Design of ATO speed controller based on super-twisting algorithm

In the process of ATO speed control of urban rail train based on traditional PID control, train speed fluctuation was too frequent, train speed curve was not smooth enough, which caused more energy consumption and affects passenger comfort. Now the second-order sliding mode based on super-twisting algorithm is applied to ATO speed controller. The results showed that the algorithm was superior to the traditional PID control algorithm. It had the characteristics of fast response, small overshoot, good stability, and good adaptability when working conditions changed.