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A COOPERATIVE TRAIN CONTROL MODEL FOR ENERGY
SAVING
ABSTRACT
Energy efficiency is paid more and more attention in subway systems to reduce the
operational cost as well as ensure an environmentally friendly transportation mode. Optimization
on the driving strategy and efficient utilization of the regenerative energy are two effective
methods to reduce the energy consumption in electric rail systems. This paper proposes a
cooperative train control model to minimize the practical energy consumption, i.e., the difference
between the traction energy of the successive train and the reused energy from regeneration.
Firstly, we design a numerical algorithm to calculate the optimal driving strategy with a given
trip time, in which the variable traction forces, speed limits, and gradients are considered. Then
we formulate a cooperative train control model to adjust the trip time of the successive train for
efficient use of the regenerative energy. Finally, the optimal driving strategy of the following trip
is obtained for the successive train with the optimal departure time. Furthermore, some case
studies based on the Beijing Yizhuang subway line are presented to illustrate the effectiveness of
the proposed approach on energy-saving.

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  • 1. A COOPERATIVE TRAIN CONTROL MODEL FOR ENERGY SAVING ABSTRACT Energy efficiency is paid more and more attention in subway systems to reduce the operational cost as well as ensure an environmentally friendly transportation mode. Optimization on the driving strategy and efficient utilization of the regenerative energy are two effective methods to reduce the energy consumption in electric rail systems. This paper proposes a cooperative train control model to minimize the practical energy consumption, i.e., the difference between the traction energy of the successive train and the reused energy from regeneration. Firstly, we design a numerical algorithm to calculate the optimal driving strategy with a given trip time, in which the variable traction forces, speed limits, and gradients are considered. Then we formulate a cooperative train control model to adjust the trip time of the successive train for efficient use of the regenerative energy. Finally, the optimal driving strategy of the following trip is obtained for the successive train with the optimal departure time. Furthermore, some case studies based on the Beijing Yizhuang subway line are presented to illustrate the effectiveness of the proposed approach on energy-saving.