Hamowanie pociągów metra z napędem prądu stałego i przemiennego przy wykorzystaniu systemu ATO

The paper describes AC and DC drives used in underground trains and braking methods of underground trains cooperating with an Automatic Train Operation (ATO) system. A train drive with an AC motor and a drive with DC motor with impulse and resistance riot has been described. An ATO system ensures automatic train piloting such as acceleration and braking. A type of this system, used especially on underground lines implements a direct position breaking. The precision of train braking depends on the motor control, which is particularly important during electrodynamic braking. The type of used drive affects on preciseness and quality of duty braking process. The concept of an efficient regulation of the duty braking, the control- execution system and a breaking quality indicator has been described.