Efficient Real-Time Control Design for Automatic Train Regulation of Metro Loop Lines

This paper systematically investigates the efficient real-time control design for automatic train regulation (ATR) of metro loop lines subjected to frequent minor disruptions. To describe the dynamic evolution of the trains periodically operating on the loop line, a train traffic model related to the departure time is proposed based on a state-space equation, where the number of the station increases from circle to circle. Under the frequent minor disruptions, a dynamic optimal control model is developed to determine the ATR strategy to improve the punctuality and the regularity of the metro operation with the safety and control constraints. To solve the formulated optimal control model with the updated information, a real-time control algorithm based on a model predictive control approach is designed, which splits the original optimization problem into a set of convex quadratic programming problems, which can be numerically calculated efficiently and satisfy the real-time control requirement. Numerical examples are given to illustrate the effectiveness of the proposed method.