Automatic train handling controller

A method for tracking a rail-based transportation velocity profile used with a rail-based transportation system, comprising the steps of:

• providing a predetermined velocity profile for operating the rail-based transportation system over a specified track profile;
• simulating an operation of the rail-based transportation system over the specified track profile;
• controlling the operation of the train simulator with a fuzzy logic controller in accordance with the predetermined velocity profile, the fuzzy logic controller tracking error and change in error between the simulated train operation and the predetermined velocity profile and providing a control action to the simulated train operation that minimizes the error;
• ensuring that the control action provided by the fuzzy logic controller is in compliance with a set of predetermined safety constraints;
• and
• estimating the behavior of slack throughout the simulated train operation.

A train handling controller for controlling operation of a rail-based transportation system according to a predetermined velocity profile and a specified track profile, comprising:

• a train simulator for simulating the operation of the rail-based transportation system;
• a look-ahead error module, responsive to the train simulator and the predetermined velocity profile, for determining the look-ahead error and change in look-ahead error;
• a fuzzy logic control module coupled to the look-ahead error module, for providing a train handling control action in response to the look-ahead error and change in look-ahead error;
• a fuzzy terrain matcher for determining a rate of change for changing the train handling control action provided by the fuzzy logic control module according to terrain in the specified track profile;
• a control scheduler, responsive to the fuzzy logic control module and the fuzzy terrain matcher, for generating a schedule for changing the train handling control action provided to the train simulator according to the determined rate of change and changing the train handling control action in accordance with the schedule.