5,777 research outputs found
Switching nonlinear model predictive control of collaborative railway vehicles in catenary grids
This article contributes to the railway control field by proposing a novel approach capable of making trains collaborate, while also minimizing both traction energy and power line losses in catenary grids. The train dynamics are captured by a combination of four operating modes, so that the formulation of a switched control problem naturally applies. This model is interfaced with that of the catenary grid, consisting of the electrical substations and transmission lines over the track. Relying on these models, an eco-drive control system is proposed based on an original switching nonlinear model predictive control (SNMPC). Being collaborative-conceived, the new SNMPC is compared and evaluated against a noncollaborative version of the controller by means of simulation case studies relying on real-world test data, a validated train model, and measured track topology. We obtain that the proposed SNMPC outperforms the noncollaborative counterpart both in terms of traction energy and energy losses on the train rheostats and over the electrical lines. Thus, we demonstrate that the proposed SNMPC for collaborative eco-drive, based on the energy exchange between trains, has a potential positive impact on railway systems in catenary grids
A Highly Reliable Propulsion System with Onboard Uninterruptible Power Supply for Train Application:Topology and Control
Providing uninterrupted electricity service aboard the urban trains is of vital importance not only for reliable signaling and accurate traffic management but also for ensuring the safety of passengers and supplying emergency equipment such as lighting and signage systems. Hence, to alleviate power shortages caused by power transmission failures while the uninterruptible power supplies installed in the railway stations are not available, this paper suggests an innovative traction drive topology which is equipped by an onboard hybrid energy storage system for railway vehicles. Besides, to limit currents magnitudes and voltages variations of the feeder during train acceleration and to recuperate braking energy during train deceleration, an energy management strategy is presented. Moreover, a new optimal model predictive method is developed to control the currents of converters and storages as well as the speeds of the two open-end-windings permanent-magnet-synchronous-machines in the intended modular drive, under their constraints. Although to improve control dynamic performance, the control laws are designed as a set of piecewise affine functions from the control signals based on an offline procedure, the controller can still withstand real-time non-measurable disturbances. The effectiveness of proposed multifunctional propulsion topology and the feasibility of the designed controller are demonstrated by simulation and experimental results
Modeling and Detecting False Data Injection Attacks against Railway Traction Power Systems
Modern urban railways extensively use computerized sensing and control
technologies to achieve safe, reliable, and well-timed operations. However, the
use of these technologies may provide a convenient leverage to cyber-attackers
who have bypassed the air gaps and aim at causing safety incidents and service
disruptions. In this paper, we study false data injection (FDI) attacks against
railways' traction power systems (TPSes). Specifically, we analyze two types of
FDI attacks on the train-borne voltage, current, and position sensor
measurements - which we call efficiency attack and safety attack -- that (i)
maximize the system's total power consumption and (ii) mislead trains' local
voltages to exceed given safety-critical thresholds, respectively. To
counteract, we develop a global attack detection (GAD) system that serializes a
bad data detector and a novel secondary attack detector designed based on
unique TPS characteristics. With intact position data of trains, our detection
system can effectively detect the FDI attacks on trains' voltage and current
measurements even if the attacker has full and accurate knowledge of the TPS,
attack detection, and real-time system state. In particular, the GAD system
features an adaptive mechanism that ensures low false positive and negative
rates in detecting the attacks under noisy system measurements. Extensive
simulations driven by realistic running profiles of trains verify that a TPS
setup is vulnerable to the FDI attacks, but these attacks can be detected
effectively by the proposed GAD while ensuring a low false positive rate.Comment: IEEE/IFIP DSN-2016 and ACM Trans. on Cyber-Physical System
Phase Synchronization in Railway Timetables
Timetable construction belongs to the most important optimization problems in
public transport. Finding optimal or near-optimal timetables under the
subsidiary conditions of minimizing travel times and other criteria is a
targeted contribution to the functioning of public transport. In addition to
efficiency (given, e.g., by minimal average travel times), a significant
feature of a timetable is its robustness against delay propagation. Here we
study the balance of efficiency and robustness in long-distance railway
timetables (in particular the current long-distance railway timetable in
Germany) from the perspective of synchronization, exploiting the fact that a
major part of the trains run nearly periodically. We find that synchronization
is highest at intermediate-sized stations. We argue that this synchronization
perspective opens a new avenue towards an understanding of railway timetables
by representing them as spatio-temporal phase patterns. Robustness and
efficiency can then be viewed as properties of this phase pattern
Verification of interlocking systems using statistical model checking
In the railway domain, an interlocking is the system ensuring safe train
traffic inside a station by controlling its active elements such as the signals
or points. Modern interlockings are configured using particular data, called
application data, reflecting the track layout and defining the actions that the
interlocking can take. The safety of the train traffic relies thereby on
application data correctness, errors inside them can cause safety issues such
as derailments or collisions. Given the high level of safety required by such a
system, its verification is a critical concern. In addition to the safety, an
interlocking must also ensure that availability properties, stating that no
train would be stopped forever in a station, are satisfied. Most of the
research dealing with this verification relies on model checking. However, due
to the state space explosion problem, this approach does not scale for large
stations. More recently, a discrete event simulation approach limiting the
verification to a set of likely scenarios, was proposed. The simulation enables
the verification of larger stations, but with no proof that all the interesting
scenarios are covered by the simulation. In this paper, we apply an
intermediate statistical model checking approach, offering both the advantages
of model checking and simulation. Even if exhaustiveness is not obtained,
statistical model checking evaluates with a parametrizable confidence the
reliability and the availability of the entire system.Comment: 12 pages, 3 figures, 2 table
Complex delay dynamics on railway networks: from universal laws to realistic modelling
Railways are a key infrastructure for any modern country. The reliability and
resilience of this peculiar transportation system may be challenged by
different shocks such as disruptions, strikes and adverse weather conditions.
These events compromise the correct functioning of the system and trigger the
spreading of delays into the railway network on a daily basis. Despite their
importance, a general theoretical understanding of the underlying causes of
these disruptions is still lacking. In this work, we analyse the Italian and
German railway networks by leveraging on the train schedules and actual delay
data retrieved during the year 2015. We use {these} data to infer simple
statistical laws ruling the emergence of localized delays in different areas of
the network and we model the spreading of these delays throughout the network
by exploiting a framework inspired by epidemic spreading models. Our model
offers a fast and easy tool for the preliminary assessment of the
{effectiveness of} traffic handling policies, and of the railway {network}
criticalities.Comment: 32 pages (with appendix), 28 Figures (with appendix), 2 Table
Capacity analysis of suburban rail networks
As is well known, capacity evaluation and the identification of bottlenecks on rail networks are complex issues depending upon several technical elements. This is even more perceptible in metropolitan areas where different services (freight, long distance, metro/regional, etc.) are operated using the same limited infrastructures; as a consequence, these facilities may represent bottlenecks of the rail system since they are often highly utilized and congested. This paper tries to explore the issue of capacity evaluation of complex rail networks, proposing synthetic indicators
and analyses for feasibility studies or strategic planning. The presented methodology suggests taking into account the main differences in infrastructure characteristics (e.g. single or double lines, signalling systems, terminus or passing stations, etc.) and rail services (e.g. diverse rolling stock, various frequencies, average distances and number of stops, etc.) in order to propose a general approach applicable for capacity analysis of a network as a whole, hence evaluating the utilization rate and the congestion on both lines and stations. To better explore and
validate the methodology, an application to a line of the Naples’ suburban network is presented. The results confirm the applicability and effectiveness of the proposed approach; the outcomes indicate the capacity utilization rate of the considered facilities, pointing out likely bottlenecks and possible actions to improve the system efficiency
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