Train Stopping Trajectory Design with Minimal Running Time Based on Constant Jerk Braking under Position-Dependent Speed and Acceleration Restrictions

Abstract

Generating and modifying speed profiles for running trains is a crucial and evolving aspect of automatic train operation, aiming to achieve high-precision positioning during train stopping motions, traditionally managed through smart manual control. This study focuses on developing a feedforward control for train operation that ensures ride comfort by explicitly limiting the maximum jerk in the speed profile and enables rapid calculation with position-dependent and time-varying restriction parameters. This study proposes a feedforward control design method that creates a braking trajectory with minimum running time and satisfying position-dependent and ride comfort constraints. The method optimizes the stopping trajectory, that is a key factor in maintaining ride comfort and positional accuracy, through bang-bang jerk control. In the numerical train driving simulations, the speed profile complied with the ride comfort limit for acceleration and jerk, as well as the position-dependent speed and acceleration limits. The proposed method not only guarantees safety and comfort in the braking trajectory by explicitly limiting speed, acceleration, and jerk but also facilitates rapid recalibration of speed profiles on trains for adaptive response.