The precise tracking of ATO (Automatic Train Operation)target speed curves in urban rail transit is the key for the safety,efficiency,passenger comfort and energy efficiency of trains.As the ATO system has the characteristics of hard modeling and high robustness requirement as a nonlinear,time variant,state-delayed and complex system,this paper introduced the method of model-free adaptive control into the design of ATO target speed curves tracking controller.By comparison with PID algorithm,the tracking control algorithm of ATO target speed curves using model-free adaptive control demonstrated good tracking effect,little speed er-ror,high stopping precision,high comfort and less energy consumption.%城轨列车 ATO(Automatic Train Operation)目标速度曲线的精确追踪是保障城轨列车安全、高效、舒适和节能的关键环节。针对列车 ATO 系统为非线性时变滞后复杂系统，具有建模难和鲁棒性要求高等特点，本文将无模型自适应控制方法引入 ATO 目标速度曲线追踪控制器的设计问题中。通过与 PID 控制方法对比，基于MFAC(Model Free Adaptive Control)的 ATO 目标速度曲线追踪控制算法，具有追踪效果好、速度误差小、停车精度高、舒适度高、能耗少等特点。
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