Energy-efficient receding horizon trajectory planning of high-speed trains using real-time traffic information
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Control Theory and Technology http://link.springer.com/journal/11768
Energy-efficient receding horizon trajectory planning of high-speed trains using real-time traffic information Defeng HE† , Long ZHOU, Zhe SUN College of Information Engineering, Zhejiang University of Technology, Hangzhou Zhejiang 310023, China Received 1 February 2020; revised 10 March 2020; accepted 23 April 2020
Abstract Optimal trajectory planning of high-speed trains (HSTs) aims to obtain such speed curves that guarantee safety, punctuality, comfort and energy-saving of the train. In this paper, a new shrinking horizon model predictive control (MPC) algorithm is proposed to plan the optimal trajectories of HSTs using real-time traffic information. The nonlinear longitudinal dynamics of HSTs are used to predict the future behaviors of the train and describe variable slopes and variable speed limitations based on real-time traffic information. Then optimal trajectory planning of HSTs is formulated as the shrinking horizon optimal control problem with the consideration of safety, punctuality, comfort and energy consumption. According to the real-time position and running time of the train, the shrinking horizon is updated to ensure the recursive feasibility of the optimization problem. The optimal speed curve of the train is computed by online solving the optimization problem with the Radau Pseudo-spectral method (RPM). Simulation results demonstrate that the proposed method can satisfy the requirements of energy efficiency and punctuality of the train. Keywords: High-speed trains, model predictive control, optimal trajectory planning, Radau Pseudo-spectral method DOI https://doi.org/10.1007/s11768-020-0001-x
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Introduction
As a green, safe, reliable, fast, comfortable, high-load and low-energy-consumption mode of transportation, optimal trajectory planning of high-speed trains (HSTs) have be getting the future trend of transportation [1]. The amount of passenger-kilometer transported by rail
worldwide grew by 130% over the past 40 years [2]. However, the increasing passenger flow volume also brings various problems to rail transportation, such as operation delay and energy consumption. As shown in [3], the energy consumed by transportation accounts for more than 28% of the total consumption in both U.S.A. and U.K. It is also noted that the train trac-
† Corresponding author. E-mail: [email protected]. Tel.: +86-571-88320367. This work was supported by the National Natural Science Foundation of China (No. 61773345) and the Zhejiang Provincial Natural Science Foundation (No. LR17F030004).
© 2020 South China University of Technology, Academy of Mathematics and Systems Science, CAS and Springer-Verlag GmbH Germany, part of Springer Nature
D. He et al. / Control Theory Tech, Vol.
tion energy consumption accounts for about 50% of the total energy consumption (TEC) of transportation systems [4, 5]. Huge energy consumption brings high pressure of environment protection. Due to the characteristics of rail transportation, delay p
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