Research And Implementation Of Key Technologies On Automatic Train Operation Of CBTC System In Urban Rail Transit

At present, China's urban rail transit enters into a thriving stage of development. Many cities are in the planning and construction of rail lines. As an important part of the urban rail transit, the Automatic Train Control(ATC) is a critical system to ensure the safety and efficiency of train operation. However, due to a late start of domestic research on signal technology, the ATC systems of urban rail lines which have been put into use or under construction mainly rely on imports with high construction and opertation costs. Slow self-development of signal technology has become a bottleneck restricting the development of urban rail transit. In order to break the blockade of foreign signal technology and change the backward passive situation, the relevant national ministries formulated a series of localization support policy.In recent years, the Communications-Based Train Control(CBTC) system with the technical characteristics of Moving Block(MB) won the promotion and application in urban rail transit. Automatic Train Operation(ATO) is an important part of the complete CBTC system. Based on the research and analysis of ATO key technologies, this document designed and implemented an ATO subsystem of CBTC in urban rail transit.Firstly, starting from the overview and characteristics of the CBTC system, this document summed up the structure and functions of the ATO subsystem. Based on dynamic model of train, it analyzed and concluded the five control index models such as safety, punctuality, comfort, energy consumption and stopping accuracy. Then combined with the line parameters, it used the fastest speed control strategy and the operation principles to determine the combination of operating commands. Using Particle Swarm Optimization(PSO) algorithm for solving multi-objective optimization problem, it obtained optimal command change locations under the constraint of the five control indexes and further generated the ATO target speed curve. Next, based on the PID closed loop control system theory and the PID parameters determination principles, it adopted PID speed controller to control the train speed tracking the target speed and ultimately achieved the purpose of the automatic train operation. After this, it used a compact PCI(CPCI) bus technology to build the ATO hardware platform based on the application of CPCI bus architecture. Then it described the process of scheduling algorithms for real-time Linux operating system and designed ATO application software with this system. Finally, the design and implementation of ATO system in this document was verified through test in CBTC environment.It is verified through test that the ATO subsystem designed and implemented in this document is able to calculate the optimized target speed curve and control the train in accordance with the target speed curve to meet the requirements of safety, punctuality, comfort, energy efficiency and precise stopping. The research of ATO key technologies and implementation of ATO subsystem has great significance for the practical application of the MTC-I CBTC system with independent intellectual property rights.