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Energy-Efficient Speed Profile Optimization and Sliding Mode Speed Tracking for Metros

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  • Xiaowen Wang

    (School of Electrical Engineering, Southwest Jiaotong University, Chengdu 610031, China)

  • Zhuang Xiao

    (School of Electrical Engineering, Southwest Jiaotong University, Chengdu 610031, China)

  • Mo Chen

    (School of Electrical Engineering, Southwest Jiaotong University, Chengdu 610031, China)

  • Pengfei Sun

    (School of Electrical Engineering, Southwest Jiaotong University, Chengdu 610031, China)

  • Qingyuan Wang

    (School of Electrical Engineering, Southwest Jiaotong University, Chengdu 610031, China)

  • Xiaoyun Feng

    (School of Electrical Engineering, Southwest Jiaotong University, Chengdu 610031, China)

Abstract

Nowadays, most metro vehicles are equipped with an automatic train operation (ATO) system, and the speed control method, combining cruise speed planning and proportional-integral-derivative (PID) control, is widely used. The automation is achieved, and the energy-efficient can be improved. This paper presents an improved artificial bee colony algorithm for speed profile optimization with coast mode and an adaptive terminal sliding mode method for speed tracking. Specifically, a multi-objective optimization model is established, which considers energy consumption, comfortableness, and punctuality. Then, a novel artificial bee colony algorithm named regional reinforcement artificial bee colony (RR-ABC) is designed, to search the optimal speed profile with coast mode, in which some improvements are made to speed up convergence and to avoid local optimal solutions. For speed-tracking control, the adaptive terminal sliding mode controller (ATSMC) is used to improve the speed error, robustness, and energy saving. In addition, a disturbance observer (DOB) is designed to improve the anti-interference ability of the system and further improve the robustness and anti-disturbance, which are also conducive to speed error and energy saving. Finally, the line and train data of the Qingdao Metro Line 6 are used for simulation, which proves the effectiveness of the study. Specific to the energy saving rate, and compared with normal algorithms, RR-ABC with coast mode is approximately 9.55%, and ATSMC+DOB is 7.58%.

Suggested Citation

  • Xiaowen Wang & Zhuang Xiao & Mo Chen & Pengfei Sun & Qingyuan Wang & Xiaoyun Feng, 2020. "Energy-Efficient Speed Profile Optimization and Sliding Mode Speed Tracking for Metros," Energies, MDPI, vol. 13(22), pages 1-29, November.
    • Handle: RePEc:gam:jeners:v:13:y:2020:i:22:p:6093-:d:448605
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    References listed on IDEAS

    as
    1. Mo Chen & Zhuang Xiao & Pengfei Sun & Qingyuan Wang & Bo Jin & Xiaoyun Feng, 2019. "Energy-Efficient Driving Strategies for Multi-Train by Optimization and Update Speed Profiles Considering Transmission Losses of Regenerative Energy," Energies, MDPI, vol. 12(18), pages 1-25, September.
    2. Agostinho Rocha & Armando Araújo & Adriano Carvalho & João Sepulveda, 2018. "A New Approach for Real Time Train Energy Efficiency Optimization," Energies, MDPI, vol. 11(10), pages 1-21, October.
    3. Yang, Xin & Chen, Anthony & Ning, Bin & Tang, Tao, 2016. "A stochastic model for the integrated optimization on metro timetable and speed profile with uncertain train mass," Transportation Research Part B: Methodological, Elsevier, vol. 91(C), pages 424-445.
    4. Fei Shang & Jingyuan Zhan & Yangzhou Chen, 2020. "An Online Energy-Saving Driving Strategy for Metro Train Operation Based on the Model Predictive Control of Switched-Mode Dynamical Systems," Energies, MDPI, vol. 13(18), pages 1-14, September.
    5. Phil Howlett, 2000. "The Optimal Control of a Train," Annals of Operations Research, Springer, vol. 98(1), pages 65-87, December.
    6. Zhaoxiang Tan & Shaofeng Lu & Kai Bao & Shaoning Zhang & Chaoxian Wu & Jie Yang & Fei Xue, 2018. "Adaptive Partial Train Speed Trajectory Optimization," Energies, MDPI, vol. 11(12), pages 1-33, November.
    7. Li, Xiang & Lo, Hong K., 2014. "An energy-efficient scheduling and speed control approach for metro rail operations," Transportation Research Part B: Methodological, Elsevier, vol. 64(C), pages 73-89.
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    Cited by:

    1. Maryna Bulakh & Leszek Klich & Oleksandra Baranovska & Anastasiia Baida & Sergiy Myamlin, 2023. "Reducing Traction Energy Consumption with a Decrease in the Weight of an All-Metal Gondola Car," Energies, MDPI, vol. 16(18), pages 1-12, September.
    2. Wang, Xuekai & Tang, Tao & Su, Shuai & Yin, Jiateng & Gao, Ziyou & Lv, Nan, 2021. "An integrated energy-efficient train operation approach based on the space-time-speed network methodology," Transportation Research Part E: Logistics and Transportation Review, Elsevier, vol. 150(C).
    3. Hongliang Pan & Hao Wang & Chenglong Yu & Junjie Zhao, 2022. "Displacement-Constrained Neural Network Control of Maglev Trains Based on a Multi-Mass-Point Model," Energies, MDPI, vol. 15(9), pages 1-15, April.

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