CN104401370A - Energy-saving optimization method for cooperative control on multiple trains - Google Patents
Energy-saving optimization method for cooperative control on multiple trains Download PDFInfo
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Abstract
The invention discloses an energy-saving optimization method for cooperative control on multiple trains. The method comprises the steps of adopting a stop position of each station on a train running route as a decision position of a train, and adopting the train passing by the decision position at the current moment as a decision train; acquiring the information of other trains in the same power supply interval at the current moment by the decision train; setting a decision strategy of all trains at a next moment in the same power supply interval; calculating renewable kinetic energy of all the trains in the same power supply interval; determining the decision strategy of the decision train at the next moment according to the renewable kinetic energy. By adopting the method, the utilization of renewable brake energy is realized, and the total energy consumption of all the trains on the route can be reduced.
Description
Technical field
The invention belongs to Train Operation Control Technology field, particularly relate to a kind of energy conservation optimizing method of multiple row car Collaborative Control.
Background technology
Along with the fast development of urban rail transit in China transport undertaking, the main traffic instrument that urban track traffic is gone on a journey as modern, plays important role in the life of people.Greatly develop the historical background of low-carbon economy in the whole world under, its energy consumption of main artery that urban track traffic is transported as the trunk main of urban public transport, passenger flow is very huge, and therefore the research of energy saving technology has important practical significance undoubtedly.Energy-conservation one of important goal having become train and optimized, mainly drives from single vehicles energy saving optimizing, the Collaborative Control of multiple row car carries out studying and improving.
Single vehicles energy-saving driving mainly launches from three aspects, and one is the rational checking that energy saving optimizing is driven, and the Controlling model and the operating mode that propose energy saving optimizing are formed; Two is introduce concrete constraint condition, in original Controlling model, add corresponding parameter factors; Three is the research focusing on algorithm, designs concrete energy saving optimizing scheme and utilizes Algorithm for Solving, proposing the principle of energy saving optimizing algorithm.Fig. 1 is single vehicles energy saving optimizing driving figure.
Multiple row car Collaborative Control is mainly studied with principal and subordinate two aspects that are utilized as of regenerative braking energy, and one is the order of collaborative many train tractions and braking, realizes the utilization to regenerative braking energy; Two be from departure interval of adjustment train, stand between the degree of utilization of the raising such as time of run regenerative braking energy.
Driving for single vehicles energy saving optimizing is at present only do not consider regenerative braking energy from the angle of train isolated operation, does not propose optimisation strategy for train completely.But mainly concentrate in the adjustment to time-table for the research of multiple row car Collaborative Control, the utilization of regenerative braking energy is not realized from change Train Detection and Identification sequence.Find according to consulting reference materials almost not from the utilization of the angle research regenerative braking energy of adjustment all fronts train driving strategy.Fig. 2 is regenerating braking energy flow graph.
Game theory is the thought frame of kind of problem analysis.Some problem in science all can carry out game theory analysis under the prerequisite meeting game theory fundamental, that is can be nested in the middle of game theory to come according to the game theoretic mode of thinking by problem anatomy one by one, but for set of strategies solve or solving of optimal result is need other mathematical methods auxiliary.Operational process for multiple row car finds, multiple row workshop can form the relation of fighting to the finish, and has possessed the pacing factor of game.
In sum, multiple row truck system is controlled the energy conservation optimizing method combined with game theory, the driving strategy of all fronts train can be carried out pool balance, regenerative braking energy is reasonably distributed thus realizes making full use of regenerative braking energy.By game theoretic introducing being made each train individuation do decision-making, breaking original multiple row car in the operation reserve of same section operation this principle identical, preferentially having chosen according to residing concrete line condition.The utilization of train regenerative braking energy can be made like this to increase, and the relatively required electric energy provided by contact system will reduce, and the operation cost reducing train entirety realizes energy-conservation.
Summary of the invention
The object of the invention is to, a kind of energy conservation optimizing method of multiple row car Collaborative Control is provided, from the driving strategy of all fronts multiple row car, Collaborative Control is carried out to multiple row car, thus reach the object of overall operation energy consumption reduction completely.
To achieve these goals, the technical scheme that the present invention proposes is that a kind of energy conservation optimizing method of multiple row car Collaborative Control, is characterized in that described method comprises:
Step 1: using the decision-making position of place as train of stopping at each station on train operation circuit, using the train of current time through described decision-making position as decision-making train;
Step 2: described decision-making train obtains the information of other trains between the same service area of current time;
Step 3: the decision strategy setting all train subsequent time between same service area;
Step 4: the regeneration kinetic energy calculating all trains between same service area;
Step 5: according to the decision strategy of regeneration kinetic energy determination subsequent time decision-making train.
Described decision strategy is distraction procedure, process of cruising, coasting process and braking procedure.
The computing formula of the regeneration kinetic energy of described train i is:
Wherein, v
0for the speed of train i current time, unit thousand ms/h;
F
ifor the tractive force of train current time;
T
1for the initial time under tractive force effect;
T
2for the end time under tractive force effect.
The present invention realizes the utilization of regenerative braking energy, reduces train total energy consumption completely.
Accompanying drawing explanation
Fig. 1 is single vehicles energy saving optimizing driving figure;
Fig. 2 is regenerating braking energy flow graph;
Fig. 3 is method flow diagram provided by the invention;
Figure 4 shows that train interval operational process figure;
Fig. 5 is train traction performance diagram;
Fig. 6 is that train strategy chooses game tree graph.
Detailed description of the invention
Below in conjunction with accompanying drawing, preferred embodiment is elaborated.It is emphasized that following explanation is only exemplary, instead of in order to limit the scope of the invention and apply.
Scheme that the present invention adopts is based on following hypothesis:
1, the table information in model is fixed, and what adjust is the operation reserve of external force suffered by train and train.
2, train is all between same service area, and the regenerative braking energy that braking train produces can be used by other trains.
3, braking energy feeds back on contact system and also can be pulled train use in time, if the braking energy now then produced without tractor-trailer train is by resistance consumption.
4, each train all determines the operation reserve in this interval when dispatching a car, and then operation reserve as normal in all is no longer changed after choosing.
The present invention introduces game theoretic thought, selects the operation reserve of energy saving optimizing in train travelling process.Concrete calculation procedure is as follows:
Step 1: using the decision-making position of place as train of stopping at each station on train operation circuit, using the train of current time through described decision-making position as decision-making train.
Step 2: described decision-making train obtains the information of other trains between the same service area of current time.Decision-making train need obtain the complete information of other online trains, comprising the operation reserve etc. in speed, location information and current interval.
Step 3: the decision strategy setting all train subsequent time between same service area.
Step 4: the regeneration kinetic energy calculating all trains between same service area.Carry out the screening comparison of strategy, the strategy current according to other trains and the strategy next may taked carry out game theory analysis.
Step 5: according to the decision strategy of regeneration kinetic energy determination subsequent time decision-making train.Optimum operation reserve is chosen according to revenue function (regeneration kinetic energy) value.The selected strategy of record train also exports data result, and comprising the regenerative braking energy of tractive force size, braking force size, energy consumption and generation, the record of the generation of regenerative braking energy is for foundation is done in follow-up train decision-making.
Before the invention process, first need to determine following content:
(A) grasp the basic constraint condition of train operation, the basic constraint of train operation comprises single vehicles and runs constraint and the constraint of multiple row workshop Collaborative Control.Single vehicles runs constraint and comprises time-constrain and space constraint; The constraint of multiple row car Collaborative Control comprises the utilization constraint of safety factor, passenger flow factor, car depot's factor, factor of turning back and regenerative braking energy.
(B) according to the fundamental analysis Train Detection and Identification process of train operation, train operation is mainly divided into four-stage, comprising distraction procedure, process of cruising, coasting process and braking procedure.Distraction procedure consumes electric energy, and braking procedure produces regenerative braking energy, and coasting process is consumed energy also not produce power not, and process of cruising may produce according to the constraint of concrete circuit also may consumed energy.How to choose distribute draw, cruise, time of coasting and braking is main research point of the present invention, utilizes game theoretic thought to carry out tactful choosing.
(C) mechanical model is set up to train travelling process, according to the modeling of traction code.
(C.1) distraction procedure:
In distraction procedure, train is subject to tractive force and resistance two kinds of power, can simulate following value according to curve of traction characteristics.
(C.1.1) the first distraction procedure, train carries out the process of drawing with constant maximum, force, here is the stressed formula of train:
Wherein, F
maxfor constant maximum, force, kN is constant maximum unit of force, i.e. thousand newton, and v is current time train speed, and unit is thousand ms/h, f
refor train running resistance, f
adfor train additional resistance, W
mfor motor-car quality, W
tfor trailer quality, it is unit.
(C.1.2) the second distraction procedure, because the flex point of tractive force in motor characteristic curve is exactly the maximum rated power value point of train, P
max=3128.7kW=F
trv, P
maxfor maximum rated power value, F
trfor tractive force.When speed continues to increase, tractive force can with reducing gradually, and here is the function of tractive force with velocity variations:
F
tr＝-6.812·v+555.4,36<v<48 (2)
(C.1.3) the 3rd distraction procedure, with similar on last stage, is still subject to the restriction of rating horsepower, and tractive force is with the change of speed, and here is tractive force with the function of velocity variations and resistance situation:
F
tr＝0.09874·v
2-18.68v+811.6,48<v<80 (3)
More than the analysis of train traction process, according to the energy that formulae discovery train consumes in this process, and the total kilometrage run under this process of train.Lower group formula is the integral result of train traction process:
Wherein E
1afor the power consumption values in a certain moment of train in distraction procedure.
(C.2) to cruise process:
In process of cruising, train is subject to tractive force/braking force and resistance two kinds of power, depends on drag size with distraction procedure unlike the size of the tractive force/braking force of train in the process of cruising.The process of cruising is the process that train travels at the uniform speed, therefore the energy that train consumes converts other form energies completely to and do not sacrifice kinetic energy.In this process, resistance plays a significant role, and wherein resistance is primarily of basic resistance and grade resistance composition, and other additional resistances are not considered, and are the composition formula of resistance below:
Wherein, R is basic resistance, and I is ratio of slope, and G is acceleration due to gravity, and m is train weight, and n is passenger vehicle quantity.It is more than the correlation formula of the process of cruising.
(C.3) coasting process:
Train is only by this process of drag effect neither produce power also not consumed energy.Because the friction of train wheel and rail level can produce heat energy, sacrifice kinetic energy from this process of angle of Conversion of Energy.In coasting process, train constantly slows down with very little deceleration/decel, is the correlation formula of coasting process below:
Wherein, a
cofor the acceleration/accel of train in coasting process, coasting process does not have the consumption of energy to only have the change of speed.
(C.4) braking procedure:
Train is subject to the effect of braking force and resistance.Have according to braking characteristics curve:
Wherein, F
maxbfor train maximum braking force, P
maxbfor rating horsepower during train braking.
In first braking procedure, train carries out the process of braking with constant maximum braking force, and here is the stressed formula of train:
Second braking procedure, in motor characteristic curve, the flex point of braking force is exactly the maximum rated power value point P of train
max=4306.7kW=F
brv, when speed continues to reduce, the braking force of train can change with the change of speed, and here is the function of braking force with velocity variations:
F
br＝5.362·v
0-580.5；60<v
0≤80 (9)
It is more than the fundamental formular in train travelling process needed for modeling.Emphasize in application scenarios analysis of the present invention that to train interior tactful selection take tractor-trailer train as research object at station, follows the state looking into all online trains, whether in this Train Schedule allowed band, there will be braking train when train traction.According to occurring that the moment of train braking selects the strategy of train operation, the method for calculating of train energy is exactly the research launched centered by distraction procedure so completely.
(D) analyze the general driving strategy that tentatively can obtain train according to above, carry out multiple row car energy saving optimizing strategy according to game theoretic thought and choose.Under the condition of given time of run and concrete circuit, train has different operation reserve between station, therefore the key of train energy-saving optimization is choosing of driving strategy.Each train doing decision-making all will obtain the information of every other online train when doing decision-making, this train does decision-making according to these completed factural informations, the dynamic game of a Here it is Complete Information.
(E) using each train as game theoretic participant, the interests that strive for are exactly how to make self and overall power consumption completely minimum, Train Detection and Identification process are nested in game theoretic model.Game theoretic fundamental is: (1) player; (2) set of strategies; (3) revenue function.These three are game theoretic fundamental but want to form game, also need the information between player know together that is for some public information be need mutual, Complete Information and non-fully information can be divided into according to the degree of information transparency, Static Game and dynamic game can be divided into according to the priority made a decision.
(F) because train operation is carried out in order, so the time that the different trains on same circuit cross same position is different.Suppose that this position is the place that stops at each station, and this position is the position that each train does decision-making, so different train has sequencing in decision-making that same station is done, and makees decision-making train simultaneously and carries out decision-making according to the strategy of other trains between all same service areas.Reference system thus adjust self run curve, so the Complete Information Dynamic Game adopted in literary composition each other between train and train.
(G) utilization of regenerative braking energy is just had when needing the train of traction to meet these conditions.The initial point that the energy calculated in overlapping time mainly needs writing time and overlaps, because the braking start position of the current traffic coverage of other trains can be known, as long as constantly follow the traction terminal looked into and be about at present do decision-making train operation curve.The regenerative braking energy that the starting point being combined in alignment car braking procedure just can calculate overlapping time and may utilize, such as formula shown:
Wherein, v
0for the speed of train i current time, unit thousand ms/h.F
ifor the tractive force of train current time, the formulation of its scope is the computing formula gained according to above resistance, and resistance is 78.89485465kN to the maximum, and tractive force is now 88.976kN, F
tr-f
re>=0, so also will ensure this constraint in the most adverse case in distraction procedure, therefore f is set
ivariation range be 0≤f
i≤ 10kN.T
1for the initial time under tractive force effect, t
2for the end time under tractive force effect.
The present invention is used for the method to urban track traffic multiple row car Collaborative Control energy saving optimizing.Provide multiple row car below and select best operation reserve specific embodiments by coordinating game model, realize the utilization to regenerative braking energy, reach energy-conservation object.Fig. 3 gives the train method flow diagram that game strategies in operational process is chosen.
1, suppose to have three cars between same circuit, same service area, be respectively 1 car, 2 cars and 3 cars.Be illustrated in figure 4 train interval operational process figure.
2, decision-making train need obtain the complete information of other online trains, comprising the operation reserve etc. in speed, location information and current interval.Fig. 5 is train traction performance diagram, is generated by the complete information of other online trains.
3, a, b and c is established to be 1 car, 2 cars and the driving strategy of 3 cars in respective traffic coverage respectively, wherein { a
5, b
2represent the strategy that 1 car and 2 cars have selected when 3 cars stop, as shown in Figure 6.{ c
1, c
2... c
nbe next interval interior possible operation reserve of 3 cars, { a
1, a
2... a
nthe strategy that may choose when being the decision-making next time of 1 car, { b
1, b
2... b
nthe strategy that may choose when being 2 cars decision-making next time, { E
1, E
2... E
mbe the revenue function value that often row train is final, m=3 in this example, by the best decision done needed for comparing ultimate yield functional value to retrodict this moment.
4, carry out Policy Filtering comparison, the strategy current according to other trains and the strategy next may taked carry out game theory analysis.
5, optimum operation reserve is chosen according to revenue function value.The selected strategy of record train also exports data result, and comprising the regenerative braking energy of tractive force size, braking force size, energy consumption and generation, the record of the generation of regenerative braking energy is for foundation is done in follow-up train decision-making.When choosing optimum operation reserve according to revenue function value, can according to actual conditions, as chosen the minimum operation reserve of each train revenue function value sum.
The present invention has following effect:
1, multiple row car energy saving optimizing is mainly by the operation reserve of adjustment multiple row car, realizes the utilization of regenerative braking energy, reduces train total energy consumption completely.Research finds, multiple row car Collaborative Control energy conservation optimizing method energy-saving effect is more obvious.
2, analyze Game Theory and follow the trail of the applicability run and control at multiple row car, and game theoretic method is applied in multiple row car Collaborative Control.The factor that the train operation Energy Saving Strategy that application Game Theory is chosen is considered more comprehensively.
3, using the constraint condition of existing timetable as foundation, train operation scene is classified, sum up the concrete limiting condition that regenerative braking energy utilizes under all kinds of scene; Establish multiple row car energy saving optimizing model, and utilize game theoretic thought to choose energy saving optimizing strategy, achieve energy-saving effect, improve the degree of utilization of regenerative braking energy.
The above; be only the present invention's preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (3)
1. an energy conservation optimizing method for multiple row car Collaborative Control, is characterized in that described method comprises:
Step 1: using the decision-making position of place as train of stopping at each station on train operation circuit, using the train of current time through described decision-making position as decision-making train;
Step 2: described decision-making train obtains the information of other trains between the same service area of current time;
Step 3: the decision strategy setting all train subsequent time between same service area;
Step 4: the regeneration kinetic energy calculating all trains between same service area;
Step 5: according to the decision strategy of regeneration kinetic energy determination subsequent time decision-making train.
2. method according to claim 1, is characterized in that described decision strategy is distraction procedure, process of cruising, coasting process and braking procedure.
3. method according to claim 2, is characterized in that the computing formula of the regeneration kinetic energy of described train i is:
Wherein, v
0for the speed of train i current time, unit thousand ms/h;
F
ifor the tractive force of train current time;
T
1for the initial time under tractive force effect;
T
2for the end time under tractive force effect.
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| CN112590867B (en) * | 2020-12-21 | 2022-05-27 | 中车青岛四方车辆研究所有限公司 | Urban rail train group speed optimization method and system based on vehicle-to-vehicle communication |
| CN113830141A (en) * | 2021-11-25 | 2021-12-24 | 中国铁道科学研究院集团有限公司通信信号研究所 | High-speed railway dispatching control mutual cooperation method and system |
| CN113830141B (en) * | 2021-11-25 | 2022-03-18 | 中国铁道科学研究院集团有限公司通信信号研究所 | High-speed railway dispatching control mutual cooperation method and system |
| CN117485406A (en) * | 2023-10-27 | 2024-02-02 | 西南交通大学 | High-speed train multi-train cooperative energy-saving optimization method based on tide calculation |
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Application publication date: 20150311 |