This paper designs an optimal reference trajectory for trains. The proposed trajectory complies with speed, acceleration, and jerk limitations. Moreover, it provides the minimal distance between the waypoints on which the speed and acceleration of the train are imposed. Using a specific first integral of the system, it constructs a piecewise-linear (with respect to distance) acceleration profile that verifies the specified jerk constraints. The resulting trajectories are concatenated respecting a specific switching policy depending on the phase-plane position of the initial and final points, and on the acceleration constraints considered for traction and braking. Using these tools, we provide a complete characterization of the points that can be connected, respecting the constraints imposed on the system. To translate the proposed strategy into a distance-based framework, we integrate backward from a stopping point to propose a running profile towards the next station. It is important to stress that all the provided results are analytic and, thus, compatible with a real-time implementation.
Jerk-Limited Railway Trajectories With Minimal Distance Between Waypoints
Lect.Notes Mechanical Engineering
The IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks ; 2023 ; Ottawa, ON, Canada August 21, 2023 - August 25, 2023
2024-11-01
10 pages
Article/Chapter (Book)
Electronic Resource
English