Robust PI protective tracking control of decentralized‐power trains with model uncertainties against over‐speed and signal passed at danger

Abstract

Abstract Controlling the movements of trains to desired target speed and distance without breaking through safety regions is of primary importance in practical applications for safety reasons. In the classical train control and protection framework, automatic train operation regulates the speed and distance with respect to tracking desired ones under the supervision of automatic train protection, an independently operating subsystem, to prevent the phenomenon of over‐speed and signal passed at danger. This motivates to develop an integrated control scheme combining functions of control and protection, achieving protective tracking control against over‐speed and signal passed at danger doubtlessly. Meanwhile, computationally inexpensive control structure is desired for practical applications due to limited computing resource provided by on‐board computer on trains. In this paper, a robust control with PI structure and protective tracking is proposed for decentralized‐power trains regardless of model uncertainties. Specifically, the circumvent problem of over‐speed and signal passed at danger is formulated as prescribed performance control. It is proved rigorously that the proposed approach results in stable closed‐loop system, and finally, comparative simulation results are given to demonstrate the effectiveness and advantages.

Keywords

• Control system analysis and synthesis methods
• Stability in control theory
• Fuzzy control