technology for automatic train operation and speed control, applied in special data processing applications, instruments, electrical digital data processing, etc., can solve problems such as increased energy consumption, difficulty in obtaining satisfactory control effects, and lack of portability.
CN106529023AActive Publication Date: 2017-03-22NANJING INST OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
NANJING INST OF TECH
Publication Date
2017-03-22

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Abstract

The invention discloses an iterative learning-based subway train automatic running speed control method. The method comprises the following steps of: 1, establishing a train running dynamic model for an urban railway transit train automatic running speed control system; 2, automatically adjusting a learning gain through output errors and modified functions in an iteration process, and using the learning gain to update the input of a speed controller; and 3, in order to ensure the robustness, for the initial-state errors, of an algorithm, learning an iteration initial state while a controlled quantity is learnt to ensure that the system can restrain to an expected track under any initial condition without requiring the iteration initial state to be accurately located on an expected initial state, so as to finally realize the accurate tracking, for a target speed curve and a target displacement curve, of the train. According to the method, a learning gain initial value and a system state and tracing error of the last iteration are utilized to correct the system initial state of the current iteration, and an iteration initial state correction algorithm is given, so that the convergence, for any system initial state, of a law of learning is ensured.
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Description

technical field

[0001] The invention relates to a method for controlling the automatic running speed of subway trains based on iterative learning, belonging to the technical field of urban rail traffic control. Background technique

[0002] Urban rail transit has the characteristics of fast speed, large transportation volume, less pollution, low energy consumption, and good comfort. It is an important part of urban public transportation. With the rapid development of cities, the construction of rail transit systems has become a large and medium-sized It is one of the important measures for cities to alleviate traffic congestion. The operating characteristics of rail transit determine its extremely high requirements for safety, comfort and energy saving. Compared with non-automated trains, the automatic driving of trains can improve the average speed of train travel and the accuracy of parking on the premise of ensuring safe operation. The automatic driving of trains has bec...

Claims

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