Speed Tracking Error and Rate Driven Event-Triggered PID Control Design Method for Automatic Train Operation System

摘要

Applied Proportional-Integral-Derivative (PID) controllers in the automatic train operation act with the measured states in a periodic manner, resulting in significant over-provisioning of the sensor network and over-execution of the actuators. This observation has motivated the use of sporadic measurements and executions of serving actuators, that is, the event-triggered PID control. This paper presents speed tracking error and rate driven event-triggered feedback and control, which decrease the acting times of on-board sensors and actuators, while, guarantee satisfactory tracking performance with respect to the target speed profile with only minor control performance degradation. The proposed event-triggered PID control can reduce the failure rate from the viewpoint of practical applications. Simulation results are presented to demonstrate the effectiveness of the proposed control method.