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International Journal of Advanced Network, Monitoring and Controls
Volume 8 (2023): Numero 2 (June 2023)
Accesso libero
Simulation of Comfort Algorithm for Automatic Driving of Urban Rail Train
Kai Li
Kai Li
e
Zhongsheng Wang
Zhongsheng Wang
| 16 ago 2023
International Journal of Advanced Network, Monitoring and Controls
Volume 8 (2023): Numero 2 (June 2023)
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CONDIVIDI
Pubblicato online:
16 ago 2023
Pagine:
72 - 80
DOI:
https://doi.org/10.2478/ijanmc-2023-0058
Parole chiave
Comfort
,
Urban Rail Transit
,
Target Curve
,
PID Control
,
Fuzzy PID Control
© 2023 Kai Li et al., published by Sciendo
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
Figure 1
Variation of impact rate, acceleration, speed and running distance with speed in the start-up phase
Figure 2
Train operation target curve
Figure 3
PID control system
Figure 4
Train speed control model based on PID controller
Figure 5
Fuzzy PID control system
Figure 6
Train speed control model based on fuzzy PID controller
Figure 7
The v-t target curve and tracking curve of train operation under the action of PID controller
Figure 8
The v-t target curve and tracking curve of train operation under the action of fuzzy PID controller
Figure 9
Curve of train impact rate with time
Figure 10
Curve of train acceleration over time
The variation of train speed with running distance in the starting stage
Speed of operation /m
Speed of train
/
Km
·
h
−1
0 ~ 1.8
3.6
(
1.8
s
2
)
1
3
3.6{(1.8{s^2})^{{1 \over 3}}}
1.8 ~ 92.706
3.6
(
−
1.8
+
0.6
(
3
+
(
20
s
3
−
3
)
0.5
)
)
3.6( - 1.8 + 0.6\left( {3 + \left( {{{20s} \over 3} - 3{)^{0.5}}} \right)} \right)
92.706 ~ 140.6
3.6
*
(
a
0
+
a
1
*
cos
(
x
+
w
)
+
b
1
*
sin
(
x
*
w
)
+
a
2
*
cos
(
2
*
x
*
w
)
+
b
2
sin
(
2
*
x
*
w
)
+
a
3
*
cos
(
3
*
x
*
w
)
+
b
3
sin
(
3
*
x
*
w
)
+
a
4
*
cos
(
4
*
x
*
w
)
+
b
4
sin
(
4
*
x
*
w
)
)
3.6*\left( {\matrix{ {{a_0} + {a_1}*{\rm{cos}}\left( {x + w} \right) + {b_1}*{\rm{sin}}\left( {x*w} \right)} \hfill \cr { + {a_2}*{\rm{cos}}\left( {2*x*w} \right) + {b_{2\;}}{\rm{sin}}\left( {2*x*w} \right)} \hfill \cr { + {a_3}*{\rm{cos}}\left( {3*x*w} \right) + {b_3}\;{\rm{sin}}\left( {3*x*w} \right)} \hfill \cr { + {a_4}*{\rm{cos}}\left( {4*x*w} \right) + {b_4}\;{\rm{sin}}\left( {4*x*w} \right)} \hfill \cr } } \right)
3.6
[
a
0
+
a
1
cos
(
xw
)
+
b
1
sin
(
xw
)
+
a
2
cos
(
2
xw
)
+
b
2
sin
(
2
xw
)
+
a
3
cos
(
3
xw
)
+
b
3
sin
(
3
xw
)
+
a
4
cos
(
4
xw
)
+
b
4
sin
(
4
xw
)
]
3.6\left[ {\matrix{ {{a_0} + {a_1}{\rm{cos}}\left( {xw} \right) + {b_1}{\rm{sin}}\left( {xw} \right)} \hfill \cr { + {a_2}{\rm{cos}}\left( {2xw} \right) + {b_2}{\rm{sin}}\left( {2xw} \right) + {a_3}{\rm{cos}}\left( {3xw} \right)} \hfill \cr { + {b_3}{\rm{sin}}\left( {3xw} \right) + {a_4}{\rm{cos}}\left( {4xw} \right) + {b_4}{\rm{sin}}\left( {4xw} \right)} \hfill \cr } } \right]