Assessment of the worthwhileness of efficient driving in railway systems with high-receptivity power supplies

Eco-driving is one of the most important strategies for significantly reducing the energy consumption of railways with low investments. It consists of designing a way of driving a train to fulfil a target running time, consuming the minimum amount of energy. Most eco-driving energy savings come from the substitution of some braking periods with coasting periods. Nowadays, modern trains can use regenerative braking to recover the kinetic energy during deceleration phases. Therefore, if the receptivity of the railway system to regenerate energy is high, a question arises: is it worth designing eco-driving speed profiles? This paper assesses the energy benefits that eco-driving can provide in different scenarios to answer this question. Eco-driving is obtained by means of a multi-objective particle swarm optimization algorithm, combined with a detailed train simulator, to obtain realistic results. Eco-driving speed profiles are compared with a standard driving that performs the same running time. Real data from Spanish high-speed lines have been used to analyze the results in two case studies. Stretches fed by 1 × 25 kV and 2 × 25 kV AC power supply systems have been considered, as they present high receptivity to regenerate energy. Furthermore, the variations of the two most important factors that affect the regenerative energy usage have been studied: train motors efficiency ratio and catenary resistance. Results indicate that the greater the catenary resistance, the more advantageous eco-driving is. Similarly, the lower the motor efficiency, the greater the energy savings provided by efficient driving. Despite the differences observed in energy savings, the main conclusion is that eco-driving always provides significant energy savings, even in the case of the most receptive power supply network. Therefore, this paper has demonstrated that efforts in improving regenerated energy usage must not neglect the role of eco-driving in railway efficiency

Learning Ground Traversability from Simulations

Mobile ground robots operating on unstructured terrain must predict which areas of the environment they are able to pass in order to plan feasible paths. We address traversability estimation as a heightmap classification problem: we build a convolutional neural network that, given an image representing the heightmap of a terrain patch, predicts whether the robot will be able to traverse such patch from left to right. The classifier is trained for a specific robot model (wheeled, tracked, legged, snake-like) using simulation data on procedurally generated training terrains; the trained classifier can be applied to unseen large heightmaps to yield oriented traversability maps, and then plan traversable paths. We extensively evaluate the approach in simulation on six real-world elevation datasets, and run a real-robot validation in one indoor and one outdoor environment.Comment: Webpage: http://romarcg.xyz/traversability_estimation

A multiphase optimal control method for multi-train control and scheduling on railway lines

We consider a combined train control and scheduling problem involving multiple trains in a railway line with a predetermined departure/arrival sequence of the trains at stations and meeting points along the line. The problem is formulated as a multiphase optimal control problem while incorporating complex train running conditions (including undulating track, variable speed restrictions, running resistances, speed-dependent maximum tractive/braking forces) and practical train operation constraints on departure/arrival/running/dwell times. Two case studies are conducted. The first case illustrates the control and scheduling problem of two trains in a small artificial network with three nodes, where one train follows and overtakes the other. The second case optimizes the control and timetable of a single train in a subway line. The case studies demonstrate that the proposed framework can provide an effective approach in solving the combined train scheduling and control problem for reducing energy consumption in railway operations

Raylı Araçlarda Enerji Verimliliği Çalışması

Today, rail vehicles are frequently preferred both in urban and intercity transportation due to their high passenger capacity, speed and increasing environmental awareness. As in every field, energy efficiency studies have become compulsory in these vehicles. Because, they have high energy consumption even in their daily services. For energy efficiency, there are various strategies such as electrification losses reduction, utilization of regenerative braking and improvement of comfort function and efficient driving techniques have been performed in this paper. For this purpose, firstly, the driving of a rail vehicle has been modeled on Matlab considering all vehicle information, track information and operational constraints. Then, four different driving styles have been determined for the efficient use of energy and their effects on travel time and energy consumption have been examined. The study has been tested with the practical data of Ankaray metro line which has eleven stations and is 8.527 km long. According to the results of the paper, coasting control is more effective for long distances and reduction of the maximum speed is more convenient for short distances. Furthermore, it has been demonstrated that thanks to the determined strategies, the vehicle can save up to 11.54-36.37% energy compared to practical driving.Günümüzde raylı sistem araçları yüksek yolcu kapasiteleri, hızları ve artan çevre bilinci nedeniyle şehir içi ve şehirlerarası ulaşımda sıklıkla tercih edilmektedir. Her alanda olduğu gibi, raylı sistem araçlarının günlük servislerinde bile yüksek enerji tüketimine sahip olmasından dolayı bu araçlarda da enerji verimliliği çalışmaları zorunlu hale gelmiştir. Raylı sistemlerde enerjinin verimli kullanılmasını sağlamak için çekiş kayıplarının azaltılması, rejeneratif enerjinin kullanılması ve konfor fonksiyonlarının iyileştirilmesi gibi çeşitli stratejiler vardır ve bu çalışmada verimli sürüş teknikleri uygulanmıştır. Bu amaçla, öncelikle, araca ait bilgiler, yola ait veriler ve operasyonel kısıtlamalar göz önünde bulundurularak, bir demiryolu aracının sürüşü Matlab'da modellenmiştir. Daha sonra, enerjinin verimli kullanımı için dört farklı sürüş stili belirlenmiş ve bunların seyahat süresi ve enerji tüketimi üzerindeki etkileri incelenmiştir. Çalışma 11 istasyonlu ve 8.527 km uzunluğundaki Ankaray metro hattının pratik verileriyle test edilmiştir. Çalışmanın sonuçlarına göre, uzun mesafeli istasyonlar için boşta gitme stili, kısa mesafeli istasyonlar için maksimum hızın azaltılması stili daha etkilidir. Ayrıca belirlenen stratejiler sayesinde aracın pratik sürüşe göre % 11.54-36.37 oranında enerji tasarrufu sağlayabildiği gösterilmiştir

A New Multi-objective Solution Approach Using ModeFRONTIER and OpenTrack for Energy-Efficient Train Timetabling Problem

Trains move along the railway infrastructure according to specific timetables. The timetables are based on the running time calculation and they are usually calculated without considering explicitly energy consumption. Since green transportation is becoming more and more important from environmental perspectives, energy consumption minimization could be considered also in timetable calculation. In particular, the Energy-Efficient Train Timetabling Problem (EETTP) consists in the energy-efficient timetable calculation considering the trade-off between energy efficiency and running times. In this work, a solution approach to solve a multi-objective EETTP is described in which the two objectives are the minimization of both energy consumption and the total travel time. The approach finds the schedules to guarantee that the train speed profiles minimize the objectives. It is based on modeFRONTIER and OpenTrack that are integrated by using the OpenTrack Application Programming Interface in a modeFRONTIER workflow. In particular, the optimization is made by modeFRONTIER, while the calculation of the train speed profiles, energy consumption and total travel time is made by OpenTrack. The approach is used with Multi-objective Genetic Algorithm-II and the Non-dominating Sorting Genetic-II, which are two genetic algorithms available in modeFRONTIER. The solution approach is tested on a case study that represents a real situation of metro line in Turkey. For both algorithms, a Pareto Front of solution which are a good trade-off between the objectives are reported. The results show significant reduction of both energy consumption and total travel time with respect to the existing timetable

Modelling and Simulation of Hybrid Electric Trains Powered by Hydrogen Fuel Cells and Batteries for Routes in the Highlands of Scotland : Preliminary Results

This report builds on an earlier review for the Scottish Association for Public Transport on the potential of batteries, hydrogen fuel cells and other short-term energy storage systems for railway and tramway applications. It outlines the development of a train performance model and associated computer simulation software for a design of hybrid multiple unit, powered by a combination of hydrogen fuel cells and batteries. Assumptions underlying the model are discussed in detail. The chosen mode of operation involves steady state conditions for the fuel cells, with the batteries being used to provide additional stored energy for use on gradients and when the train is accelerating. The simulation techniques involve a mix of conventional “forward” simulation and an approach based on an “inverse” simulation method. Simulation results presented are for a case study involving a short section of route chosen to be typical of sections of many rural routes in Scotland, such as the West Highland lines and routes north and west of Inverness or to and from Stranraer. Data relating to the performance of Class 156 diesel multiple units currently used on non-electrified railway lines in Scotland have provided a point of reference in assessing the performance of the hybrid multiple units. Although other studies of hybrid rail vehicles involving hydrogen fuel cell and battery combinations have been published, those have involved routes that are shorter, with more intermediate stations and no prolonged gradients. Conclusions are presented in terms of fuel cell and battery power levels and battery storage capacity required for operation on the type of route being considered. The most important conclusion is that a preliminary specification for a hybrid two-coach unit could involve two 200 kW traction motors, fuel-cells providing a maximum power output of 350 kW and a battery pack giving a maximum power output of 250 kW and 75 kWh of electrical energy storage capacity. Using standard components that are available commencially, approximate calculations suggest that a design based around these power ratings could be implemented within a target weight of 90 tonnes for a two-coach unit. However, it is thought that the limitations of the UK loading gauge could present difficulties in terms of the space required and implementation might only be possible at the cost of some passenger space. Suggestions are made in the report for further simulation work involving a three-coach configuration and for the addition of a pantograph and associated electrical equipment to allow power to be drawn from 25 kV overhead wiring when the unit is operating on electrified routes. Another important recommendation for further work involves development of a detailed route model for a typical line, including exact information about gradients, curvature and local speed restrictions. Assessment of possible journey-time reductions is also important and preliminary results are presented, for the specification given above, using inverse simulation methods. Potential journey-time reductions over a complete route or specific sections could be investigated in future work. Issues of weight could also be linked to performance within the simulation software and advice could be provided to the user when space or weight constraints are violated. The report includes discussion of possible benefits of developing more detailed, physics-based, sub-models of elements such as fuel cells, batteries, traction motors and power electronic components which could be used to replace the much simpler sub-models used in the existing simulation model. This might allow use of well-established and validated sub-models and would extend the range of issues that could be addressed through simulation and allow more accurate assessment of losses in batteries, power electronic components and traction motors over the full range of operating conditions. This could also be of value for checking underlying assumptions within the model and for the development of control and energy management strategies. The report recommends the use of both forward and inverse methods of simulation for applications of this kind as these two approaches, taken together, can provide additional insight that is not obtained so readily from the use of conventional forward simulation methods alone

European Railway Comparisons: Final Report

The Institute for Transport Studies (ITS), University of Leeds and the British Railways Board (BRB) carried out a major comparative study of Western European railways in the late 1970s (BRB and University of Leeds, 1979). Follow-up work was carried out by ITS financed by the Social Science Research Council and reported by Nash (1985). It was deaded to revive this work at ITS for a number of reasons: It is over ten years since the last set of comparisons (for 1981) were made at ITS and therefore a review of the changes in costs and productivity may be timely. There has been a number of technical developments that make the use of statistical cost analysis more promising. These developments include the use of more flexible functional forms such as the translog, and the development of comprehensive total factor productivity indices (see, for example, Dodgson, 1985 and, more recently, Hensher and Waters, 1993). There is increasing interest in the organisational structure of railway industries as a result of the 1988 Transport Act in Sweden, the EC directive 91/4-40 and the publication of proposals for privatising British Rail in July 1992 (see, for example, ECMT, 1993). Given the explosion in information technology, there were some hopes that data availability would have improved. (Continues..