Dynamic Trajectory Planning Method on ARM Platform for the Vacuum Pipelines High-Speed Maglev Train

Dynamic trajectory planning is the key function of Automatic Train Operation System for the vacuum pipelines high-speed maglev train. In order to solve the problem of accelerating process control, the train’s running state is analyzed. During the train’s operation, the train's dynamical model is necessary to be established based on the traction, braking force, and resistance. Under the constraints of protection curve, jump, and optimal time, the speed, acceleration and distance curve is adjusted. The traction control system operates based on acceleration feedforward and current speed control error, ultimately achieving precise control of trajectory operation for the vacuum pipeline high-speed maglev trains.