轨交车辆自动驾驶控制关键技术设计  

Design of key technology of automatic drive control of rail traffic vehicle

作　　者：李海威 赵霞[1] 刘循 张琼燕 LI Hai-wei1, ZHAO Xia1 , LIU Xun2 , ZHANG Qiong-yan2(1. Department of Automation, Shanghai Jiao Tong University, Shanghai 200241, China; 2. Shanghai Shentong Metro Co Ltd, Shanghai 200233, Chin)

机构地区：[1]上海交通大学自动化系,上海200241 [2]上海申通地铁股份有限公司,上海200233

出　　处：《传感器与微系统》2018年第3期72-74,77,共4页Transducer and Microsystem Technologies

摘　　要：针对城市轨道交通安全性、可靠性、舒适性、准点性要求,提出了一种基于多传感器融合、多参数自适应的列车自动运行系统(ATO)的控制方法。基于控制超调、旅行时间、停站精度及动态计算效率等参数,辅以预测的控制方法,设计了基于比例—积分—微分(PID)控制器的控制策略及相关参数的自适应调整方法,并通过基于实际运行参数的仿真分析,验证了相关方法的可行性和正确性。Aiming at requirements of safety,reliability comfort and punctuality of urban rail traffic,put forward a kind of multi parameter adaptive control method for automatic train operation（ ATO） system based on multi-sensor fusion. Based on the parameters of control overshoot,travel time,stopping precision and dynamic calculation efficiency,aided by predicted control method,control strategy based on proportion integration differentiation（ PID）controller and the adaptive adjustment method of related parameters are designed. The feasibility and correctness of the relevant method are verified by simulation analysis on actual operating parameters.

关 键 词：列车自动运行系统 无人驾驶 比例—积分—微分 自适应 

分 类 号：TP229[自动化与计算机技术—检测技术与自动化装置]