Journal
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
Volume 14, Issue 2, Pages 883-893Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2013.2244885
Keywords
Energy-efficient operation; Pontryagin maximum principle; subway; timetable
Categories
Funding
- National Natural Science Foundation of China [71101007]
- National High Technology Research and Development Program of China [2011AA110502]
- National Basic Research Program of China [2012CB725401]
- State Key Laboratory of Rail Traffic Control and Safety [RCS2012ZT002]
- Fundamental Research Funds for the Central Universities [2011JBZ014, 2013YJS019]
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Given rising energy prices and environmental concerns, train energy-efficient operation techniques are paid more attention as one of the effective methods to reduce operation costs and energy consumption. Generally speaking, the energy-efficient operation technique includes two levels, which optimize the timetable and the speed profiles among successive stations, respectively. To achieve better performance, this paper proposes to optimize the integrated timetable, which includes both the timetable and the speed profiles. First, we provide an analytical formulation to calculate the optimal speed profile with fixed trip time for each section. Second, we design a numerical algorithm to distribute the total trip time among different sections and prove the optimality of the distribution algorithm. Furthermore, we extend the algorithm to generate the integrated timetable. Finally, we present some numerical examples based on the operation data from the Beijing Yizhuang subway line. The simulation results show that energy reduction for the entire route is 14.5%. The computation time for finding the optimal solution is 0.15 s, which implies that the algorithm is fast enough to be used in the automatic train operation (ATO) system for real-time control.
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