CN106055852A - Subway train operation and traction power supply system coupled simulation modeling method - Google Patents
Subway train operation and traction power supply system coupled simulation modeling method Download PDFInfo
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- CN106055852A CN106055852A CN201610580924.2A CN201610580924A CN106055852A CN 106055852 A CN106055852 A CN 106055852A CN 201610580924 A CN201610580924 A CN 201610580924A CN 106055852 A CN106055852 A CN 106055852A
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
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- G06F30/36—Circuit design at the analogue level
- G06F30/367—Design verification, e.g. using simulation, simulation program with integrated circuit emphasis [SPICE], direct methods or relaxation methods
Abstract
The invention discloses a subway train operation and traction power supply system coupled simulation modeling method which comprises the steps of: based on a coupling relationship between a train traction power supply system and a train traction transmission system, equivalently simulating attribute parameters of each power component so as to construct a train-network coupled simulation calculation model of a subway power supply system; according to the train-network coupled simulation calculation model of the subway power supply system, calculating a power flow value of the train traction power supply system; and according to the power flow value of the train traction power supply system and a train working diagram, regulating a departure interval so as to suit for trains in different operating conditions to operate on time. According to the simulation modeling method provided by the invention, the power components in the traction power supply system are subjected to equivalent simulation on the basis of the coupling relationship between the traction power supply system and the train traction transmission system, a coupling relationship between trains and a traction network can be more accurately described, and the multi-train operation train-network real-time electric coupling phenomenon on a subway site actual track is accurately and effectively described.
Description
Technical field
The present invention relates to imitation technology field, be specifically related to a kind of subway train operation and couple with tractive power supply system
Emulation modelling method.
Background technology
Tractive power supply system is of paramount importance basic energy resource facility in City Rail Transit System, and its function is for track
Electric vehicle in traffic system is powered, it is ensured that rail transit train vehicle properly functioning.Currently, the metro traction of China supplies
Electricity system many employings DC750V or DC1500V two-side feeding mode, Chinese scholars supplies for the metro traction of this power supply mode
Electricity system dc side modeling method and associate power trend value calculating method thereof have carried out substantial amounts of further investigation, wherein use relatively
Many tractive power supply system models have loop current model and node voltage model.Loop current model be only suitable to by contact net,
Rail and the single system of return wire composition, be used for calculating contact net and the voltage and current of rail and the longitudinal direction along contact net
Distribution；Node voltage model is suitable to have randomly topologically structured Traction networks, and to the Traction networks under other power supply systems
It is also suitable, applies relatively broad.
In prior art, train is considered as power source load and based on 12 pulse wave rectifier unit models by relevant scholar, in conjunction with
MTLs model builds the Traction networks being suitable to different structure and power supply mode, but illustrates that train is in under-voltage operating mode the most comprehensively
Under actual pull strength size and car-pessimistic concurrency control is not considered as entirety, have ignored car net and couple in real time train net voltage fluctuation
Impact, simulation result degree of accuracy is the highest.
Summary of the invention
To be solved by this invention is to use existing subway traction power supply analogue system train equivalent model simulation calculation
The problem that result degree of accuracy is the highest.
The present invention is achieved through the following technical solutions:
A kind of subway train runs and tractive power supply system coupling Simulation modeling method, including: power based on train traction
Coupled relation equivalence planization each force device property parameters between system and train traction drive system is to build subway power supply
The car of system-net coupling Simulation computation model；Car according to electric power supply system for subway-net coupling Simulation computation model calculates train and leads
Draw the direction of energy value of electric power system；Direction of energy value and route map of train according to train traction electric power system adjust between dispatching a car
Every running with suitable different operating condition trains the most on schedule.
The emulation modelling method that the present invention provides, is based on coupling between tractive power supply system with train traction drive system
Relation is simulated equivalence to force device in tractive power supply system, in conjunction with pulling figure and the car net of train traction drive system
Relation, builds the car-net coupling Simulation computation model of electric power supply system for subway, calculates each node voltage of tractive power supply system, branch road
Electric current, Traction networks net pressure and current on line side etc..Compared with prior art, the present invention can describe between train and Traction networks more accurately
Coupled relation, describe on the actual track of subway scene many cars accurately and efficiently and run car net real-time electric coupling phenomenon, to traction
The layout of electric power system Capacity design and timetable has certain directive function.
Further, based on the coupled relation equivalence planization between train traction electric power system and train traction drive system
Each force device property parameters includes with the car-net coupling Simulation computation model building electric power supply system for subway:
Conductor rail, DC feeder and bus it is considered as homogeneous resistance and is equivalent to resistance and wired in series, will lead
Drawing electric substation, to be equivalent to direct voltage source in series with a resistor, and the power source that train is considered as consuming active electrical degree and idle electric degree is born
Lotus；
Power supply is built according to each force device property parameters after train traction electric power system topology diagram and equivalence planization
System physical model, and two one steel rail transmission lines in electric power system physical model are equivalent to one section of electric power containing internal resistance
Line；
Being numbered and build bus admittance matrix to train and train position, number order is from left to right followed successively by power transformation
Institute's feed node, electric substation's backflow node, train take stream node, train backflow node；
Nodal admittance equation U=Y is created according to node initializing parameter-1I, wherein, I is node injection current, and U is node
Voltage, Y is bus admittance matrix.
Further, the nodal method of analysis is used to calculate the direction of energy value of train traction electric power system.
Further, train traction electric power system is calculated according to the car-net coupling Simulation computation model of electric power supply system for subway
Direction of energy value include:
Whether be for the first time calculate, if calculating for the first time, arranging Rectification Power Factor work area is first if judging that this calculates
Operation interval, otherwise redefines the operating characteristic of Rectification Power Factor；
According to It=P/UtCalculate train node injection current, wherein, ItFor train node injection current, P is branch road merit
Rate, UtFor node injecting voltage；
Calculate node injection current；
Judge whether Rectification Power Factor load current meets requirement, if Rectification Power Factor load current is unsatisfactory for requirement, the most really
Determine the operating characteristic of Rectification Power Factor, otherwise calculate each node voltage；
Judge whether train voltage restrains, if train voltage does not restrain the operating characteristic redefining Rectification Power Factor, otherwise
Calculate train operation pull strength, Associated brake power, datum drag and various additional drag.
Further, many particles traction computation model is builtWith
Calculating train operation pull strength, Associated brake power, datum drag and various additional drag, wherein, v is train running speed, t
For Train Schedule, s is train operation distance, Ft(v) be train running speed be maximum drawbar pull during v, BbV () is row
The car speed of service is maximum braking force during v, ω0V () is train operation Unit basic resistance, utFor traction level and ut∈[0,
1], ubFor braking level and ub∈ [0,1], ωjX () is unit circuit additional drag, M is train weight, and g is earth surface
Acceleration of gravity.
Further, direction of energy value and route map of train according to train traction electric power system adjust the departure interval with suitable
The most different operating condition trains run the most on schedule and include:
Traction electric machine permanent torque operation side is set up according to the relation between train voltage on line side, pull strength and current on line side
Journey Uu×Iu× t × μ=FtV () × v × t, wherein, μ is energy conversion efficiency, UuFor train voltage on line side, IuFor train net side
Electric current；
According to Uj×Ij=Ui×IiObtainValue, and according toValue regulation train running speed and corresponding work
Condition, wherein, UjFor j node voltage, IjFor j node current, UiFor i-node voltage, IiFor i-node electric current.
The present invention compared with prior art, has such advantages as and beneficial effect:
The subway train that the present invention provides runs and tractive power supply system coupling Simulation modeling method, is embedded into by train and leads
Draw in power supply network structure car-net coupling model, calculate each node voltage of tractive power supply system, branch current, Traction networks net pressure with
Current on line side etc..The present invention can describe the coupled relation between train and Traction networks more accurately, describes subway accurately and efficiently existing
On the actual track of field, many cars run car net real-time electric coupling phenomenon, and the layout to tractive power supply system Capacity design and timetable has
There is certain directive function.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing being further appreciated by the embodiment of the present invention, constitutes of the application
Point, it is not intended that the restriction to the embodiment of the present invention.In the accompanying drawings:
Fig. 1 is that the subway train operation of the embodiment of the present invention is shown with the flow process of tractive power supply system coupling Simulation modeling method
It is intended to；
Fig. 2 is the structural representation of the bilateral tractive power supply system of subway of the embodiment of the present invention；
Fig. 3 is the metro traction power system physical model schematic diagram of the embodiment of the present invention；
Fig. 4 is the metro traction net topology structural representation of the embodiment of the present invention；
Fig. 5 is the schematic flow sheet that the embodiment of the present invention calculates the direction of energy value of train traction electric power system；
Fig. 6 is subway train operation curve and the ATO control car principle schematic of the embodiment of the present invention；
Fig. 7 is voltage on line side and the distance Curve schematic diagram of the embodiment of the present invention；
Fig. 8 is speed and the distance Curve schematic diagram of the embodiment of the present invention；
Fig. 9 is traction/regenerative braking force and the distance Curve schematic diagram of the embodiment of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with embodiment and accompanying drawing, to this
Invention is described in further detail, and the exemplary embodiment of the present invention and explanation thereof are only used for explaining the present invention, do not make
For limitation of the invention.
Embodiment
Fig. 1 is that the subway train operation of the embodiment of the present invention is shown with the flow process of tractive power supply system coupling Simulation modeling method
Being intended to, described subway train runs and includes step S1～step S3 with tractive power supply system coupling Simulation modeling method.
Step S1, each based on the coupled relation equivalence planization between train traction electric power system and train traction drive system
Force device property parameters is to build the car-net coupling Simulation computation model of electric power supply system for subway.
Conductor rail, DC feeder and bus it is considered as homogeneous resistance and is equivalent to resistance and wired in series, will lead
Drawing electric substation, to be equivalent to direct voltage source in series with a resistor, and the power source that train is considered as consuming active electrical degree and idle electric degree is born
Lotus.Specifically, run actual scene according to metro traction power system composition structure and Railway Site and simulate abstract middle buckling electricity
Institute, traction substation, Rectification Power Factor, return wire, feeder line, Traction networks, rail, train etc., draw subway as shown in Figure 2 bilateral
The structural representation of electric power system, according to transmission line theory and associate power component attributes parameter with functional characteristic in Fig. 2
Force device carries out physical characteristic planization.
Power supply is built according to each force device property parameters after train traction electric power system topology diagram and equivalence planization
System physical model, and two one steel rail transmission lines in electric power system physical model are equivalent to one section of electric power containing internal resistance
Line.The electric power system physical model built as it is shown on figure 3, be equivalent to one section of electric lines of force containing internal resistance by two one steel rail transmission lines
After, metro traction net topology structure is as shown in Figure 4.
Being numbered and build bus admittance matrix to train and train position, number order is from left to right followed successively by power transformation
Institute's feed node, electric substation's backflow node, train take stream node, train backflow node.Assume that system has N number of node, then node
Admittance matrix is expressed as:
To the general Y of each element in matrixpqRepresent, as p=q, YpqFor the self-admittance of node p, represent and pth
The admittance sum of all branch roads that node is associated.As p ≠ q, YpqBecome the transadmittance between node p and node q, represent connection
Meet the negative of admittance between pth node and q-th node, and Ypq=Yqp, wherein when node p and node q is without direct correlation,
Ypq=Yqp=0.
Nodal admittance equation U=Y is created according to node initializing parameter-1I, wherein, I is node injection current, and U is node
Voltage, Y is bus admittance matrix.After Nodal admittance equation has created, just can calculate the electric power tide of train traction electric power system
Flow valuve.
Step S2, calculates train traction electric power system according to the car-net coupling Simulation computation model of electric power supply system for subway
Direction of energy value.In the present embodiment, the nodal method of analysis is used to calculate the direction of energy value of train traction electric power system.Fig. 5 is
The embodiment of the present invention calculates the schematic flow sheet of the direction of energy value of train traction electric power system, and described calculating train traction is powered
The direction of energy value of system includes:
Whether be for the first time calculate, if calculating for the first time, arranging Rectification Power Factor work area is first if judging that this calculates
Operation interval, otherwise redefines the operating characteristic of Rectification Power Factor；According to It=P/UtCalculating train node injection current, wherein,
ItFor train node injection current, for branch power, UtFor node injecting voltage；Calculate node injection current, inject according to node
Electric current can calculate Rectification Power Factor load current；Judge whether Rectification Power Factor load current meets requirement, if P Rectification Power Factor load is electric
Stream is unsatisfactory for requirement, redefines the operating characteristic of Rectification Power Factor, otherwise calculates each node voltage；Judge whether train voltage is received
Hold back, if train voltage does not restrain the operating characteristic redefining Rectification Power Factor, otherwise calculate train operation pull strength, Associated brake
Power, datum drag and various additional drag.
Further, determine that the operating characteristic of Rectification Power Factor includes: if certain Rectification Power Factor load current is less than work at present
Interval corresponding load current scope, then arranging this Rectification Power Factor operation interval is previous operation interval；If certain Rectification Power Factor
The load current scope that load current is corresponding more than work at present interval, then arranging this Rectification Power Factor operation interval is a rear job
Interval.Judge whether train voltage restrains that to refer to judge that each train node voltage size calculated has met the most given
Convergence precision ε, the computing formula of ε is:
Wherein, r is r row train,After being r row train kth time iteration, the Traction networks net pressure of train position
Value.
In the present embodiment, many particles traction computation model is builtWith
Calculating train operation pull strength, Associated brake power, datum drag and various additional drag, wherein, v is train running speed, t
For Train Schedule, s is train operation distance, Ft(v) be train running speed be maximum drawbar pull during v, BbV () is row
The car speed of service is maximum braking force during v, ω0V () is train operation Unit basic resistance, utFor traction level and ut∈[0,
1], ubFor braking level and ub∈ [0,1], ωjX () is unit circuit additional drag, M is train weight, and g is earth surface
Acceleration of gravity.
Step S3, direction of energy value and route map of train according to train traction electric power system adjust the departure interval with suitably
Different operating condition trains run the most on schedule.Specifically, according between train voltage on line side, pull strength and current on line side
Relation is set up traction electric machine permanent torque and is run equation Uu×Iu× t × μ=Ft(v) × v × t, wherein, μ is energy conversion efficiency,
UuFor train voltage on line side, IuFor train current on line side；According to Uj×Ij=Ui×IiObtainValue, and according toValue adjust
Joint train running speed and corresponding operating mode thereof, wherein, UjFor j node voltage, IjFor j node current, UiFor i-node voltage, Ii
For i-node electric current.Subway is dynamically adjusted according to preset a plurality of off-line optimal curve in traction direction of energy value, pull strength and ATO
Train operation, operation curve and ATO control car principle are as shown in Figure 6.Those skilled in the art know how according to traction electric power tide
In flow valuve, pull strength and ATO, preset a plurality of off-line optimal curve dynamically adjusts subway train operation, does not repeats them here.
For the effect of technical solution of the present invention is better described, the method that inventor provides according to the present invention has carried out numeral
Simulating, verifying.Data owing to running between train station are more, and the data therefore intercepting three traffic coverages compare analysis, right
Calculate and be provided without coupling the speed of subway train under calculated case-distance than train in the employing coupling of these three interval and run song
Line, train voltage on line side-distance Curve and train traction/regenerative braking force-distance Curve.
Fig. 7 is voltage on line side and the distance Curve schematic diagram of the embodiment of the present invention.As shown in Figure 7, use coupling calculate with
After, train voltage on line side fluctuation range is less than the fluctuation range being provided without when coupling calculates.Reason is, it is considered to coupling calculate with
After, voltage on line side have impact on the performance of power of traction motor.Under regenerative braking operating mode, it is assumed that net voltage levels is drawing change always
In electricity institute allowed band, the rising of net pressure is more or less the same, but when traction working condition, the reduction of net pressure causes train traction characteristic
Reach, power drop, thus reduce the reduction amount of net pressure.
Fig. 8 is speed and the distance Curve schematic diagram of the embodiment of the present invention.As shown in Figure 8, after using coupling to calculate, row
When car is in traction working condition, net forces down in traction drive specified net pressure, and its pulling figure perseverance merit point has the situation of migration.Cause
This, when high speed, the pull strength under identical speed to be intended to ratio less than level during normal net pressure, the highest running speed of train
Normal net pressure decreases.
Fig. 9 is traction/regenerative braking force and the distance Curve schematic diagram of the embodiment of the present invention.As shown in Figure 9, coupling is used
After calculating, being affected by net pressure drop is low equally, when train is in traction working condition, the pull strength under identical speed will be less than normal
Level during net pressure, the most essentially identical when regenerative braking.
Above-described detailed description of the invention, has been carried out the purpose of the present invention, technical scheme and beneficial effect further
Describe in detail, be it should be understood that the detailed description of the invention that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, all within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, all should comprise
Within protection scope of the present invention.
Claims (6)
1. a subway train runs and tractive power supply system coupling Simulation modeling method, it is characterised in that including:
Belong to based on the coupled relation each force device of equivalence planization between train traction electric power system and train traction drive system
Property parameter with build electric power supply system for subway car-net coupling Simulation computation model；
Car according to electric power supply system for subway-net coupling Simulation computation model calculates the direction of energy value of train traction electric power system；
Direction of energy value and route map of train according to train traction electric power system adjust the departure interval with suitable different operation works
Condition train runs the most on schedule.
A kind of subway train the most according to claim 1 runs and tractive power supply system coupling Simulation modeling method, and it is special
Levy and be, based on the coupled relation each force device of equivalence planization between train traction electric power system and train traction drive system
Property parameters includes with the car-net coupling Simulation computation model building electric power supply system for subway:
Conductor rail, DC feeder and bus are considered as homogeneous resistance and are equivalent to resistance and wired in series, traction is become
The be equivalent to direct voltage source of electricity is in series with a resistor, and train is considered as the power source load consuming active electrical degree with idle electric degree；
Electric power system is built according to each force device property parameters after train traction electric power system topology diagram and equivalence planization
Physical model, and two one steel rail transmission lines in electric power system physical model are equivalent to one section of electric lines of force containing internal resistance；
Being numbered and build bus admittance matrix to train and train position, number order is from left to right followed successively by electric substation's feedback
Electrical nodes, electric substation's backflow node, train take stream node, train backflow node；
Nodal admittance equation U=Y is created according to node initializing parameter-1I, wherein, I is node injection current, and U is node electricity
Pressure, Y is bus admittance matrix.
A kind of subway train the most according to claim 2 runs and tractive power supply system coupling Simulation modeling method, and it is special
Levy and be, use the nodal method of analysis to calculate the direction of energy value of train traction electric power system.
A kind of subway train the most according to claim 3 runs and tractive power supply system coupling Simulation modeling method, and it is special
Levy and be, calculate the direction of energy of train traction electric power system according to the car-net coupling Simulation computation model of electric power supply system for subway
Value includes:
Whether be for the first time calculate, if calculating for the first time, arranging Rectification Power Factor work area is first job if judging that this calculates
Interval, otherwise redefines the operating characteristic of Rectification Power Factor；
According to It=P/UtCalculate train node injection current, wherein, ItFor train node injection current, P is branch power, UtFor
Node injecting voltage；
Calculate node injection current；
Judge whether Rectification Power Factor load current meets requirement, if Rectification Power Factor load current is unsatisfactory for requirement, redefine whole
The operating characteristic of stream unit, otherwise calculates each node voltage；
Judge whether train voltage restrains, if train voltage does not restrain the operating characteristic redefining Rectification Power Factor, otherwise calculate
Train operation pull strength, Associated brake power, datum drag and various additional drag.
A kind of subway train the most according to claim 4 runs and tractive power supply system coupling Simulation modeling method, and it is special
Levy and be, build many particles traction computation modelWithCalculate train
Running pull strength, Associated brake power, datum drag and various additional drag, wherein, v is train running speed, and t is train fortune
The row time, s is train operation distance, Ft(v) be train running speed be maximum drawbar pull during v, BbV () is train operation speed
Degree is maximum braking force during v, ω0V () is train operation Unit basic resistance, utFor traction level and ut∈ [0,1], ubFor
Braking level and ub∈ [0,1], ωjX () is unit circuit additional drag, M is train weight, and g is that the gravity of earth surface accelerates
Degree.
A kind of subway train the most according to claim 5 runs and tractive power supply system coupling Simulation modeling method, and it is special
Levying and be, direction of energy value and route map of train according to train traction electric power system adjust the departure interval with suitable different operations
Operating mode train runs the most on schedule and includes:
Set up traction electric machine permanent torque according to the relation between train voltage on line side, pull strength and current on line side and run equation Uu
×Iu× t × μ=FtV () × v × t, wherein, μ is energy conversion efficiency, UuFor train voltage on line side, IuFor train net side electricity
Stream；
According to Uj×Ij=Ui×IiObtainValue, and according toValue regulation train running speed and corresponding operating mode, its
In, UjFor j node voltage, IjFor j node current, UiFor i-node voltage, IiFor i-node electric current.
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| CN107391814A (en) * | 2017-07-03 | 2017-11-24 | 西南交通大学 | A kind of Traction networks EMUs modeling method for high ferro yard |
| CN107423494A (en) * | 2017-07-03 | 2017-12-01 | 西南交通大学 | Meter and the vehicle-mounted high ferro car pessimistic concurrency control construction method crossed split-phase and influenceed of EMUs |
| CN111597672A (en) * | 2019-02-19 | 2020-08-28 | 南京南瑞继保电气有限公司 | Subway electric power dispatching system power flow simulation method based on traction calculation result |
| CN110190603A (en) * | 2019-05-23 | 2019-08-30 | 西南交通大学 | City rail power supply system driving based on PSCADA real time data arranges decision system and method |
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| CN111191181A (en) * | 2019-12-12 | 2020-05-22 | 同济大学 | Operation energy consumption calculation method for energy-saving speed optimization of rail transit multiple trains |
| CN111191181B (en) * | 2019-12-12 | 2023-04-28 | 同济大学 | Operation energy consumption calculation method for optimizing energy-saving speed of multiple trains in rail transit |
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| CN112906299B (en) * | 2021-02-05 | 2023-10-13 | 北京交通大学 | Digital twin simulation data calculation method and system of urban rail power supply system |
| CN113138089A (en) * | 2021-04-21 | 2021-07-20 | 重庆中车长客轨道车辆有限公司 | Simulation operation method for railway vehicle test line |
| CN114030360A (en) * | 2022-01-10 | 2022-02-11 | 北京和利时系统工程有限公司 | Train operation control method and system |
| CN115622111A (en) * | 2022-11-07 | 2023-01-17 | 清华大学 | Optimal power flow calculation method and device of flexible direct current traction power supply system |
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