Localized feedback controls for multi-locomotive powered trains

In this paper a model for the longitudinal dynamics of a multi-locomotive powered train is developed. Using this model the theory of the LQG problem is applied to the problem of minimizing coupler forces in the train consist while maintaining a practical schedule velocity. The controllers developed are easily realized and in one form provide commands for throttle setting changes to a human operator. Experimental results are presented for a 62 car consist traversing a severe grade with locomotives placed at the front, middle and end of the consist. For these experiments the controllers developed were found to meet the system specifications.