Development of an optimal operation approach in the MPC framework for heavy-haul trains

An operation control approach for heavy haul trains to optimize their performance, including operation safety, service quality and energy consumption, is proposed. Following a model predictive control method, the controller is capable of scheduling a train to operate optimally during a long section of the rail track. In the cost function, two penalty factors are presented, one for the braking forces and one for coupler damping effects. The penalty for braking forces is employed to reduce energy waste incurred by braking. The penalty for coupler damping is introduced to alleviate the cyclic vibration of couplers, which link adjacent cars in the train. The damping penalty is also expected to reduce energy wasted by coupler damping and corresponding maintenance/replacement cost of the dampers. In addition, the weight of the velocity tracking term in the objective function is modified to vary dynamically according to the train’s velocity to improve the train’s overall performance. Simulations verify the effectiveness of the proposed control approach. Discussions over the impacts of the two penalty factors and dynamic weight method are provided together with some suggestions on their applications.http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979hb201

Leveraging Connected Highway Vehicle Platooning Technology to Improve the Efficiency and Effectiveness of Train Fleeting Under Moving Blocks

Future advanced Positive Train Control systems may allow North American railroads to introduce moving blocks with shorter train headways. This research examines how closely following trains respond to different throttle and brake inputs. Using insights from connected automobile and truck platooning technology, six different following train control algorithms were developed, analyzed for stability, and evaluated with simulated fleets of freight trains. While moving blocks require additional train spacing beyond minimum safe braking distance to account for train control actions, certain following train algorithms can help minimize this distance and balance fuel efficiency and train headway by changing control parameters

Toward Holistic Energy Management Strategies for Fuel Cell Hybrid Electric Vehicles in Heavy-Duty Applications

The increasing need to slow down climate change for environmental protection demands further advancements toward regenerative energy and sustainable mobility. While individual mobility applications are assumed to be satisfied with improving battery electric vehicles (BEVs), the growing sector of freight transport and heavy-duty applications requires alternative solutions to meet the requirements of long ranges and high payloads. Fuel cell hybrid electric vehicles (FCHEVs) emerge as a capable technology for high-energy applications. This technology comprises a fuel cell system (FCS) for energy supply combined with buffering energy storages, such as batteries or ultracapacitors. In this article, recent successful developments regarding FCHEVs in various heavy-duty applications are presented. Subsequently, an overview of the FCHEV drivetrain, its main components, and different topologies with an emphasis on heavy-duty trucks is given. In order to enable system layout optimization and energy management strategy (EMS) design, functionality and modeling approaches for the FCS, battery, ultracapacitor, and further relevant subsystems are briefly described. Afterward, common methodologies for EMS are structured, presenting a new taxonomy for dynamic optimization-based EMS from a control engineering perspective. Finally, the findings lead to a guideline toward holistic EMS, encouraging the co-optimization of system design, and EMS development for FCHEVs. For the EMS, we propose a layered model predictive control (MPC) approach, which takes velocity planning, the mitigation of degradation effects, and the auxiliaries into account simultaneously

Impacts of Connected and Automated Vehicles on Energy and Traffic Flow: Optimal Control Design and Verification Through Field Testing

This dissertation assesses eco-driving effectiveness in several key traffic scenarios that include passenger vehicle transportation in highway driving and urban driving that also includes interactions with traffic signals, as well as heavy-duty line-haul truck transportation in highway driving with significant road grade. These studies are accomplished through both traffic microsimulation that propagates individual vehicle interactions to synthesize large-scale traffic patterns that emerge from the eco-driving strategies, and through experimentation in which real prototyped connected and automated vehicles (CAVs) are utilized to directly measure energy benefits from the designed eco-driving control strategies. In particular, vehicle-in-the-loop is leveraged for the CAVs driven on a physical test track to interact with surrounding traffic that is virtually realized through said microsimulation software in real time. In doing so, model predictive control is designed and implemented to create performative eco-driving policies and to select vehicle lane, as well as enforce safety constraints while autonomously driving a real vehicle. Ultimately, eco-driving policies are both simulated and experimentally vetted in a variety of typical driving scenarios to show up to a 50% boost in fuel economy when switching to CAV drivers without compromising traffic flow. The first part of this dissertation specifically assesses energy efficiency of connected and automated passenger vehicles that exploit intention-sharing sourced from both neighboring vehicles in a highway scene and from traffic lights in an urban scene. Linear model predictive control is implemented for CAV motion planning, whereby chance constraints are introduced to balance between traffic compactness and safety, and integer decision variables are introduced for lane selection and collision avoidance in multi-lane environments. Validation results are shown from both large-scale microsimulation and through experimentation of real prototyped CAVs. The second part of this dissertation then assesses energy efficiency of automated line-haul trucks when tasked to aerodynamically platoon. Nonlinear model predictive control is implemented for motion planning, and simulation and experimentation are conducted for platooning verification under highway conditions with traffic. Then, interaction-aware and intention-sharing cooperative control is further introduced to eliminate experimentally measured platoon disengagements that occur on real highways when using only status-sharing control. Finally, the performance of automated drivers versus human drivers are compared in a point-to-point scenario to verify fundamental eco-driving impacts -- experimentally showing eco-driving to boost energy economy by 11% on average even in simple driving scenarios

Fuzzy Constrained Predictive Optimal Control of High Speed Train with Actuator Dynamics

We investigate the problem of fuzzy constrained predictive optimal control of high speed train considering the effect of actuator dynamics. The dynamics feature of the high speed train is modeled as a cascade of cars connected by flexible couplers, and the formulation is mathematically transformed into a Takagi-Sugeno (T-S) fuzzy model. The goal of this study is to design a state feedback control law at each decision step to enhance safety, comfort, and energy efficiency of high speed train subject to safety constraints on the control input. Based on Lyapunov stability theory, the problem of optimizing an upper bound on the cruise control cost function subject to input constraints is reduced to a convex optimization problem involving linear matrix inequalities (LMIs). Furthermore, we analyze the influences of second-order actuator dynamics on the fuzzy constrained predictive controller, which shows risk of potentially deteriorating the overall system. Employing backstepping method, an actuator compensator is proposed to accommodate for the influence of the actuator dynamics. The experimental results show that with the proposed approach high speed train can track the desired speed, the relative coupler displacement between the neighbouring cars is stable at the equilibrium state, and the influence of actuator dynamics is reduced, which demonstrate the validity and effectiveness of the proposed approaches

Smart Steaming: A New Flexible Paradigm for Synchromodal Logistics

Slow steaming, i.e., the possibility to ship vessels at a significantly slower speed than their nominal one, has been widely studied and implemented to improve the sustainability of long-haul supply chains. However, to create an efficient symbiosis with the paradigm of synchromodality, an evolution of slow steaming called smart steaming is introduced. Smart steaming is about defining a medium speed execution of shipping movements and the real-time adjustment (acceleration and deceleration) of traveling speeds to pursue the entire logistic system’s overall efficiency and sustainability. For instance, congestion in handling facilities (intermodal hubs, ports, and rail stations) is often caused by the common wish to arrive as soon as possible. Therefore, smart steaming would help avoid bottlenecks, allowing better synchronization and decreasing waiting time at ports or handling facilities. This work aims to discuss the strict relationships between smart steaming and synchromodality and show the potential impact of moving from slow steaming to smart steaming in terms of sustainability and efficiency. Moreover, we will propose an analysis considering the pros, cons, opportunities, and risks of managing operations under this new policy

Applications of Genetic Algorithm and Its Variants in Rail Vehicle Systems: A Bibliometric Analysis and Comprehensive Review

Railway systems are time-varying and complex systems with nonlinear behaviors that require effective optimization techniques to achieve optimal performance. Evolutionary algorithms methods have emerged as a popular optimization technique in recent years due to their ability to handle complex, multi-objective issues of such systems. In this context, genetic algorithm (GA) as one of the powerful optimization techniques has been extensively used in the railway sector, and applied to various problems such as scheduling, routing, forecasting, design, maintenance, and allocation. This paper presents a review of the applications of GAs and their variants in the railway domain together with bibliometric analysis. The paper covers highly cited and recent studies that have employed GAs in the railway sector and discuss the challenges and opportunities of using GAs in railway optimization problems. Meanwhile, the most popular hybrid GAs as the combination of GA and other evolutionary algorithms methods such as particle swarm optimization (PSO), ant colony optimization (ACO), neural network (NN), fuzzy-logic control, etc with their dedicated application in the railway domain are discussed too. More than 250 publications are listed and classified to provide a comprehensive analysis and road map for experts and researchers in the field helping them to identify research gaps and opportunities

Power Quality in Electrified Transportation Systems

"Power Quality in Electrified Transportation Systems" has covered interesting horizontal topics over diversified transportation technologies, ranging from railways to electric vehicles and ships. Although the attention is chiefly focused on typical railway issues such as harmonics, resonances and reactive power flow compensation, the integration of electric vehicles plays a significant role. The book is completed by some additional significant contributions, focusing on the interpretation of Power Quality phenomena propagation in railways using the fundamentals of electromagnetic theory and on electric ships in the light of the latest standardization efforts

Derived Demand for Grain Freight Transportation, Rail-Truck Competition, and Mode Choice and Allocative Efficiency

The demand for grain freight transportation is a derived demand; consequently changes in the grain supply chain in production and handling, and those in the transportation domain will affect the demand for grain transportation. The U.S. transportation industry (e.g. railroad and trucking), and the grain supply chain in general have witnessed structural changes over the years that have potential long-run implications for demand, intermodal competition, and grain shippers mode choices both nationally and regionally. Deregulation of the railroad and trucking industries initiated innovations (e.g. shuttle trains) that have revolutionized the way grain is marketed. These and other related trends in agriculture including bioenergy suggest a dynamic environment surrounding grain transportation and the need to revisit agricultural transportation demand and evaluate changes over time. A majority of freight demand studies are based on aggregate data (e.g. regional) due to lack of disaggregate data. Aggregation of shippers over large geographic regions leads to loss of information with potential erroneous elasticity estimates. This study develops a method to estimate transportation rates at the grain elevator level to estimate a shipper link specific cost function for barley, corn, durum, hard red spring wheat, and soybeans shippers. The aim of this study is to assess and characterize the nature of rail-truck competition for the transportation of five commodities over distance and time as well as to assess whether North Dakota grain shippers’ mode choices reflect an allocatively efficient mix assuming the choice of mode is based on shipping rates. Our findings indicate that in general, rail dominates most of the grain traffic, however, the degree of dominance is variable by commodity. Additional findings suggest that grain shippers utilize more rail than they would if they chose modes based on rates. This may suggest unmeasured service quality advantages of rail in comparison to truck.Upper Great Plains Transportation Institute (UGPTI)Upper Great Plains Transportation Institute (UGPTI