POWER SAVING CONTROL FOR ELECTRICAL TRAIN
This paper presents power saving control for electrical trains. The problem is solved on base of a complex mathematical model. The model describes mechanical movement of train, electromechanical drives, electrical convertors, and power grid. Method of planning of optimal train movement is proposed. The numerical example is presented. On base of the complex model the optimal control is designed. Adaptation of the control system is based on asymptotical robust estimators of disturbances. The results of computer simulation is presented.