Vehicle-Follower Control for Dynamic Entrainment of Automated Guideway Transit Vehicles

[+] Author and Article Information
S. E. Shladover

Systems Control, Inc. (Vt), Palo Alto, CA 94304

J. Dyn. Sys., Meas., Control 101(4), 314-320 (Dec 01, 1979) (7 pages) doi:10.1115/1.3426445 History: Received August 01, 1979; Online July 13, 2010


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. The use of a disturbance estimator to resist external force loadings and the implementation of the control system using sampled, smoothed data are explained and demonstrated via simulation.

Copyright © 1979 by ASME
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