Energy-Efficient Train Traction Control on Complex Rail Configurations

In the presented work, control system for energy-efficient train operation with inclusion of a detailed train motion model and a varying rail path configuration is developed. Piecewise affine train model is constructed with the parameters obtained for the electromotive train manufactured by Croatian train producer company Koncar - Electric Vehicles Inc. The model encompasses intrinsic features of the train system such as linearized resistance force, various traction and braking force limitations and passengers comfort constraints. Curves and slopes are introduced as rail path segments with different resistance forces and incorporated in the optimization procedure. The resulting quadratic optimization problem is solved parametrically through dynamic programming with the off-line precomputed optimal control law obtained as a function of train speed and traversed path. Control system is evaluated on a simulation scenario with Koncar's electromotive train and a rail path configuration with a varying slope.