Automatic train speed control system design by using LQR controller; Case study: Passenger trains from Mashhad to Neyshabur

Increasing the safety and speed of trains and reducing their energy consumption has always been a major concern in railroad transportation systems. In this context, the Automatic Train Operation (ATO) system was introduced, which drive the train without the need for a driver with maximum efficiency and safety. The goal of this paper is to provide a system that drive passenger trains automatically from an offline speed profile. For a detailed study, a speed profile from the Mashhad station (origin) to the Neyshabur station (destination) is considered. This speed profile is included experts knowledge, control rules, station status, desired travel time, maximum allowed speed and acceleration (movement and braking). Then, a dynamical model of a locomotive with the parameters of the ER24PC Siemens (Iran Safir) locomotive is expressed. Also, a Quadratic Linear Regulator (LQR) with the aim of tracking the speed profile and minimizing control effort (thus minimizing the energy consumption) has been designed. The simulations performed by using MATLAB software and the performance of proposed controller against disturbance and locomotive mass changing is investigated. Also, a PI controller with identical conditions is designed for comparison. The results show that both controllers follow the speed profile very well, but the energy consumption in PI is more than two times the LQR. The validity of the results is verified by applying the designed controllers on a different route (Damghan to Semnan) and receiving the desired responses again.