摘要

精确停车是列车自动驾驶系统的关键技术之一，其精度通常要求在±30厘米之内。精确停车能保证列车交通系统的高效率运行。若列车停站不准确，不仅影响乘客的上下车，而且会造成列车晚点等诸多问题。因此，研究列车精确停车算法具有重要意义。

先进的列车运行控制技术与高效的列车运营是密切相关的。通过研究先进的自动控制技术实现列车自动驾驶来替代司机，有着重要的现实意义。司机的驾驶经验和个人驾驶状态与驾驶精准性密切相关，列车自动驾驶（Automatic Train Operation, 简称ATO）通过设计控制器及算法，车地信息相互传输，中央处理器自动发出牵引或制动指令，保证列车在不同路况下最优化的速度运行，能够克服人工驾驶所带来的弊端。列车自动驾驶来替代司机驾驶顺应时代发展的需求，以先进的自动化技术来服务大众。

本文的控制对象为列车，通过对其ATO特性的分析展开对列车精确停车技术进行研究，并对整个列车精确停车系统进行仿真。将设计算法应用停车制动过程，通过与PID 控制算法数值仿真对比表明，设计的基于PID控制算法具有更快响应时间和更高停车精度；在一定范围条件下的参数扰动和外界干扰下，满足停车精度的要求；说明设计PID控制算法在列车停车过程的优越性，对于提高列车高效运营具有重要的意义。最后通过软件搭建列车智能算法仿真平台，使用 Matlab/Simulink 软件建立列车精确停车的模型为后续停车算法研究提供模块化方案。从而实现列车精确停车。最后，对所做的研究工作的结果进行了分析和总结。

关键词：列车；停车算法；PID控制；Matlab仿真

Abstract

Accurate stop is one of the key technologies of automatic train driving system, and its accuracy is usually within ±30 cm. Accurate stop can ensure high efficiency of train traffic system. If the train stops inaccurately, it will not only affect the passengers on and off the train, but also cause many problems such as train delay. Therefore, it is of great significance to study the precise train stopping algorithm.

Advanced train operation control technology is closely related to efficient train operation. It is of great practical significance to replace drivers by studying advanced automatic control technology to realize automatic train driving. The driver's driving experience and personal driving state are closely related to driving accuracy. Automatic Train Operation (ATO), through the design of controller and algorithm, transmits information between vehicle and ground, and the CENTRAL processor automatically issues traction or braking instructions. To ensure the optimal speed of train running under different road conditions can overcome the disadvantages brought by manual driving. Automatic train driving to replace driver driving to meet the needs of the development of The Times, with advanced automation technology to serve the public.

The control object of this paper is the train. Through the analysis of its ATO characteristics, the precise stopping technology of the train is studied, and the whole train precise stopping system is simulated. The design algorithm is applied to the parking braking process, and the comparison with the PID control algorithm shows that the proposed PID control algorithm has faster response time and higher parking accuracy. Under the condition of parameter disturbance and external disturbance in a certain range, it can meet the requirements of stopping accuracy. It shows that the design of PID control algorithm is superior in the process of train stopping, which is of great significance to improve the efficient operation of train. Finally, the train intelligent algorithm simulation platform is built by software, and the train accurate parking model is established by Matlab/Simulink software to provide modular solutions for subsequent parking algorithm research. So as to achieve accurate train parking. Finally, the results of the research work are analyzed and summarized.

Keywords: The train; Parking algorithm; PID control; The Matlab simulation

目录

摘要....................................................................................... I

Abstract.............................................................................. II

第一章 绪论........................................................................ 1

1.1 研究课题背景......................................................... 1

1.2 国内外发展现状..................................................... 2

1.3 课题研究意义......................................................... 3

1.4 仿真工具MATLAB/Simulink简介....................... 4

1.5 课题的研究内容及章节安排................................. 6

第二章 列车自动驾驶系统介绍........................................ 8

2.1 列车自动控制系统................................................. 8

2.2 列车停车不准确的原因......................................... 8

2.3 ATO系统基本性能指标......................................... 9

第三章 停车制动过程分析及数学描述.......................... 11

3.1 制动过程阻力分析............................................... 11

3.1.1 列车运行制动特性...................................... 11

3.1.2 列车运行外界附加阻力.............................. 12

3.2列车动力学模型.................................................... 13

3.3列车制动特性描述................................................ 13

第四章 列车精准停车的PID控制器设计..................... 15

4.1 精准停车PID控制器的模型搭建...................... 15

4.2 精准停车PID控制器的仿真分析...................... 16

4.3 本章小结............................................................... 18

第五章 总结...................................................................... 20

参考文献............................................................................ 21

致    谢............................................................................ 23