diff --git a/src/main/java/club/joylink/rtss/services/psl/VirtualRealityPslService.java b/src/main/java/club/joylink/rtss/services/psl/VirtualRealityPslService.java
index 0aead1d0e..f76371565 100644
--- a/src/main/java/club/joylink/rtss/services/psl/VirtualRealityPslService.java
+++ b/src/main/java/club/joylink/rtss/services/psl/VirtualRealityPslService.java
@@ -60,25 +60,23 @@ public class VirtualRealityPslService implements IVirtualRealityPslService {
 
     private void theButtonIsPressed(Simulation simulation, VirtualRealityPsl vrPsl, VirtualRealityPsl.Button button) {
         Stand stand = vrPsl.getStand();
-        synchronized (vrPsl) {
-            switch (button) {
-                case YXJZ:
-                    vrPsl.setYxjzKey(!vrPsl.isYxjzKey());
-                    break;
-                case HSJC:
-                    vrPsl.setHsjcKey(!vrPsl.isHsjcKey());
-                    ciApiService.setOrCancelInterlockRelease(simulation, stand, vrPsl.isHsjcKey());
-                    break;
-                case KM:
-                    ciApiService.openScreenDoor(simulation, stand.getCode(), CiStandService.PsdCommandSource.PSL);
-                    break;
-                case GM:
-                    ciApiService.closeScreenDoor(simulation, stand.getCode(), CiStandService.PsdCommandSource.PSL);
-                    break;
-                case SD:
-                    vrPsl.setSdButton(!vrPsl.isSdButton());
-                    break;
-            }
+        switch (button) {
+            case YXJZ:
+                vrPsl.setYxjzKey(!vrPsl.isYxjzKey());
+                break;
+            case HSJC:
+                vrPsl.setHsjcKey(!vrPsl.isHsjcKey());
+                ciApiService.setOrCancelInterlockRelease(simulation, stand, vrPsl.isHsjcKey());
+                break;
+            case KM:
+                ciApiService.openScreenDoor(simulation, stand.getCode(), CiStandService.PsdCommandSource.PSL);
+                break;
+            case GM:
+                ciApiService.closeScreenDoor(simulation, stand.getCode(), CiStandService.PsdCommandSource.PSL);
+                break;
+            case SD:
+                vrPsl.setSdButton(!vrPsl.isSdButton());
+                break;
         }
     }
 
diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPLogicLoop.java b/src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPLogicLoop.java
index 88d9a5597..9edfc9c47 100644
--- a/src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPLogicLoop.java
+++ b/src/main/java/club/joylink/rtss/simulation/cbtc/onboard/ATP/ATPLogicLoop.java
@@ -306,7 +306,7 @@ public class ATPLogicLoop {
                 }
                 break;
             case OPEN_DOOR: // 开门
-                if (!train.getDoorMode().equals(VirtualRealityTrain.DoorMode.MM)) { // 不是自动开门
+                if (train.isAutoOpenDoor()) {
                     this.atoService.syncOpenDoor(simulation, train);
                 }
                 if (this.isAllDoorOpen(simulation, train)) {
@@ -316,16 +316,7 @@ public class ATPLogicLoop {
             case BOARD: // 乘客乘降
                 break;
             case CLOSE_DOOR: // 关门
-//                Signal signal = train.getHeadPosition().getSection().getSignalOf(train.isRight());
-//                    if (Objects.nonNull(signal) && !signal.isNormalOpen()) {
-//                        if (!train.isRMMode() && !train.isNRMMode()) {
-//                            // 信号机未正常开放
-//                            break;
-//                        }
-//                    }
-                // 可以关门
-//                this.atoService.syncCloseDoor(simulation, train);
-                if (train.getDoorMode().equals(VirtualRealityTrain.DoorMode.AA)) { // 自动关门
+                if (train.isAutoCloseDoor()) {
                     this.atoService.syncCloseDoor(simulation, train);
                 }
                 if (this.isAllDoorClose(simulation, train)) {
diff --git a/src/main/java/club/joylink/rtss/simulation/cbtc/robot/RobotLogicLoop.java b/src/main/java/club/joylink/rtss/simulation/cbtc/robot/RobotLogicLoop.java
index 46037e39e..1cfb16cd0 100644
--- a/src/main/java/club/joylink/rtss/simulation/cbtc/robot/RobotLogicLoop.java
+++ b/src/main/java/club/joylink/rtss/simulation/cbtc/robot/RobotLogicLoop.java
@@ -18,6 +18,7 @@ import club.joylink.rtss.simulation.cbtc.data.vo.ControlTransferReplyVO;
 import club.joylink.rtss.simulation.cbtc.data.vo.TrainInfo;
 import club.joylink.rtss.simulation.cbtc.data.vr.StandParkedTrainActivity;
 import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityPsl;
+import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityScreenDoor;
 import club.joylink.rtss.simulation.cbtc.data.vr.VirtualRealityTrain;
 import club.joylink.rtss.simulation.cbtc.member.SimulationMember;
 import club.joylink.rtss.simulation.cbtc.onboard.ATO.SpeedCurve;
@@ -66,9 +67,6 @@ public class RobotLogicLoop {
         }
         robotReplyControlTransferApplicationLogicLoop(simulation);
         robotStationControlAutoTransfer(simulation);
-//        executor.execute(() -> robotDriverLogicLoop(simulation));
-//        executor.execute(() -> robotReplyControlTransferApplicationLogicLoop(simulation));
-//        executor.execute(() -> robotStationControlAutoTransfer(simulation));
     }
 
     private void robotOpenATO(Simulation simulation, VirtualRealityTrain train) {
@@ -77,30 +75,15 @@ public class RobotLogicLoop {
             return;
         switch (activity) {
             case OPEN_DOOR:
-                if (!train.isAtoOn()) {
+                if (!train.isAutoOpenDoor()) {
                     atoService.syncOpenDoor(simulation, train);
+                    usePsl2ControlPsd(simulation, train, true);
                 }
                 break;
             case CLOSE_DOOR:
-                atoService.syncCloseDoor(simulation, train);
-                SectionPosition headPosition = train.getHeadPosition();
-                Section section = headPosition.getSection();
-                List<Stand> standList = section.getStandList();
-                if (!CollectionUtils.isEmpty(standList)) {
-                    for (Stand stand : standList) {
-                        PSD psd = stand.getPsd();
-                        if (psd != null && !psd.isCloseAndLock()) {
-                            VirtualRealityPsl vrPsl = stand.getVrPsl();
-                            if (!vrPsl.isAllowOperation()) { //确保此时允许操作
-                                iVirtualRealityPslService.pressTheButton(simulation.getId(),
-                                        stand.getCode(), VirtualRealityPsl.Button.YXJZ);
-                            }
-                            iVirtualRealityPslService.pressTheButton(simulation.getId(),
-                                    stand.getCode(), VirtualRealityPsl.Button.GM);
-                            iVirtualRealityPslService.pressTheButton(simulation.getId(),
-                                    stand.getCode(), VirtualRealityPsl.Button.YXJZ);
-                        }
-                    }
+                if (!train.isAutoCloseDoor()) {
+                    atoService.syncCloseDoor(simulation, train);
+                    usePsl2ControlPsd(simulation, train, false);
                 }
                 break;
             case START:
@@ -113,6 +96,48 @@ public class RobotLogicLoop {
         }
     }
 
+    /**
+     * 使用psl控制屏蔽门
+     */
+    private void usePsl2ControlPsd(Simulation simulation, VirtualRealityTrain train, boolean open) {
+        SectionPosition headPosition = train.getHeadPosition();
+        Section section = headPosition.getSection();
+        List<Stand> standList = section.getStandList();
+        if (!CollectionUtils.isEmpty(standList)) {
+            for (Stand stand : standList) {
+                PSD psd = stand.getPsd();
+                if (psd == null)
+                    continue;
+                VirtualRealityScreenDoor vrPsd = psd.getVirtualScreenDoor();
+                if (open) {
+                    if (!vrPsd.isClose() || vrPsd.isSettingOpen()) {
+                        continue;
+                    }
+                } else {
+                    if (vrPsd.isLockAndClose() || vrPsd.isSettingClose()) {
+                        continue;
+                    }
+                }
+                VirtualRealityPsl vrPsl = stand.getVrPsl();
+                if (!vrPsl.isAllowOperation()) { //确保此时允许操作
+                    iVirtualRealityPslService.pressTheButton(simulation.getId(),
+                            stand.getCode(), VirtualRealityPsl.Button.YXJZ);
+                }
+                if (open) {
+                    iVirtualRealityPslService.pressTheButton(simulation.getId(),
+                            stand.getCode(), VirtualRealityPsl.Button.KM);
+                } else {
+                    iVirtualRealityPslService.pressTheButton(simulation.getId(),
+                            stand.getCode(), VirtualRealityPsl.Button.GM);
+                }
+                if (vrPsl.isAllowOperation()) { //将允许禁止钥匙打到禁止位
+                    iVirtualRealityPslService.pressTheButton(simulation.getId(),
+                            stand.getCode(), VirtualRealityPsl.Button.YXJZ);
+                }
+            }
+        }
+    }
+
     /**
      * 机器人司机逻辑循环
      */