| Title |
LQ-Servo Design for Automatic Train Control of Urban Rail Vehicle |
| Authors |
김창현(Kim, Chang-Hyun) ; 김용(Kim, Yong) ; 이주(Lee, Ju) ; 이형우(Lee, Hyung-Woo) |
| DOI |
https://doi.org/10.5370/KIEE.2014.63.11.1594 |
| Keywords |
LQ-Servo ; Optimal control ; Automatic train control ; Urban rail vehicle ; PID control |
| Abstract |
In this paper, we propose the LQ servo control method for the automatic train control of urban rail vehicle. Structures of the conventional PID control and LQ servo controller are compared in order to demonstrate the simplicity of the proposed controller which doesn't have zeros of the closed loop systems. The energy consumption is dealt with as an object function to be minimized, which consists of the quadratic performance indices for optimal control with the input of the feedback linearization. The effectiveness of the proposed method is shown by the practical example, compared with the conventional PD controller. |