Train speed automatic control method based on PID and filtering algorithm

Abstract

The invention provides a train speed automatic control method based on PID and a filtering algorithm. The method includes the steps of obtaining the current running target speed and actual speed of atrain, calculating speed tracking errors, calculating error deviation and updating the state amount of an error deviation differential filter, calculating a PID control amount and updating the state amount of a PID controller in the integral process, adjusting the PID control amount, modifying the adjusted PID control amount, updating the modified PID control amount, converting the updated PID control amount into corresponding control force and modifying the control force, and outputting the modified control force to the train. In combination with the advantages of the filtering algorithm anda PID control algorithm, deviation modification is conducted on the speed tracking errors, the speed tracking errors in the train driving process are reduced, the train is more precisely controlled, it is ensured that the train can more smoothly and stably run, and the sitting comfort degree is improved.

Description

technical field [0001] The invention relates to the technical field of urban rail traffic control, in particular to an automatic train speed control method based on PID and filtering algorithm. Background technique [0002] With the rapid development of urban rail transit, higher requirements are placed on train driving control technology while operating efficiently. The emergence of CBTC (communication-based train control system) has greatly improved the reliability and safety of urban rail transit signaling systems. Base. The ATO system is mainly responsible for ensuring the automatic driving of the train, providing functions such as automatic control and adjustment of the train, and assisting the driver in driving. It is one of the core systems of the rail transit CBTC system. [0003] At present, the research on ATO system control algorithm at home and abroad has achieved remarkable results, mainly including genetic algorithm, fuzzy control algorithm, traditional PID c...

AI Technical Summary

Problems solved by technology

However, these algorithms have certain limitations. Not only do they require high computing power of the computer, but also the speed of the train changes frequently when the operating conditions are switched, the speed tracking accuracy is low, and the energy consumption is high, so the control accuracy cannot be guaranteed. and ride comfort

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