Simulation of Comfort Algorithm for Automatic Driving of Urban Rail Train

Figures & Tables

Speed of operation /m	Speed of train /Km·h⁻¹
0 ~ 1.8	3.6(1.8s2)13 3.6{(1.8{s^2})^{{1 \over 3}}}
1.8 ~ 92.706	3.6(−1.8+0.6(3+(20s3−3)0.5)) 3.6( - 1.8 + 0.6\left( {3 + \left( {{{20s} \over 3} - 3{)^{0.5}}} \right)} \right)
92.706 ~ 140.6	3.6(a0+a1cos(x+w)+b1sin(xw)+a2cos(2xw)+b2 sin(2xw)+a3cos(3xw)+b3 sin(3xw)+a4cos(4xw)+b4 sin(4xw)) 3.6\left( {\matrix{ {{a_0} + {a_1}{\rm{cos}}\left( {x + w} \right) + {b_1}{\rm{sin}}\left( {xw} \right)} \hfill \cr { + {a_2}{\rm{cos}}\left( {2xw} \right) + {b_{2\;}}{\rm{sin}}\left( {2xw} \right)} \hfill \cr { + {a_3}{\rm{cos}}\left( {3xw} \right) + {b_3}\;{\rm{sin}}\left( {3xw} \right)} \hfill \cr { + {a_4}{\rm{cos}}\left( {4xw} \right) + {b_4}\;{\rm{sin}}\left( {4xw} \right)} \hfill \cr } } \right)
92.706 ~ 140.6	3.6[a0+a1cos(xw)+b1sin(xw)+a2cos(2xw)+b2sin(2xw)+a3cos(3xw)+b3sin(3xw)+a4cos(4xw)+b4sin(4xw)] 3.6\left[ {\matrix{ {{a_0} + {a_1}{\rm{cos}}\left( {xw} \right) + {b_1}{\rm{sin}}\left( {xw} \right)} \hfill \cr { + {a_2}{\rm{cos}}\left( {2xw} \right) + {b_2}{\rm{sin}}\left( {2xw} \right) + {a_3}{\rm{cos}}\left( {3xw} \right)} \hfill \cr { + {b_3}{\rm{sin}}\left( {3xw} \right) + {a_4}{\rm{cos}}\left( {4xw} \right) + {b_4}{\rm{sin}}\left( {4xw} \right)} \hfill \cr } } \right]