一定ジャーク減速による位置依存速度・加速度制約下の最小時間列車定位置停止軌道設計
一定ジャーク減速による位置依存速度・加速度制約下の最小時間列車定位置停止軌道設計
カテゴリ: 論文誌(論文単位)
グループ名: 【D】産業応用部門
発行日: 2024/03/01
タイトル(英語): Train Stopping Trajectory Design with Minimal Running Time Based on Constant Jerk Braking under Position-Dependent Speed and Acceleration Restrictions
著者名: 三好 正太(東京大学),大西 亘(東京大学),古関 隆章(東京大学)
著者名(英語): Shota Miyoshi (The University of Tokyo), Wataru Ohnishi (The University of Tokyo), Takafumi Koseki (The University of Tokyo)
キーワード: 自動運転,定位置停止制御,フィードフォワード制御,乗り心地,ジャーク,位置依存制約 automatic train operation,stopping control,feedforward control,ride comfort,jerk,position-dependent constraints
要約(英語): Generating and modifying speed profiles for running trains is a crucial and evolving aspect of automatic train operation, aiming to achieve high-precision positioning during train stopping motions, traditionally managed through smart manual control. This study focuses on developing a feedforward control for train operation that ensures ride comfort by explicitly limiting the maximum jerk in the speed profile and enables rapid calculation with position-dependent and time-varying restriction parameters. This study proposes a feedforward control design method that creates a braking trajectory with minimum running time and satisfying position-dependent and ride comfort constraints. The method optimizes the stopping trajectory, that is a key factor in maintaining ride comfort and positional accuracy, through bang-bang jerk control. In the numerical train driving simulations, the speed profile complied with the ride comfort limit for acceleration and jerk, as well as the position-dependent speed and acceleration limits. The proposed method not only guarantees safety and comfort in the braking trajectory by explicitly limiting speed, acceleration, and jerk but also facilitates rapid recalibration of speed profiles on trains for adaptive response.
本誌: 電気学会論文誌D(産業応用部門誌) Vol.144 No.3 (2024) 特集:J-RAIL 2022
本誌掲載ページ: 102-111 p
原稿種別: 論文/日本語
電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/144/3/144_102/_article/-char/ja/
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