采用再生制动的地铁时刻表节能优化研究
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摘要
地铁运行的主要成本是电能消耗,如何降低地铁运行能耗是建设绿色城市的重要课题.本文从列车运行时再生制动产生回馈电网能量出发,建立采用再生制动的地铁列车运行能耗模型.进而,将地铁运行节能问题转化为地铁列车时刻表优化问题,并引入列车运行约束和混合逻辑动态模型约束将该问题建模为一个非线性混合整数规划问题.本文设计了分解协调优化算法,以列车停站时间和发车时间间隔作为优化操作变量进行优化.从仿真结果可知,以不同的操纵变量进行优化均能有效提高再生制动能量利用率,且分解协调算法的求解结果优于传统的模拟退火算法.
The subway-based urban transit has been used widely because it can alleviate the serious problem of urban traffic congestion effectively.Electric energy consumption contributes the most part of its cost.So it is necessary to reduce the energy consumption of subway operation so as to build an environment friendly city.Aiming at this problem,energy consumption model with utilization of regenerative braking energy can be built.Then,combining energy consumption model,train operation constraints and mixed logic dynamic model constraints,the optimization problem is transformed into a nonlinear mixed integer program problem.Heuristic algorithm is used widely to solve this kind of problem.However,this thesis has designed a decomposition and coordination algorithm to get a better solution.The succession time and station dwell act as manipulated variables and both of them can improve regenerative braking energy utilization rate effectively.Compared with the solution of annealing algorithm,decomposition and coordination algorithm should be better.
The subway-based urban transit has been used widely because it can alleviate the serious problem of urban traffic congestion effectively.Electric energy consumption contributes the most part of its cost.So it is necessary to reduce the energy consumption of subway operation so as to build an environment friendly city.Aiming at this problem,energy consumption model with utilization of regenerative braking energy can be built.Then,combining energy consumption model,train operation constraints and mixed logic dynamic model constraints,the optimization problem is transformed into a nonlinear mixed integer program problem.Heuristic algorithm is used widely to solve this kind of problem.However,this thesis has designed a decomposition and coordination algorithm to get a better solution.The succession time and station dwell act as manipulated variables and both of them can improve regenerative braking energy utilization rate effectively.Compared with the solution of annealing algorithm,decomposition and coordination algorithm should be better.
引文
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[3]KOKOTOVIC P,SINGH G.Minimum-energy control of a traction motor.IEEE Transactions on Automatic Control,1972,17(1):92-95.
[4]ZHANG J,SONG B,NIU X.Optimization of parallel regenerative braking control strategy.Vehicle Power and Propulsion Conference.Harbin:IEEE,2008,5:1-4.
[5]HELLGREN J,JONASSON E.Maximisation of brake energy regeneration in a hybrid electric parallel car.International Journal of Electric and Hybrid Vehicles,2007,1(1):95-121.
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[8]ZENG Zhiyu,WANG Yusong.Affection of train headway to absorption of regenerative braking power.Electric Railway,2012,23(5):46-47.(曾之煜,王玉松.地铁发车间隔对列车再生制动功率吸收的影响.电气化铁道,2012,23(5):46-47.)
[9]LI Zheng,PAN Mengchun,HU Kai,et al.Research of simulation of energy absorption in city light railway regenerative braking.Journal of System Simulation,2009,21(15):49 16-4919.(李政,潘孟春,胡楷.城市轻轨再生制动能量吸收的仿真研究.系统仿真学报,2009,21(15):4916-4919.)
[10]ZHAO L,LI K,SU S.A multi-objective timetable optimization model for subway systems.Lecture Notes in Electrical Engineering,2014,287:557-565.
[11]WANG Renzhi,LI Dewei,XI Yugeng,et al.Metro energy saving optimization algorithm by using model predictive control.Control Theory&Applications,2017,34(9):1129-1135.DOI:10.7641/CTA.2017.60861.(汪仁智,李德伟,席裕庚,等.采用预测控制的地铁节能优化控制算法.控制理论与应用,2017,34(9):1129-1135.DOI:10.7641/CTA.2017.60861.)
[12]ZHAO Miaoxin.Research on energy optimal timetable for metro lines in urban rail transit based on heuristic optimization algorithm.Nanjing:Nanjing University of Science and Technology,2017:7-15.(赵淼鑫.基于启发式优化算法的城市轨道交通列车时刻表节能优化研究.南京:南京理工大学,2017:7-15.)
[13]BEMPORAD A,MORARI M.Control of systems integrating logic,dynamics,and constraints.Automatica,1998,35(3):407-427.
[14]ZHOU Jianbin,SU Jun,HE Yongbin.Research on utilization of metro train regeneration energy.Urban Mass Transit,2004,7(4):33-35.(周剑斌,苏浚,何泳斌.地铁列车运行再生能利用的研究.城市轨道交通研究,2004,7(4):33-35.)
[15]XI Yugeng.Dynamic System Method.Beijing:National Defense Industry Press,1988:110.(席裕庚.动态大系统方法导论.北京:国防工业出版社,1988:110.)
[2]LIANG Guangshen,HUANG Longfei.Analysis of energy consumption and renewable energy saving effect of metro B-type train.Urban Mass Transit,2016,19(2):27-33.(梁广深,黄隆飞.地铁B型车牵引能耗与再生制动节能效果分析.城市轨道交通研究,2016,19(2):27-33.)
[3]KOKOTOVIC P,SINGH G.Minimum-energy control of a traction motor.IEEE Transactions on Automatic Control,1972,17(1):92-95.
[4]ZHANG J,SONG B,NIU X.Optimization of parallel regenerative braking control strategy.Vehicle Power and Propulsion Conference.Harbin:IEEE,2008,5:1-4.
[5]HELLGREN J,JONASSON E.Maximisation of brake energy regeneration in a hybrid electric parallel car.International Journal of Electric and Hybrid Vehicles,2007,1(1):95-121.
[6]YANG X,LI X,GAO Z,et al.A cooperative scheduling model for timetable optimization in subway systems.IEEE Transactions on Intelligent Transportation Systems,20 13,14(1):438-447.
[7]ZHANG Wenli,LI Qunzhan,LIU Wei,et al.Simulation research on energy saving scheme of metro vehicle regenerative braking.Converter Technology and Electric Traction,2008,(3):4 1-44.(张文丽,李群湛,刘炜,等.地铁列车再生制动节能仿真研究.大功率变流技术,2008,(3):41-44.)
[8]ZENG Zhiyu,WANG Yusong.Affection of train headway to absorption of regenerative braking power.Electric Railway,2012,23(5):46-47.(曾之煜,王玉松.地铁发车间隔对列车再生制动功率吸收的影响.电气化铁道,2012,23(5):46-47.)
[9]LI Zheng,PAN Mengchun,HU Kai,et al.Research of simulation of energy absorption in city light railway regenerative braking.Journal of System Simulation,2009,21(15):49 16-4919.(李政,潘孟春,胡楷.城市轻轨再生制动能量吸收的仿真研究.系统仿真学报,2009,21(15):4916-4919.)
[10]ZHAO L,LI K,SU S.A multi-objective timetable optimization model for subway systems.Lecture Notes in Electrical Engineering,2014,287:557-565.
[11]WANG Renzhi,LI Dewei,XI Yugeng,et al.Metro energy saving optimization algorithm by using model predictive control.Control Theory&Applications,2017,34(9):1129-1135.DOI:10.7641/CTA.2017.60861.(汪仁智,李德伟,席裕庚,等.采用预测控制的地铁节能优化控制算法.控制理论与应用,2017,34(9):1129-1135.DOI:10.7641/CTA.2017.60861.)
[12]ZHAO Miaoxin.Research on energy optimal timetable for metro lines in urban rail transit based on heuristic optimization algorithm.Nanjing:Nanjing University of Science and Technology,2017:7-15.(赵淼鑫.基于启发式优化算法的城市轨道交通列车时刻表节能优化研究.南京:南京理工大学,2017:7-15.)
[13]BEMPORAD A,MORARI M.Control of systems integrating logic,dynamics,and constraints.Automatica,1998,35(3):407-427.
[14]ZHOU Jianbin,SU Jun,HE Yongbin.Research on utilization of metro train regeneration energy.Urban Mass Transit,2004,7(4):33-35.(周剑斌,苏浚,何泳斌.地铁列车运行再生能利用的研究.城市轨道交通研究,2004,7(4):33-35.)
[15]XI Yugeng.Dynamic System Method.Beijing:National Defense Industry Press,1988:110.(席裕庚.动态大系统方法导论.北京:国防工业出版社,1988:110.)