This book is closely related to the energy conservation problem of rail transport systems, focusing on reducing the energy consumption of train operation. The system process of train operation is analyzed and the relationship between train operation and energy consumption is introduced. The fundamental theories, modelling and application of technologies for energy-efficient train driving are presented, discussing timely topics such as energy-efficient train control and timetabling, integrated timetabling and regenerative braking, and maximizing regenerated energy usage with energy storage systems. In addition, the modelling and application of a traction power simulation platform is introduced, to calculate the detailed energy flow over a railway network. The book is enriched with a set of practical examples to illustrate the performance of the proposed methods in improving energy efficiency of both urban and long-distance trains. Overall, the book provides a timely guide to professionals in the railway industry, and to researchers and graduate students in transport, electrical and control engineering.
Author(s): Shuai Su, Zhongbei Tian, Rob M. P. Goverde
Series: Lecture Notes in Mobility
Publisher: Springer
Year: 2023
Language: English
Pages: 239
City: Cham
Preface
Contents
1 Introduction to Energy-Efficient Train Operation
1.1 Background of Railway Energy Consumption
1.2 Projects in Railway Energy Efficiency
1.2.1 European Projects
1.2.2 Selected National Projects
1.3 Energy Saving Methods in Railways
1.4 Book Chapter Structure
References
2 Energy-Efficient Strategies for Train Operation
2.1 Introduction
2.1.1 Background of Train Operation
2.1.2 Approaches of Energy-Efficient Train Operation
2.2 Energy-Efficient Train Control
2.2.1 Train Driving Control in Railway Systems
2.2.2 Relationship Between Driving Strategy and Energy Consumption
2.2.3 Factors Related to the Train Motion
2.2.4 Algorithms for Optimal Train Control
2.3 Energy-Efficient Train Timetable
2.3.1 Train Timetable of Railway System
2.3.2 Relationship Between Train Timetable and Traction Energy
2.4 Optimisation of Train Timetables for Regenerative Braking
2.4.1 Feedback of RBE
2.4.2 Relationship Between Train Operation and Feedback RBE
2.4.3 Categories of Integrated Optimisation Methods
2.5 Energy-Efficient Driving Considering ESSs
2.5.1 ESS in Railway System
2.5.2 Control of ESSs During Train Operation
2.6 Substation-Based Energy-Efficient Strategy for Train Operation
2.6.1 Advantage of Substation-Based Energy-Efficient Strategy
2.6.2 Principle of Substation-Based Energy-Efficient Strategy
2.7 Conclusion
References
3 Energy-Efficient Driving for a Single Train
3.1 Introduction
3.2 Modelling the Motion of a Train
3.2.1 Tractive Effort
3.2.2 Braking Effort
3.2.3 Resistance Forces
3.2.4 Gradient Forces
3.2.5 Track Curvature Forces
3.2.6 Transformed Track Forces for Long Trains
3.2.7 Equations of Motion
3.2.8 Energy Use
3.3 Minimising Energy with On-Time Arrival
3.3.1 Formulating an Optimal Control Problem
3.3.2 Pontryagin's Principle
3.3.3 Optimal Control Modes
3.3.4 Transitions Between Modes
3.3.5 Optimal Journeys on a Straight, Level Track
3.3.6 Steep Inclines and Steep Declines
3.3.7 Speed Limits
3.4 Journey Duration and Energy
3.5 Regeneration
3.6 Using More Power to Save Energy
3.7 Intermediate Time Constraints and Timing Windows
3.8 Driving Advice Systems
3.9 Conclusion
References
4 Energy-Efficient Train Timetabling
4.1 Introduction
4.2 Minimum Running Time Calculation
4.2.1 Problem Formulation
4.2.2 Optimality Conditions
4.2.3 Illustrative Example
4.3 Energy-Efficient Train Trajectory Optimization Between Stops
4.3.1 Problem Formulation
4.3.2 Optimality Conditions
4.3.3 Illustrative Examples
4.4 Energy-Efficient Train Timetabling Over Multiple Stops
4.4.1 Problem Formulation
4.4.2 Optimality Conditions
4.4.3 Illustrative Example
4.5 Energy-Efficient Timetabling of Multiple Trains Over a Corridor
4.5.1 Problem Formulation
4.5.2 Solution Procedure
4.5.3 Illustrative Examples
4.6 Conclusions
References
5 Optimisation of Train Timetables for Regenerative Braking
5.1 Introduction of Integrated Optimisation Approach
5.2 Calculation of Traction Energy and Regenerative Braking Energy
5.2.1 Traction Energy Calculation Model
5.2.2 Regenerative Braking Energy Calculation Model
5.3 Coordinated Control of Departure Times
5.3.1 Solution Approach
5.3.2 Examples
5.4 Integrated Schedule and Train Trajectory Optimisation for Metro Lines
5.4.1 Mathematical Formulation of Integrated Optimisation
5.4.2 Solution Approach
5.4.3 Examples
5.5 Conclusions
References
6 Energy-Efficient Train Driving Considering Energy Storage Systems
6.1 Introduction
6.1.1 Accumulation Systems
6.1.2 Efficient Driving and Regenerative Braking
6.2 Modelling of Energy Storage Systems for Railways
6.2.1 On-Board Energy Storage Systems
6.2.2 Track-Side Energy Storage Systems
6.3 Energy-Efficient Driving in Metro ATO Trains
6.4 Case Study
6.4.1 Initial Charge Estimation
6.4.2 Scenarios Analysed
6.4.3 Efficient-Driving Design
6.4.4 Achievable Energy Savings Due to Efficient-Driving
6.4.5 Energy Savings Due to Network Receptivity Improvement and On-Board Energy Storage Devices
6.5 Conclusions
References
7 Railway Energy Simulation Considering Traction Power Systems
7.1 Introduction
7.2 Railway Traction Power Systems
7.2.1 DC Electric Railway Traction Network
7.2.2 AC Electric Railway Traction Network
7.3 Mathematical Modelling of Railway Traction Power Systems
7.3.1 DC Traction Substation
7.3.2 AC Traction Substation
7.3.3 Dynamic Train Loads
7.3.4 Admittance Matrix Construction
7.3.5 Power Flow Analysis
7.4 Energy Flow of Railway Traction Power Systems
7.4.1 Multi-train Energy Simulator
7.4.2 Energy Flow
7.4.3 Energy Loss Analysis
7.5 Case Studies
7.5.1 Modelling Formulation
7.5.2 Current Driving
7.5.3 Energy Evaluation Results
7.6 Conclusions
References
8 Energy-Efficient Train Operation: Conclusions and Future Work
8.1 Conclusions
8.2 Future Work
References
