Sistema de controle de frenagem para trens metropolitanos de tração elétrica

Abstract

This paper presents the design of a braking control system for subway cars with reference to Belo Horizontes subway system. It is divided into the stages of description of the existing system, mathematical modeling, control design, simulation tests, and analysis of these results and suggestions for future work. The braking system currently in operation in the studied subway does not have a good use of energy generated and still does not detect skidding phenomena of railway wheels, which can lead to a situation of unsafety for passengers of the compositions. Thus, it proposes two alternative braking control systems in order to make the system more secure and provide a more efficient use of energy. Techniques are used in physics-based modeling process for the simulation of the dynamic behavior of the subway, modeling the step response (Percent complete Response method) to obtain dynamic variables that are part of performance indices evaluated, such as acceleration and stopping distance, and modeling in discrete time with the recursive estimation method for models to control. For tuning of PI controllers used the method of Direct Synthesis. In addition to the design of generalized minimum variance controller was also used the technique of strengthening the dead zone due to small oscillations and offset of the controlled variable. Results are shown for simulated control techniques employed, as measured by performance criteria focused on control system performance and safety of passengers.