Research On Algorithm Of Automatic Train Operation Considering Timetable Optimization For Inter-city Train

With the development of modern metropolitan areas in China,inter-city train have developed rapidly as an important means of transportation between cities.In recent years,the automatic train operation(ATO)technology with the speed of 200km/h was firstly applied in the inter-city railway in Pearl River Delta.This technology can ensure the safe and reliable automatic operation of inter-city train,but its performance in terms of energy-saving,punctuality and precise parking still needs to be improved.In order to improve the automatic driving performance of inter-city train,this paper studies the ATO algorithm from the aspects of energy-saving operation optimization and speed tracking control,and realize the energy-saving operation on the premise of punctuality,comfortable and accurate parking.Firstly,a multi-section energy-saving operation optimization model considering timetable is constructed with the interval stop constraint as the key point constraint.In addition,a multi-section energy-saving operation optimization algorithm for inter-city train based on dynamic programming is proposed.This algorithm,which based on the analysis of train's optimal energy-saving operation and the train dynamics model,can effectively get the energy-saving timetable and operation curve.Besides,this algorithm has good compatibility with the operation constraints of the traction-free mode in neutral section.Then,a speed tracking control algorithm based on model predictive control is proposed.The intermediate transmission process from generation to function of train control commands is approximated by a first-order system.A train control system model is established based on the step-level speed regulation characteristics of inter-city train.With the model predictive control and the train control system model,an algorithm is designed to achieve accurate tracking control of the target speed curve.Finally,a simulation based on actual operation environment is carried out to verify the proposed ATO algorithm considering timetable optimization.Results show that the multisection energy-saving operation optimization algorithm designed in this paper can effectively optimize the train operation strategy and timetable simultaneously,and greatly reduce the energy consumption of the inter-city train.At the same time,the speed curve tracking control algorithm designed in this paper can accurately track the target speed curve,so as to achieve good automatic driving performance.