Communication based train control (CBTC): Train controller and dynamics

Communication Based Train Control (CBTC) is an advanced signalling system and widely regarded as the future of all railway signalling systems. Depending on the communication architecture and aggressiveness in headway reductions, CBTC includes two models: Moving Block and Virtual Coupling. The minimum headway of the former is based on the absolute brake distance and that of the latter is based on the relative brake distance. This paper present a scalable adaptive multi-train controller and a train dynamics model for system validation of CBTC systems including Moving Blocks and Virtual Coupling. 

The controller has a scalable feature which allows new trains to join the platoon and existing trains to leave the platoon. The adaptive feature adaptively suppresses the effects caused by the nonlinear resistance forces and uncertainties without re-calculating its gain parameters. The train model considers various nonlinearities of the system including wheel-rail contact, suspensions, inter- vehicle connections, traction system, brake system, track grades, track irregularities, etc. The utilisation of nonlinear train models allows better representations of the operational scenarios of CBTC systems and provides a better validation tool. Three six-carriage metro trains operating under the Virtual Coupling mode on a real-work track ection are simulated to demonstrate the capability of the CBTC controller and train dynamics model.