Displacement and acceleration feedback controller design for automated driving tram

Abstract

Automated driving in train is discussing about partially implementation. Those implementations in limited area and situation marked well progress such as general railway lines and AGT. Tram vehicle on mixture traffic seems to be next target of them. Usual automated driving train is controlled considering with velocity and displacement as a position. However, tram vehicle run in the more complex situation than usual automated driving trains. Thus, there are much possibility braking to avoid collision with other traffic participants. In this time, the comfortability of passengers is decreasing if the huge braking acceleration occurring since acceleration is strongly relationship with it. Thus, Automated driving tram should be considered to control with acceleration to let acceleration smaller to improve passenger comfort. So, both displacement and acceleration feedback control are required. However, direct acceleration feedback should consider drift or noise on sensing results. This paper introduces direct acceleration feedback control with direct displacement control for positioning. These controllers are designed by Unified approach and Composite Filter. These controllers are considering with noise reduction for accelerometer. The example controller designed for small experimental rig on the rail are introduced with numerical simulation results. These results show the controllers can set desired poles related with settling time without considering of noise reduction frequency.