The Study on ATO of Urban Railway Considering Unknown Disturbance

미지의 외란을 고려한 도시철도차량의 ATO를 위한 연구

The function of the automatic train operation(ATO) system is to regulate the train ride comfort during start, acceleration and deceleration and execute operation of constant speed travelling and fixed point parking. The mathematical model for the train is presented by considering unknown disturbances which consist of start resistance, travelling resistance, slope resistance, curve resistance and so on. The speed control of ATO system is designed by considering the disturbances. The simulation is executed to verify the speed control performance and compare its performance with that of a PID-type ATO control system under the disturbances. Simulation results show that the control performance of gain scheduled control for ATO system is better than that of the conventional PID controller.