Research On Automatic Train Operation Algorithm For High-speed Trains Based On Active Disturbance Rejection Control

Automatic train operation system(ATO)is the core to achieve automatic driving.The function of ATO is to calculate the reasonable control parameters for controlling the train to start,adjust the operating speed,and stop in the station.Compared with manual operation,which requires long-term learning and experience accumulation,ATO can directly improve the level of train control,standardize operation,respond quickly to external disturbances,and ensure the safety,punctuality,comfort,energy saving of train operation.Therefore,it is of great significance to study the ATO algorithm.This thesis focuses on ATO system of high-speed trains and aims at realizing high-precision speed tracking and stopping on the premise of safety and comfort.The train control model is established based on the train traction calculation model,and the ATO algorithm for high-speed trains based on active disturbance rejection control is designed.In order to further improve the control precision and robustness of the controller,the sliding mode control is introduced to design the error feedback part of the active disturbance rejection control structure.Meanwhile,the linear extended state observer is adopted to reduce the quantity of the adjustable parameters,and to improve the effect of weakening the chattering in combination with the application of exponential approach law.The performances of the active disturbance rejection controller and the sliding mode active disturbance rejection controller are verified and compared under different line conditions in the Matlab simulation platform.In order to simulate more accurately the train operation process and facilitate the engineering applications,considering the delay characteristics of the traction and braking systems,the train traction calculation model and the traction/braking system model are combined to establish the train control model with time-delay.The sliding mode active disturbance rejection control algorithm based on the train control model with time-delay is designed.The Matlab simulation results show that the proposed control algorithm is robust to internal and external disturbances and is able to achieve high precision speed tracking and stopping under different line conditions and time-delay conditions,while ensuring safety and comfort,which meets the train operating requirements.