By D Klamt;Rudolf Lauber;International Federation of Automatic Control.;International Federation for Information Processing.;International Federation of Operational Research Societies.;All authors
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Additional info for Control in transportation systems : proceedings of the 4th IFAC/IFIP/IFORS Conference, Baden-Baden, Federal Republic of Germany, 20-22 April 1983
All lo como t ives have the s ame mas s mL and all cars have the s ame mas s m e . 3. All couplers have the s ame s pring cons t ant k and the s ame damping co e f ficient c 4. The configurat ion of the t rain i s symmet ric with t h e l ocomo tives located ( k m/h) Aerdynamic Drag Forces and Rolling Res is tance Curves To s impl i fy the controller d e s i gn , the train model is linearized around the nominal values of spee d , brake pres sure and inputs . ov v v op p p ou = u - u 0 0 0 The equat ions for the linearized model can be writ ten as : k [ 6 .
0 ' t\J'\ Fig . 6 . T I ME 6 (8) : 2. Only l o cal measurement of the lo como t ive velocit ies are required for the control o f a l ocomo tive . No obs erver is needed for the e s t imat ion o f o ther s tates . 3. The contro l l e r i s adap t ive and is relatively insens i t ive to parameter variat ions and small non-lineari ties . 4. S to chastic d i s turbances and measurement no i s e are tolerated . 5. Minimum variance for the velocity derivat ion can be achieved . 6. The control s cheme is s impl e and is easy to implement us ing microproces sors .
1 "·' .. . . . LJ-:o:::_-::_::r=r �� ·---p Fig. 1 2 A result of T ASC by the Table Sm 1 0 0 , 0 * CM) ' AT C PATTERN ijc 'o 1------ • . • ' Fig. 9 A running curve of the FUZZY ATO v. E' '. 6 km/h/ s 5 . 14 k m/h/s 6 . :l_ _ - 5 %o 0 %o + 5 %0 x = 34 . 9 a = n = 14 . 2 x = 25 . 1 x = 16 . 7 n = 27 . 9 x = -8 . 2 n = x = -9 . 1 CJ = 1 1 . 4 n = 10 . 6 x = -9 . 8 n = 11 . 3 x = -0 . 5 CJ = 1 6 . 8 n = 29 . 4 x = CJ = 2 1 . 7 n = 17 . 7 x = -3. 0 CJ = n = 14 . 3 x = a = 17 . 7 n = 12 . 6 n = 13 .
Control in transportation systems : proceedings of the 4th IFAC/IFIP/IFORS Conference, Baden-Baden, Federal Republic of Germany, 20-22 April 1983 by D Klamt;Rudolf Lauber;International Federation of Automatic Control.;International Federation for Information Processing.;International Federation of Operational Research Societies.;All authors