基于灰色预测模糊PID控制的列车ATO系统优化  

Optimization of Train ATO System Based on Gray Predictive Fuzzy PID Control

作　　者：马晓娜 朱爱红[1] 卢稳[1] MA Xiao-na;ZHU Ai-hong;LU Wen(School of Automation and Electrical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,Chin)

机构地区：[1]兰州交通大学自动化与电气工程学院,兰州730070

出　　处：《铁道标准设计》2018年第8期163-167,共5页Railway Standard Design

摘　　要：对列车目标运行曲线的精确追踪是列车自动驾驶系统实现列车安全、准时、节能及舒适运行的核心。针对列车运行过程的大滞后、非线性问题,设计以灰色预测模糊PID算法为核心的列车自动驾驶控制器,以此达到优化列车ATO控制系统的目的。灰色预测控制设置在反馈回路中,其预测值与给定输入值的偏差及偏差变化率作为模糊控制器的输入。模糊控制系统对PID控制的参数进行自动校正,参数可调的PID算法完成对系统的控制。选取相关线路和车型并做仿真试验,验证了经控制器作用后的输出曲线与列车运行的输入曲线之间的追随误差小,加速度的变化在合理的范围内。因此,设计的控制器可以取得良好的ATO控制效果。Precisely tracking the curve of train operation is the core of the Automatic Train Operation system to realize the target of safe,punctuality,energy-saving and running comfort. Aiming at the non-linear and large-lag of the train operation process,the paper designs the train automatic driving controller based on the gray predictive fuzzy PID algorithm so as to fulfill the purpose of optimizing control system of the ATO. Of the Gray predictive control set in the feedback loop,the deviation and deviation change rate of a given input and estimated value are taken as the input of the fuzzy controller. Fuzzy control system rectifies the parameters of the PID control automatically,and adjustable parameters of the PID algorithm complete the control of the system. Relevant line and models are selected to conduct simulation,which verifies that the following error is small between the output curve after the action of the controller and input curve of train operation,and the change of acceleration falls in a reasonable range.Therefore,the controller designed in the paper can achieve good control effect of ATO.

关 键 词：列车自动驾驶 灰色预测 模糊PID 列车运行曲线追踪 

分 类 号：U248.48[交通运输工程—道路与铁道工程]