Suboptimal control strategies for multilocomotive powered trains

Abstract

Thin pcper introduces two different controllers for the handling of very long dripovered trains, including braking operati-. The deviations f r a r e f e r e n c e v a l u e due to grade changes and other pmpose of the controller is to minimize coupler force and v e l o c i t y disturbances. The controller is nuperi.lposed t o a throttling and brakin8 schedule known beforehand. As there a r e ConstrnintB on the inputs (especially the braking inputs) and the coupler forces that c-t be neglected, a linear control lav cannot be applied straightforvnrd. lberefore a switching policy is chosen such that a piecevi.e linear system results. me linear suboptimal controllers acting between the switching -ts are derived f r a No different arll scale train models using standard optfsal control design. One d e l represents a reduced order =del of the long train, the other one uses a short train configuration consisting of f&r cars cluracteristics. From the obtained weighting patterns a control Cbrn the given train, *ere the cars however preserve the original h w for the large scale system is derived. As not a l l the states are assmed to be measurable a simple observer-like structure i s used for the est-tion of the i.portant missing s t a t e s needed for the control. Simulation results are prwented for a train congrade p r o f i l e s . s i s t i n g of three locmatives and s i x t y cars operating over various

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