The Application of Robot Formation Approach in the Control of Subway Train

In order to increase the carrying capacity of subway train, it is necessary to adjust the running of the train for the realization of high operation frequency and safety. After an analysis of the subway train´s running under moving block system, a dynamic mathematical model of subway train is constructed. The control among multiple trains is discussed, the method of decreasing the headway and increasing the carrying capacity is discussed by using the event-based technology and formation approach to ensure the safety and to avoid the stop out of station, this approach can reconstruct the system easily and harmonize the cooperation between subsystems. Take account of three trains, the control strategy of the following train is given, the velocity, acceleration of the train can be adjusted according to the safety distance between the successive trains and the distance which the train had traveled