VEHICLE-FOLLOWER CONTROL FOR DYNAMIC ENTRAINMENT OF AUTOMATED GUIDEWAY TRANSIT VEHICLES

This paper describes a method of vehicle-follower longitudinal control which has been developed to enable automated guideway transit (AGT) vehicles to join (entrain) and leave (extrain) trains or close-formation platoons (at 30 cm spacings) while traveling at cruise speed. Because a linear controller cannot be designed to have the accuracy and response speed needed for operations at very close inter-vehicular spacings without producing excessive control action at large spacings, the suggested controller is a nonlinear vehicle follower in which the gains are continuous functions of the spacing between the vehicles. The nonlinear control law is defined and its simulated behavior in a typical dynamic entrainment is shown. Sample simulated responses of nine-vehicle platoons demonstrate the asymptotic stability which the control system must have to be applicable for long platoons.

  • Corporate Authors:

    American Society of Mechanical Engineers

    345 East 47th Street, United Engineering Center
    New York, NY  USA  10017
  • Authors:
    • Shladover, S E
  • Publication Date: 1979-12

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Filing Info

  • Accession Number: 00316248
  • Record Type: Publication
  • Source Agency: Engineering Index
  • Files: TRIS
  • Created Date: Sep 16 1980 12:00AM