CN107515537A - A kind of train bicycle energy-saving operating method based on modified force search method - Google Patents
A kind of train bicycle energy-saving operating method based on modified force search method Download PDFInfo
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- CN107515537A CN107515537A CN201710718982.1A CN201710718982A CN107515537A CN 107515537 A CN107515537 A CN 107515537A CN 201710718982 A CN201710718982 A CN 201710718982A CN 107515537 A CN107515537 A CN 107515537A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Abstract
The invention discloses a kind of train bicycle energy-saving operating method based on modified force search method.This method step is as follows：Train operation track data and Train Parameters are set first, establish energy consumption in train journey computation model；Using train traction energy consumption and section hourage as optimization aim, the energy saving optimizing model of train operation is established；Object function and constraints are handled by goal constraint method, multi-objective problem is converted into single-objective problem；Then constraints is handled, is reduced to solving hunting zone, the single-objective problem after conversion is handled by force search method；According to the train interval hourage of setting and zone distance, train operation strategy that is punctual and most saving is selected, and obtain corresponding rate curve and energy consumption curve.The present invention is effectively improved the precision of train timing energy-saving optimization, and optimal speed is fast, reduces train energy consumption.
Description
Technical field
The invention belongs to Train Operation Control Technology field, particularly a kind of train list based on modified force search method
Car energy-saving operating method.
Background technology
With the acceleration of urbanization process, city dweller's size of population quickly increases, and the go off daily demand of people is progressively
As the important component in city.Substantial amounts of private car, bus pour in city, exacerbate the crowded and city of road
Air pollution, multiple traffic accident even directly threaten the personal safety of resident.Subway is handed over as a kind of new city
Logical carrier, have the advantages that carrying capacity is big, be not take up urban surface space, be punctual efficient and green, by each big city
Welcome, development it is extremely rapid.
Energy-saving train operation control is the Optimal Control Problem of a typical multiple target multiple constraint, it is difficult to establish accurate
Mathematical modeling describes train travelling process.Traditional mathematical method, such as Numerical Analytic Method, the theory of optimal control, it is difficult to obtain
The accurate solution of model is got, the approximate solution of model can only be also tried to achieve even if using alternative manner, and is easily trapped into local optimum
Situation.
The content of the invention
It is an object of the invention to provide a kind of optimal speed is fast, precision is high, energy consumption is low based on modified force search
The train bicycle energy-saving operating method of method.
Realizing the technical solution of the object of the invention is：A kind of train bicycle energy-conservation based on modified force search method
Operation method, comprise the following steps：
Step 1, track data, the Train Parameters of train operation are set；
Step 2, energy consumption in train journey computation model is built；
Step 3, using train traction energy consumption and section hourage as optimization aim, the energy saving optimizing mould of train operation is established
Type, and the Optimized model is solved using modified force search method, obtain the non-dominant disaggregation of one group of train operation strategy；
Step 4, optimum operating condition turnover dot matrix is selected, and extracts speed, time, energy consumption, position corresponding to the driving discourse on politics
Data are moved, draw timing energy-saving speed-optimization curve and energy consumption curve.
Further, the track data described in step 1 includes ramp start-stop kilometer post and the corresponding gradient, curved section start-stop public affairs
In mark and corresponding curvature, speed limit section start-stop kilometer post and corresponding speed limit, the Train Parameters include organizational systems, the length of train
Degree, load level, Davis's equation coefficient, peak acceleration, maximal rate, curve of traction characteristics and braking characteristic curve.
Further, energy consumption in train journey computation model is built described in step 2, wherein train operation operating mode includes：Lead
Draw, cruise, four kinds of operating modes of inertia and braking, the operating mode turning point includes starting point, starts cruise point, beginning coast point, beginning
Braking point and stop.
Further, train operation is established using train traction energy consumption and section hourage as optimization aim described in step 3
Energy saving optimizing model, and solve the Optimized model using modified force search method, obtain the non-of one group of train operation strategy
Disaggregation is dominated, it is specific as follows：
(3.1) in train bicycle saves multi-objective problem, object function only has three：Energy total flow fE, fixed point
Target of stopping fs, time punctual fT, constraints is including speed limit, train acceleration and deceleration, it is necessary to which the composition of obtained solution includes three：
The turning point S of traction working condition and at the uniform velocity operating modea-v, at the uniform velocity operating mode and coasting operating mode turning point Sv-c, coasting operating mode with braking work
The turning point S of conditionc-b；Wherein, Sc-bS need to be passed througha-v、Sv-cIt is calculated, using the goal constraint method in numerical algorithm, by three
F in object functionEIt is changed into object function, by fs、fTIt is converted into constraints；
(3.2) solution of object function is Sa-v、Sv-c、Sc-bThe ordered sequence formed, sorts according to numerical values recited, has：
0 ＜ Sa-v≤Sv-c≤Sc-b＜ SnTo Sa-vNumber range be further processed：Due to train must be drawn to it is flat
Equal travelling speedMore than, therefore, Average Travel Speed is not reached also in trainBefore, be not in state turning point
Sa-v；Similarly, in train traction accelerator, the limitation V of the speed of service of train not over circuitline；WithAs
Kilometer post during Average Travel Speed is reached, with SV_line(a)The kilometer post for the arrival highest running speed estimated during as traction,
Then：
In braking procedure, Sc-bSolution value scope reduced：In train travelling process, have to the speed of coasting lazy
Speed limit under speed limit and coasting on row, before speed limit under reaching coasting, train must begin to take on brake measure or continue to lead
Draw acceleration；Speed limit is with V under the coasting of traincdownRepresent, train obtains in speed being V by braking ExtrapolationcdownWhen public affairs
In be designated as SV_cdown；Train braking is anti-when pushing away, highest running speed v of the initial retro-speed not over circuitm, train leads to
Cross the anti-kilometer shifted onto up to circuit limitation speed of braking and be designated as Sv_line(b)；So Sc-bSolution scope be：
Sv_line(b)＜ Sc-b＜ Scdown
(3.3) to S in the span that step (3.2) is givena-v、Sv-c、Sc-bValued combinations are carried out, bring step into
(3.1) in single-goal function, optimal solution value is asked for.
Compared with prior art, its remarkable advantage is the present invention：(1) modified force search method is not concerned with problem in itself,
But it is absorbed in the Mathematical of model, based on modified force search method, multiple target is converted into single goal and optimized, no
Easily it is absorbed in locally optimal solution；(2) modified force search method searches for all solution spaces and path, algorithm small scale, logic are clear
It is clear, reduce the iteration time of heuritic approach；(3) directly will likely solution substitute into object function calculate, can intuitively open up
Show the result of object function, be effectively improved the precision of train timing energy-saving optimization, and optimal speed is fast, reduces train energy
Consumption.
Brief description of the drawings
Fig. 1 is the train bicycle energy-saving operating method flow chart based on modified force search method in the present invention.
Fig. 2 is optimal train bicycle energy-saving run speed-mileage curve map in the present invention.
Fig. 3 is optimal train bicycle energy-saving run speed-time curve figure in the present invention.
Fig. 4 is optimal train bicycle energy-saving run energy consumption curve figure in the present invention.
Embodiment
Train bicycle energy-saving operating method of the invention based on modified force search method, sets train operation circuit first
Data and Train Parameters, establish energy consumption in train journey computation model；Using train traction energy consumption and section hourage as optimization mesh
Mark, establish the energy saving optimizing model of train operation；Object function and constraints are handled by goal constraint method, will be more
Target problem is converted into single-objective problem；Then constraints is handled, is reduced to solving hunting zone, passes through force search
Single-objective problem after method processing conversion；According to the train interval hourage of setting and zone distance, selection is punctual and most saves
The train operation strategy of energy, and obtain corresponding rate curve and energy consumption curve.
With reference to Fig. 1, the train bicycle energy-saving operating method of the invention based on modified force search method, including following step
Suddenly：
Step 1, the track data and Train Parameters of train operation are set.Track data includes ramp start-stop kilometer post and right
The gradient, curved section start-stop kilometer post and corresponding curvature, speed limit section start-stop kilometer post and corresponding speed limit, the Train Parameters are answered to include
The organizational systems of train, length, load level, Davis's equation coefficient, peak acceleration, maximal rate, curve of traction characteristics
With braking characteristic curve.
Step 2, energy consumption in train journey computation model is built.Train operation operating mode includes：Traction, cruise, inertia and braking
Four kinds of operating modes, operating mode turning point include starting point, start cruise point, beginning coast point, beginning braking point and stop.
Step 3, using train traction energy consumption and section hourage as optimization aim, the timing energy-saving for establishing train operation is excellent
Change model, and the Optimized model is solved using modified force search method, obtain the non-dominant disaggregation of one group of train operation strategy；
Step 3 further comprises following steps：
Step 3.1, train bicycle save multi-objective problem in, object function only has three：Energy total flow fE, it is fixed
Point parking target fs, time punctual fT, constraints is mainly speed limit, train acceleration and deceleration etc., it is necessary to which the composition of obtained solution only has
Three：The turning point S of traction working condition and at the uniform velocity operating modea-v, at the uniform velocity operating mode and coasting operating mode turning point Sv-c, coasting operating mode with system
The turning point S for condition of starting buildingc-b.Wherein, Sc-bS need to be passed througha-v、Sv-cIt is calculated., will using the goal constraint method in numerical algorithm
F in three object functionsEIt is changed into object function, by fs、fTIt is converted into constraints.
Step 3.2, the solution of object function are Sa-v、Sv-c, Sc-bThe ordered sequence formed, sorts according to numerical values recited,
Have：
0 ＜ Sa-v≤Sv-c≤Sc-b＜ SnTo Sa-vNumber range be further processed.Due to train must be drawn to it is flat
Equal travelling speedMore than, therefore, Average Travel Speed is not reached also in trainBefore, be not in state turning point
Sa-v.Similarly, in train traction accelerator, the limitation V of the speed of service of train not over circuitline.WithAs
Kilometer post during Average Travel Speed is reached, with SV_line(a)The kilometer post for the arrival highest running speed estimated during as traction,
Then：
In braking procedure, Sc-bSolution value scope can be reduced.In train travelling process, to the speed of coasting
Have in coasting that speed limit, train operation do not allow the behavior that coasting is carried out with extremely low speed occur under speed limit and coasting.Reach coasting
Before lower speed limit, train, which must begin to take on brake measure or continue traction, to be accelerated.Speed limit is with V under the coasting of traincdownTable
Show, train obtains in speed being V by braking ExtrapolationcdownWhen kilometer be designated as SV_cdown.Train braking is anti-when pushing away, initially
Retro-speed can not possibly exceed circuit highest running speed vm, train by brake it is counter shift onto up to circuit limitation speed public affairs
In be designated as Sv_line(b).So Sc-bSolution scope be：
Sv_line(b)＜ Sc-b＜ Scdown
Step 3.3, using 0.1s as simulated program stepped intervals, to S in the span that step 3.2 is givena-v、Sv-c,
Sc-bValued combinations are carried out, brings into the single-goal function of step 3.1, asks for optimal solution value.
Step 4, optimum operating condition turnover dot matrix is selected, and extracts speed, time, energy consumption, position corresponding to the driving discourse on politics
Data are moved, draw timing energy-saving speed-optimization curve and energy consumption curve.
Embodiment 1
Bicycle energy saving optimizing simulation study is carried out with Beijing Yi Zhuang line real data.Beijing Yi Zhuang line is big by Traffic In Beijing
And Beijing Jiao Kong companies independent research design-build, total length 23.3km, ground circuit and 8.7km of the main track including 13.8km
Subterranean tunnel circuit.Completely set 8 ground bus loading zones and 6 underground stations.
Yi Zhuang Xian Zhongrong capital East Street is chosen between the block of Wanyuan, two station distance between sites 1280m, run time 98s, by Rong Jing
East Street toward Wanyuan street be circuit up direction.Gradient is as shown in table 1 between circuit, the speed limit condition such as institute of table 2 between circuit
Show.
The Rong Jing East Streets of table 1 to Wanyuan street gradient parameter
The Rong Jing East Streets of table 2 to Wanyuan street speed limit condition
The train running resistance of Yi Zhuang line is：
W=(16.18+0.2422v) Wm+(7.65+0.0275v)Wt+(0.275+0.0765(n-1))v2
Wherein, WmFor motor-car quality, WtFor trailer quality, v is train speed, and n is train marshalling list number.
Beijing Yi Zhuang alignment car is three dynamic three to drag form, under train net weight 194.295t, AW2 situation, gross train weight
284.055t highest running speed 80km/h.
Simulated line data and Train Parameters are brought into emulation, time stepping passes through modified violence at intervals of 0.1s
Search method solves to the section.Train Rong Jing East Streets to Wanyuan street all fronts v-s curves as shown in Fig. 2 v-t curves such as
Shown in Fig. 3, p-s curves are as shown in Figure 4.
The Rong Jing East Streets of table 3 to Wanyuan street state turning point
Rong Jing East Streets to Wanyuan street state turning point is as shown in table 3, the section run time of Rong Jing East Streets to Wanyuan street and
It is as shown in table 4 to run maximum speed.
The Rong Jing East Streets of table 4 are to Wanyuan street operational objective
Claims (4)
1. a kind of train bicycle energy-saving operating method based on modified force search method, it is characterised in that comprise the following steps：
Step 1, track data, the Train Parameters of train operation are set；
Step 2, energy consumption in train journey computation model is built；
Step 3, using train traction energy consumption and section hourage as optimization aim, the energy saving optimizing model of train operation is established,
And the Optimized model is solved using modified force search method, obtain the non-dominant disaggregation of one group of train operation strategy；
Step 4, optimum operating condition turnover dot matrix is selected, and extracts speed, time, energy consumption, displacement number corresponding to the driving discourse on politics
According to drafting timing energy-saving speed-optimization curve and energy consumption curve.
2. the train bicycle energy-saving operating method according to claim 1 based on modified force search method, its feature exist
In the track data described in step 1 includes the ramp start-stop kilometer post and corresponding gradient, curved section start-stop kilometer post and corresponding song
Rate, speed limit section start-stop kilometer post and corresponding speed limit, the Train Parameters include the organizational systems of train, length, load level, worn
Tie up this equation coefficient, peak acceleration, maximal rate, curve of traction characteristics and braking characteristic curve.
3. the train bicycle energy-saving operating method according to claim 1 based on modified force search method, its feature exist
In structure energy consumption in train journey computation model, wherein train operation operating mode include described in step 2：Traction, cruise, inertia and
Four kinds of operating modes are braked, the operating mode turning point includes starting point, starts cruise point, beginning coast point, beginning braking point and stop.
4. the train bicycle energy-saving operating method according to claim 1 based on modified force search method, its feature exist
In using train traction energy consumption and section hourage as optimization aim described in step 3, establishing the energy saving optimizing mould of train operation
Type, and the Optimized model is solved using modified force search method, the non-dominant disaggregation of one group of train operation strategy is obtained, specifically
It is as follows：
(3.1) in train bicycle saves multi-objective problem, object function only has three：Energy total flow fE, stopping a train at a target point mesh
Mark fs, time punctual fT, constraints is including speed limit, train acceleration and deceleration, it is necessary to which the composition of obtained solution includes three：Draw work
The turning point S of condition and at the uniform velocity operating modea-v, at the uniform velocity operating mode and coasting operating mode turning point Sv-c, coasting operating mode and damped condition turn
Break Sc-b；Wherein, Sc-bS need to be passed througha-v、Sv-cIt is calculated, using the goal constraint method in numerical algorithm, by three target letters
F in numberEIt is changed into object function, by fs、fTIt is converted into constraints；
(3.2) solution of object function is Sa-v、Sv-c、Sc-bThe ordered sequence formed, sorts according to numerical values recited, has：
0 ＜ Sa-v≤Sv-c≤Sc-b＜ SnTo Sa-vNumber range be further processed：Because train must be drawn to average travelling
SpeedMore than, therefore, Average Travel Speed is not reached also in trainBefore, be not in state turning point Sa-v；Together
Reason, in train traction accelerator, the limitation V of the speed of service of train not over circuitline；WithIt is flat as reaching
Kilometer post during equal travelling speed, with SV_line(a)The kilometer post for the arrival highest running speed estimated during as traction, then：
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In braking procedure, Sc-bSolution value scope reduced：In train travelling process, have to the speed of coasting in coasting
Speed limit under speed limit and coasting, before speed limit under reaching coasting, train, which must begin to take on brake measure or continue traction, to be added
Speed；Speed limit is with V under the coasting of traincdownRepresent, train obtains in speed being V by braking ExtrapolationcdownWhen kilometer post
For SV_cdown；Train braking is anti-when pushing away, highest running speed v of the initial retro-speed not over circuitm, train passes through system
The dynamic anti-kilometer shifted onto up to circuit limitation speed is designated as Sv_line(b)；So Sc-bSolution scope be：
Sv_line(b)＜ Sc-b＜ Scdown
(3.3) to S in the span that step (3.2) is givena-v、Sv-c、Sc-bValued combinations are carried out, bring step (3.1) into
In single-goal function, optimal solution value is asked for.
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| CN108791367A (en) * | 2018-06-01 | 2018-11-13 | 广州地铁设计研究院有限公司 | The energy saving method of operating of train |
| CN109118052A (en) * | 2018-07-17 | 2019-01-01 | 西南交通大学 | Energy efficiency evaluation method |
| CN109858154A (en) * | 2019-01-31 | 2019-06-07 | 广州地铁设计研究院股份有限公司 | A kind of energy-saving train operation method based on multiple-objection optimization |
| CN110155089A (en) * | 2019-05-28 | 2019-08-23 | 北京交通大学 | A kind of municipal rail train kinetic parameters automatic adjusting method |
| CN110188401A (en) * | 2019-05-07 | 2019-08-30 | 南京理工大学 | A kind of tramcar operation energy consumption optimization method based on improvement PSO |
| CN112149231A (en) * | 2020-09-28 | 2020-12-29 | 同济大学 | Energy-saving operation curve planning system of high-speed magnetic levitation traction system |
| CN112380605A (en) * | 2020-11-16 | 2021-02-19 | 广州地铁设计研究院股份有限公司 | Method and device for optimizing subway longitudinal section design and energy-saving operation scheme |
| CN113221317A (en) * | 2021-03-25 | 2021-08-06 | 中车株洲电力机车研究所有限公司 | Method, system, medium and equipment for optimizing all-line energy-saving operation curve of urban rail train |
| CN113306604A (en) * | 2021-05-26 | 2021-08-27 | 西南交通大学 | Energy storage design method for train-mounted energy storage equipment |
| CN113987930A (en) * | 2021-10-25 | 2022-01-28 | 南京理工大学 | Optimization method of urban rail regenerative braking energy inversion feedback system |
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| CN110188401A (en) * | 2019-05-07 | 2019-08-30 | 南京理工大学 | A kind of tramcar operation energy consumption optimization method based on improvement PSO |
| CN110188401B (en) * | 2019-05-07 | 2022-09-27 | 南京理工大学 | Tramcar operation energy consumption optimization method based on improved PSO |
| CN110155089A (en) * | 2019-05-28 | 2019-08-23 | 北京交通大学 | A kind of municipal rail train kinetic parameters automatic adjusting method |
| CN112149231A (en) * | 2020-09-28 | 2020-12-29 | 同济大学 | Energy-saving operation curve planning system of high-speed magnetic levitation traction system |
| CN112380605A (en) * | 2020-11-16 | 2021-02-19 | 广州地铁设计研究院股份有限公司 | Method and device for optimizing subway longitudinal section design and energy-saving operation scheme |
| CN112380605B (en) * | 2020-11-16 | 2024-04-19 | 广州地铁设计研究院股份有限公司 | Subway longitudinal section design and energy-saving operation scheme optimization method and device |
| CN113221317A (en) * | 2021-03-25 | 2021-08-06 | 中车株洲电力机车研究所有限公司 | Method, system, medium and equipment for optimizing all-line energy-saving operation curve of urban rail train |
| CN113306604A (en) * | 2021-05-26 | 2021-08-27 | 西南交通大学 | Energy storage design method for train-mounted energy storage equipment |
| CN113306604B (en) * | 2021-05-26 | 2022-01-04 | 西南交通大学 | Energy storage design method for train-mounted energy storage equipment |
| CN113987930A (en) * | 2021-10-25 | 2022-01-28 | 南京理工大学 | Optimization method of urban rail regenerative braking energy inversion feedback system |
| CN113987930B (en) * | 2021-10-25 | 2022-05-17 | 南京理工大学 | Optimization method of urban rail regenerative braking energy inversion feedback system |
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Application publication date: 20171226 |