基于预测控制的列车精确停车算法

精确停车是评价列车自动驾驶性能的关键指标之一。在分析列车停车阶段运行情况的基础上，考虑制动模型的延迟特性和列车运行特性的约束条件，运用广义预测控制理论，将列车运行的参考速度和参考距离作为控制目标，结合控制量所需满足的约束条件，设计了一种带约束的多目标预测控制器，以提高停车精度和列车运行的舒适性。通过仿真实例表明，该控制器不仅可以使列车精确跟踪停车目标曲线，达到高精度的停车要求，而且使列车运行具有更高的舒适性。

Precise train stopping method based on predictive control

Precise train stopping is a key technology of automatic train operation. On the basis of analyzing the train stopping phase, the delay characteristics of brake model and constraint conditions of train characteristics were considered, using generalized predictive control theory, a multi-objective predictive controller with constraints was designed taking account of train speed and distance as control targets and combining the control constraint conditions. The simulation results show that the proposed controller can accurately track the train stopping curve to achieve high precision stopping requirements and higher comfort.