Keywords: speed profile optimization, train stopping control, ride comfort, position-depending constraints.

Automatic train operation can realize the implementation of operation patterns that are difficult to achieve with human response characteristics, and can add value to train operation beyond labour savings, such as the implementation of energy-saving operation methods on actual trains. Feedforward control is important in automatic operation and is formulated as a speed profile generation problem. When the constraint conditions vary depending on the vehicle and track conditions. Guaranteeing ride comfort and low computational cost as well as energy saving are required for designing automatic operation. This study proposes a feedforward control design method for driving rail vehicles that gives a deceleration trajectory with minimum running time while satisfying position-dependent speed and acceleration constraints and acceleration and jerk limits imposed by ride comfort. The proposed method optimizes the stopping trajectory, which is a part of the vehicle's travel trajectory from start to stop. The proposed method is practical in two respects: the computational load is light, and the obtained trajectory is optimal in terms of travel time, ride comfort, and energy. Numerical simulations demonstrate the validity of the proposed method. The proposed method can be applied to quickly calculate the shortest-time running trajectory from the brake starting position and speed, which varies from run to run, to the stopping position.

download the full-text of this paper (PDF, 7 pages, 827 Kb)

go to the previous paper
go to the next paper
return to the table of contents
return to the volume description