Coordinated Control Strategy Of Urban Rail Train Operation Curve Considering Regenerative Braking Energy Utilization

In order to reduce the traction energy consumption of urban rail transit system,how to absorb and utilize regenerative braking energy of train has become a hot research topic in recent years.At present,regenerative braking energy can be absorbed and utilized in three ways: energy regenerative,energy storage and multi-train operation optimization.Among them,multi-train operation optimization is the most direct method,including train timetable optimization and train operation curve optimization.Based on the existing timetable,this paper studies the train operation curve coordinated control method to increase the energy exchange between regenerative braking train and traction train,so as to achieve the purpose of reducing the system traction energy consumption.Firstly,the equivalent circuit model of multi-train operation system including urban rail traction power supply system and on-board brake resistance is established,and the traction power supply simulation calculation platform based on urban rail transit system is built.Based on train dynamics model,the energy saving operation strategy of train timing is studied.Then combined with the power supply simulation calculation platform,the energy flow relationship of the traction power supply system is analyzed,and the key influencing factors of regenerative braking energy under the change of train operation parameters are studied.Secondly,based on the train timing energy saving operation strategy,a typical dual-train operation model is established,and the train energy saving operation condition considering regenerative braking energy utilization is deduced.Then,by analyzing the influence of the power and distance relationship between the dual train on the energy flow of the system,the objective of adjusting the operation curve of the dual-train is established to reduce the output energy of the substation and the energy consumption of the brake resistance.Considering the actual constraints of train operation,a two-stage optimization strategy of dual-train operation curve adjustment is proposed,and particle swarm optimization algorithm is used to solve the calculation.According to the speed limit condition of complex lines,the regulation table of train operation under multi-speed limit condition is formulated,and the improvement strategy of dual-train operation curve is studied.On the basis of dual-train adjustment,considering the complexity of multi-train operation model,the rationality principle of multi-train operation adjustment is formulated by analyzing the energy coupling relationship of multi-train.Then,on the basis of the existing timetable parameters,a multi-train operation adjustment strategy based on braking time sequence is proposed.Taking Beijing Metro Batong Line as the research object,the simulation results verify the accuracy of the proposed control strategy.Finally,based on the hardware-in-the-loop experiment platform,the experiments of dual-train operation adjustment and multi-train operation adjustment under multiple working conditions are completed,and the train operation curve adjustment strategy proposed in this paper is verified experimentally.The experimental results show that through the coordinated control of train operation curve,regenerative braking energy of the system can be effectively utilized,the output energy of substation can be reduced,and the fluctuation of traction network pressure can be reduced,so as to realize the research on the comprehensive energy efficiency improvement technology of urban rail transit system.