【摘要】 实现全自动驾驶是城市轨道交通列车未来的发展方向,速度控制算法作为列车自动驾驶系统(Automatic Train Operation,ATO)的核心,对于列车的控制性能具有重要的影响。本文使用了分数阶PIλDμATO速度控制算法,采用Tustin直接离散化作为分数阶PIλDμ控制器的数值离散化方法,完成了分数阶PIλDμ控制器的设计与实现,并将该控制器应用于列车自动运行系统中。仿真研究表明,与传统的整数阶PID控制算法相比较,分数阶PIλDμATO速度控制算法能很好地满足列车运行的基本指标,从而验证了其较好的鲁棒性和适应性。更多还原

【Abstract】 The realization of fully automatic driving is the future development direction of urban rail transit train. As the core of Automatic Train Operation( ATO),speed control algorithm has important influence on the control performance of train. By using Tustin as a direct discretization of numerical discretization methods of fractional PIλDμcontroller,the fractional PIλDμATO speed control algorithm is used,the design and Realization of fractional order PIλDμcontroller are completed and the controller is applied to automatic train operation system. Simulation results show that compared with the traditional integer order PID control algorithm,the fractional order PIλDμATO speed control algorithm can meet the basic indicators of train operation much better,thus proving its good robustness and adaptability.更多还原