Causal-based generation of velocity reference for automatic subways

In this paper, a trajectory generator based on causal modeling is presented. This strategy is applied to the velocity constraint trajectory generation of an automatic subway. The constraints take into account of passengers comfort by the use of imposed maximum jerk and acceleration values. The proposed velocity generator is enhanced by the use of torque model of the DC machines. The proposed velocity planning method is applied to a model of the VAL subway and comparisons with the present control structure are provided.