Study On Algorithm Of Automatic Train Operation For Energy Storage Tram

Automatic train operation(ATO)system is a key component of railway automatic control system,can make the train operate automatically without drivers.Hence it will relieve the work pressure of drivers and keep the train work in the best condition.The main function of ATO system are speed profile optimization and speed tracking.Energy storage tram(EST),as a new urban rail transit vehicle,usually share road with other vehicles at some intersections,it will be influenced by the signal consequentially.Therefore,performing speed profile optimization and speed tracking studies with signal information taken into consideration is vital for ATO of EST.For the optimization of speed profile,the kinematic model of EST and the equivalent circuit model of ESS are introduced firstly.Aiming at minimizing the energy consumption of EST,an operation optimization model is established.Based on the optimal control regimes from Pontryagin's Maximum Principle,considering the speed limit and timetable as well as utilization of regenerative braking energy,a bi-level programming configuration for single interval is proposed.The configuration can calculate the energy saving speed profile rapidly according to the signal information.In order to optimize the timetable for the multiple intervals,an integer programming optimization model is established based on the trip time and the relationship between energy consumption and trip time of the single interval.Finally,based on the optimal timetable and speed profile optimization configuration,an energy saving speed profile for multiple intervals can be obtained.For the speed tracking,combine with motion equation and simplified model of the traction and brake system,the control model of the train is performed.Meanwhile,taking the delay and response time of traction system and brake system into consideration,the discrete state-space equations are deduced consequently.Based on model predictive control theory,a control algorithm is proposed to track the speed which obtained from the chapter 3.The simulation on domestic real supercapacitor EST indicated that the proposed programming configuration and integer programming can provide an effective approach in solving the optimization problem with signaling constraints for reducing energy consumption in EST operations.In addition,the optimal speed profile can be tracked well.However,the effectiveness of speed tracking will suffer from the tracking effect at start and stop phase.Therefore,the advanced control methods in the area of start and stop are proposed to improve the tracking effect for whole line.Finally,the ATO algorithms that are proposed by this paper can ensure the EST a safe,energy efficient and punctual operation.