A position-fixing control system for rolling stock using a location-speed pattern was studied. It was clarified that following the pattern causes a positive feedback effect on the speed control system. The effect becomes more effective in the low speed region and causes detrimental influence to the stabilization of the control system.
A nonlinear speed control system was proposed. Adopting the control system makes comfort characteristics compatible with the stabilization in low-speed region. According to this control system, when the speed deviation and the acceleration deviation are small, rolling stock does not receive acceleration rate limiting. On the one hand, the deviations are big, the acceleration rate is limited to permissible value, and comfort characteristics are obtained.
The effects of this control system were tested in the simulation.
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