Emergency traction control strategy optimization method and device for ground energy storage system

Abstract

The invention provides a ground energy storage system emergency traction control strategy optimization method and device, and belongs to the technical field of rail transit, and the method comprises the steps: responding to an emergency traction instruction issued by a dispatching center, and determining the longest tractable distance of the current residual energy according to the current residual energy of a ground energy storage system and the operation information of a train; under the condition that the distance between the current position of the train and the nearest platform is larger than the longest distance, an energy-saving strategy is set with the longest total driving distance in the traction process as the target; and under the condition that the distance between the current position of the train and the nearest platform is smaller than the longest distance, with the shortest total driving duration in the traction process as the target, a time saving strategy is set to complete traction from the current position to the nearest platform. According to the method, the train state, the line condition and the residual energy of the energy storage system are monitored in real time, the emergency traction strategy can be dynamically adjusted according to the actual situation, and higher flexibility and adaptability are achieved in the face of different types of emergencies.

Description

Technical Field

[0001] The present invention relates to the field of rail transit technology, and in particular to a method and device for optimizing an emergency traction control strategy for a ground energy storage system. Background Art

[0002] When the DC1500V / 750V DC traction power supply system of urban rail transit is working normally, it supplies power in the way of supplying power separately between sections and power supply arms. In this way, the DC feeders of each substation supply power according to the assigned power supply section. When a disaster or traction network failure causes the traction network to be cut off, the emergency power supply system and auxiliary energy system are used to play the function of emergency traction, so that the traction train can travel to the nearest platform at a low speed to ensure the safety of passengers. Generally, an auxiliary battery system or an on-board energy storage system is used for emergency power supply. Due to the limited space of the train, the widespread use of on-board batteries will increase the weight of the vehicle and increase the traction energy consumption. It is a better solution to use a ground-based energy storage system instead of an on-board energy storage system.

[0003] In the existing power supply system of urban rail transit substations, accidents often occur due to traction network power outages caused by disasters or traction network failures, resulting in subway trains being unable to reach designated stations. Rail transit emergency traction is receiving more and more attention. On the one hand, the ground energy storage system can recycle the regenerative braking energy of the train, and on the other hand, when extreme working conditions occur, it can tow the train at a low speed to the nearest platform, ensuring passenger safety and improving the resilience of traction power supply.

[0004] When selecting emergency traction strategies, existing systems find it difficult to dynamically adjust strategies based on actual conditions, resulting in inflexible emergency handling and difficulty in maximizing the energy and power control of the energy storage system. Summary of the invention

[0005] The present invention provides a method and device for optimizing an emergency traction control strategy of a ground energy storage system, so as to solve the defects in the prior art.

[0006] In a first aspect, the present invention provides a method for optimizing an emergency traction control strategy for a ground energy storage system, comprising: responding to an emergency traction command issued by a dispatching center, determining the longest distance that can be pulled by the current remaining energy according to the current remaining energy of the ground energy storage system and the operation information of the train; when the distance between the current position of the train and the nearest platform is greater than the longest distance, setting an energy-saving strategy with the goal of maximizing the total driving distance during traction; when the distance between the current position of the train and the nearest platform is less than the longest distance, setting a time-saving strategy with the goal of minimizing the total driving time during traction to complete traction from the current position to the nearest platform.

[0007] According to the ground energy storage system emergency traction control strategy optimization method provided by the present invention, the traction process of the energy-saving strategy includes three consecutive stages: in the first stage, the train accelerates to a first speed with a preset acceleration; in the second stage, the train maintains the first speed; in the third stage, the train coasts to a stop.

[0008] According to the method for optimizing the emergency traction control strategy of the ground energy storage system provided by the present invention, an energy-saving strategy is set, including: taking the value range of the speed and acceleration of the train during traction as a constraint, taking the maximum total driving distance during traction as a goal, optimizing the preset acceleration and the first speed, and determining the output power of the ground energy storage system at each stage.

[0009] According to the ground energy storage system emergency traction control strategy optimization method provided by the present invention, the traction process of the time-saving strategy includes three consecutive stages: in the first stage, the train accelerates to a first speed with a preset acceleration; in the second stage, the train maintains the first speed; in the third stage, the train brakes to enter the station.

[0010] According to the method for optimizing the emergency traction control strategy of the ground energy storage system provided by the present invention, a time-saving strategy is set, including: taking the value range of the speed and acceleration of the train during traction as a constraint, taking the shortest total driving time during traction as a goal, optimizing the preset acceleration and the first speed, and determining the output power of the ground energy storage system at each stage.

[0011] In a second aspect, the present invention further provides a device for optimizing an emergency traction control strategy of a ground energy storage system, comprising:

[0012] The first processing module is used to respond to the emergency traction command issued by the dispatching center and determine the longest distance that can be towed by the current remaining energy according to the current remaining energy of the ground energy storage system and the operation information of the train;

[0013] The second processing module is used to set an energy-saving strategy with the longest total travel distance during traction as the goal when the distance between the current position of the train and the nearest platform is greater than the longest distance;

[0014] The third processing module is used to set a time-saving strategy to complete traction from the current position to the nearest platform with the goal of minimizing the total driving time during traction when the distance between the current position of the train and the nearest platform is less than the longest distance.

[0015] In a third aspect, the present invention provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method for optimizing the emergency traction control strategy of a ground energy storage system as described in any one of the above-mentioned methods are implemented.

[0016] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-described methods for optimizing the emergency traction control strategy of a ground energy storage system.

[0017] The method and device for optimizing the emergency traction control strategy of the ground energy storage system provided by the present invention can dynamically adjust the emergency traction strategy according to actual conditions by real-time monitoring of the train status (such as speed, position), line conditions (such as slope, speed limit) and the remaining energy of the energy storage system, and has higher flexibility and adaptability when facing different types of emergency situations.

[0018] The invention ensures that the energy of the energy storage system is used in the most efficient way during traction through precise speed and acceleration optimization, reducing unnecessary energy waste. In particular, in the energy-saving strategy, the train's driving distance is maximized by controlling the output power at each stage.

[0019] The present invention can analyze the current situation in real time and make the best decision quickly, which significantly improves the response speed in emergency situations. In particular, in the time-saving strategy, by optimizing the speed in the acceleration and cruising stages, the time it takes for the train to reach the nearest platform can be significantly shortened, providing passengers with a faster and safer evacuation path. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a flow chart of the method for optimizing the emergency traction control strategy of the ground energy storage system provided by the present invention;

[0022] Figure 2 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] It should be noted that, in the description of the embodiments of the present invention, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "include one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0025] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0026] The present invention is a method for optimizing the control strategy of a ground energy storage system in an urban rail transit system during emergency traction. The control strategy of the energy storage system during emergency traction is utilized to maximize the energy of the energy storage system and ensure the normal operation of the urban rail transit.

[0027] Urban rail transit operations are characterized by short distances between stations and high vehicle operation density. Frequent starting and braking of trains will generate considerable braking energy. The ground energy storage system absorbs excess regenerative braking energy when the train brakes, and cooperates with the rectifier unit to output power when the train is towed. When a disaster or traction network failure causes the traction network to be powered off and emergency traction is required, the ground energy storage system selects the strategy based on the current energy value and traction characteristic curve, line slope, train load, speed limit, and the distance between the current vehicle and the nearest platform, with the longest distance optimization goal or the shortest evacuation time as the goal, to maximize the energy and power control of the energy storage system, meet the power demand in emergency situations, and ensure passenger safety.

[0028] Combine the following Figure 1-Figure 2 The method and device for optimizing the emergency traction control strategy of the ground energy storage system provided in the embodiment of the present invention are further described.

[0029] The line is operating normally, and the train obtains power through the DC750V / 1500V DC traction network. When emergency traction is needed, the dispatcher issues an emergency traction command, the circuit breaker and disconnector of the feeder are in the closed position, and the ground energy storage system is put into emergency traction function. The specific investment strategy is as follows:

[0030] First, the remaining energy E of the ground energy storage system is calculated according to the current SOC (State-of-Charge) value of the ground energy storage system. Then, the maximum distance l that can be towed by the current remaining energy E is calculated according to the traction characteristic curve and the train operation information such as line slope, train load, speed limit, etc. max , if the distance between the vehicle's current position and the nearest platform is greater than l max , the energy storage system releases power to the train with the longest distance as the optimization target, that is, it operates in energy-saving strategy mode; if the distance between the current position of the vehicle and the nearest platform is less than l max , the energy storage system releases power to ensure the shortest evacuation time as the optimization goal, that is, it operates in the time-saving strategy mode. The two strategies are as follows:

[0031] (1) Energy-saving strategy: When the train stops at a certain position x in the traction section, the distance from the nearest platform is l x When the dispatcher issues an emergency traction command, the train needs to release energy from the energy storage system and be pulled at a low speed. x It is divided into three consecutive stages: the first stage, the second stage and the third stage. In the first stage, the train accelerates to the first speed v at a preset acceleration. 1 , the second stage train maintains v 1 , in the third stage, the train slides to a stop.

[0032] The energy consumed by the train in the first stage is calculated as:

[0033]

[0034] Where m is the mass of the train, f 1 is the line resistance, l 1 is the distance traveled in the first stage;

[0035] Calculate the distance traveled by the train in the first stage as:

[0036]

[0037] Where a 1 is the preset acceleration of the train;

[0038] The output power of the ground energy storage system in the first stage is calculated as:

[0039] p 1 =Fv (3)

[0040] Where F is the traction force and v is the speed of the train.

[0041] The remaining energy of the ground energy storage system in the second stage is calculated as:

[0042] EE1 =f 2 l 2 (4)

[0043] Where f 2 is the line resistance, l 2 for l 2 The distance travelled by the train in the stage.

[0044] The output power of the ground energy storage system in the second stage is calculated as:

[0045] p 2 =f 2 v (5)

[0046] Where f 2 is the line resistance.

[0047] Calculate the line resistance f in the third stage 3 and the train travel distance l in the third stage 3 for:

[0048]

[0049] Where a 2 is the third stage deceleration, and m is the train mass.

[0050] The total distance traveled is:

[0051]

[0052] Then the energy-saving strategy needs to take v that maximizes l 1 、a 1 , and its constraints are:

[0053]

[0054] Among them, v lim is the speed limit, a lim is the acceleration limit;

[0055] Finally, the output power of the energy storage system at each stage is determined.

[0056] (2) Time-saving strategy: When the train stops at a certain position x in the traction section, the distance from the nearest platform is l x When the dispatcher issues an emergency traction command, the train needs to release energy from the energy storage system and be pulled at a low speed. x It is divided into three consecutive stages: the first stage, the second stage and the third stage. In the first stage, the train accelerates to the first speed v at a preset acceleration. 1 , the second stage train maintains v 1 , in the third stage, the train brakes and enters the station.

[0057] The energy consumed by the train in the first stage is:

[0058]

[0059] Where m is the mass of the train, f 1 is the line resistance, l 1 is the distance traveled in the first stage;

[0060] Calculate the distance traveled by the train in the first stage as:

[0061]

[0062] Where a 1 is the preset acceleration of the train;

[0063] The output power of the ground energy storage system in the first stage is calculated as:

[0064] p 1 =Fv (10)

[0065] Where F is the traction force and v is the speed of the train.

[0066] The remaining energy of the ground energy storage system in the second stage is calculated as:

[0067] EE 1 =f 2 l 2 (11)

[0068] Where f 2 is the line resistance, l 2 is the distance travelled by the train in the second phase.

[0069] The output power of the second stage energy storage system is:

[0070] p 2 =f 2 v (12)

[0071] Where f 2 is the line resistance.

[0072] The braking force F' in the third stage and the train travel distance l in the third stage 3 for:

[0073]

[0074] Where F' is the braking force, a 2 is the third stage deceleration, and m is the train mass.

[0075] The total travel time t is:

[0076]

[0077] Under the time-saving strategy, the total distance traveled by the train is constant. Find v that minimizes t. 1 、a 1 , and its constraints are:

[0078]

[0079] Among them, v lim is the speed limit, a lim is the acceleration limit;

[0080] Finally, the output power of the energy storage system at each stage is determined.

[0081] On the other hand, the present invention also provides a device for optimizing emergency traction control strategy of a ground energy storage system, the device comprising:

[0082] The first processing module is used to respond to the emergency traction command issued by the dispatching center and determine the longest distance that can be towed by the current remaining energy according to the current remaining energy of the ground energy storage system and the operation information of the train;

[0083] The second processing module is used to set an energy-saving strategy with the longest total travel distance during traction as the goal when the distance between the current position of the train and the nearest platform is greater than the longest distance;

[0084] The third processing module is used to set a time-saving strategy to complete traction from the current position to the nearest platform with the goal of minimizing the total driving time during traction when the distance between the current position of the train and the nearest platform is less than the longest distance.

[0085] It should be noted that the ground energy storage system emergency traction control strategy optimization device provided in the embodiment of the present invention can execute the ground energy storage system emergency traction control strategy optimization method described in any of the above embodiments during specific operation, which will not be elaborated in this embodiment.

[0086] The method and device for optimizing the emergency traction control strategy of the ground energy storage system provided by the present invention can dynamically adjust the emergency traction strategy according to the actual situation by real-time monitoring of the train status (such as speed, position), line conditions (such as slope, speed limit) and the remaining energy of the energy storage system, and has higher flexibility and adaptability in the face of different types of emergency situations.

[0087] The invention ensures that the energy of the energy storage system is used in the most efficient way during traction through precise speed and acceleration optimization, reducing unnecessary energy waste. In particular, in the energy-saving strategy, the train's driving distance is maximized by controlling the output power at each stage.

[0088] The present invention can analyze the current situation in real time and make the best decision quickly, which significantly improves the response speed in emergency situations. In particular, in the time-saving strategy, by optimizing the speed in the acceleration and cruising stages, the time it takes for the train to reach the nearest platform can be significantly shortened, providing passengers with a faster and safer evacuation path.

[0089] Figure 2 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 2 As shown, the electronic device may include: a processor 210, a communication interface 220, a memory 230 and a communication bus 240, wherein the processor 210, the communication interface 220 and the memory 230 communicate with each other through the communication bus 240. The processor 210 may call the logic instructions in the memory 230 to execute the optimization method of the emergency traction control strategy of the ground energy storage system, the method comprising: responding to the emergency traction instruction issued by the dispatching center, according to the current remaining energy of the ground energy storage system and the operation information of the train, determining the longest distance that can be pulled by the current remaining energy; when the distance between the current position of the train and the nearest platform is greater than the longest distance, setting an energy-saving strategy with the longest total driving distance in the traction process as the goal; when the distance between the current position of the train and the nearest platform is less than the longest distance, setting a time-saving strategy with the shortest total driving time in the traction process as the goal to complete the traction from the current position to the nearest platform.

[0090] In addition, the logic instructions in the above-mentioned memory 230 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0091] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the ground energy storage system emergency traction control strategy optimization method provided by the above-mentioned embodiments, the method including: responding to the emergency traction command issued by the dispatching center, determining the longest distance that can be pulled by the current remaining energy according to the current remaining energy of the ground energy storage system and the operation information of the train; when the distance between the current position of the train and the nearest platform is greater than the longest distance, setting an energy-saving strategy with the goal of maximizing the total driving distance during the traction process; when the distance between the current position of the train and the nearest platform is less than the longest distance, setting a time-saving strategy with the goal of minimizing the total driving time during the traction process to complete the traction from the current position to the nearest platform.

[0092] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the ground energy storage system emergency traction control strategy optimization method provided in the above-mentioned embodiments, the method comprising: responding to an emergency traction command issued by a dispatching center, determining the longest distance that can be pulled by the current remaining energy according to the current remaining energy of the ground energy storage system and the operation information of the train; when the distance between the current position of the train and the nearest platform is greater than the longest distance, setting an energy-saving strategy with the goal of maximizing the total driving distance during the traction process; when the distance between the current position of the train and the nearest platform is less than the longest distance, setting a time-saving strategy with the goal of minimizing the total driving time during the traction process to complete the traction from the current position to the nearest platform.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for optimizing emergency traction control strategy of a ground energy storage system, characterized in that: include: In response to the emergency traction command issued by the dispatching center, the longest distance that can be towed by the current remaining energy is determined according to the current remaining energy of the ground energy storage system and the operation information of the train; When the distance between the current position of the train and the nearest platform is greater than the longest distance, an energy-saving strategy is set with the longest total travel distance during traction as the goal; When the distance between the current position of the train and the nearest platform is less than the longest distance, a time-saving strategy is set to complete the traction from the current position to the nearest platform with the goal of minimizing the total driving time during the traction process.

2. The method for optimizing the emergency traction control strategy of the ground energy storage system according to claim 1, characterized in that: The traction process of the energy-saving strategy includes three consecutive stages: In the first stage, the train accelerates to a first speed at a preset acceleration; In the second stage, the train maintains the first speed; In the third stage the train rolls to a stop.

3. The method for optimizing the emergency traction control strategy of the ground energy storage system according to claim 2, characterized in that: Set energy saving strategies, including: Taking the range of train speed and acceleration during traction as constraints and the maximum total driving distance during traction as the goal, the preset acceleration and the first speed are optimized, and the output power of the ground energy storage system in each stage is determined.

4. The method for optimizing the emergency traction control strategy of the ground energy storage system according to claim 3, characterized in that: The specific steps to set up an energy-saving strategy include: Calculate the energy consumed by the train in the first stage as: m is the mass of the train, f1 is the line resistance, and l1 is the distance traveled in the first stage; Calculate the distance traveled by the train in the first stage as: a1 is the preset acceleration of the train; The output power of the ground energy storage system in the first stage is calculated as: p1=Fv F is the traction force, v is the speed of the train; The remaining energy of the ground energy storage system in the second stage is calculated as: E-E1=f2l2 f2 is the line resistance, l2 is the distance traveled by the train in the second stage; The output power of the ground energy storage system in the second stage is calculated as: p2=f2v f2 is the line resistance; The line resistance f3 in the third stage and the train travel distance l3 in the third stage are calculated as: f3=ma2 a2 is the deceleration in the third stage, and m is the mass of the train; The total distance traveled by the train is: Find v1 and a1 that maximize the total driving distance, and the constraints are: v lim is the speed limit, a lim is the acceleration limit; Determine the output power of the ground energy storage system at each stage.

5. The method for optimizing the emergency traction control strategy of the ground energy storage system according to claim 3, characterized in that: The traction process of the time-saving strategy includes three consecutive stages: In the first stage, the train accelerates to a first speed at a preset acceleration; In the second stage, the train maintains the first speed; In the third stage, the train brakes and enters the station.

6. The method for optimizing the emergency traction control strategy of the ground energy storage system according to claim 5, characterized in that: Set time-saving strategies, including: Taking the range of train speed and acceleration during traction as constraints and the shortest total driving time during traction as the goal, the preset acceleration and first speed are optimized, and the output power of the ground energy storage system in each stage is determined.

7. The method for optimizing the emergency traction control strategy of the ground energy storage system according to claim 6, characterized in that: The specific steps to set up an energy-saving strategy include: The energy consumed by the train in the first stage is calculated as: m is the mass of the train, f1 is the line resistance, and l1 is the distance traveled in the first stage; Calculate the distance traveled by the train in the first stage as: a1 is the preset acceleration of the train; The output power of the ground energy storage system in the first stage is calculated as: p1=Fv F is the traction force, v is the speed of the train; The remaining energy of the ground energy storage system in the second stage is calculated as: E-E1=f2l2 f2 is the line resistance, l2 is the distance traveled by the train in the second stage; The output power of the ground energy storage system in the second stage is calculated as: p2=f2v f2 is the line resistance; The braking force F' in the third stage and the train travel distance l3 in the third stage are calculated as: F′=ma2 F' is the braking force, a2 is the deceleration in the third stage, and m is the mass of the train; The total travel time t of the train is: Under the energy-saving strategy, the total distance traveled by the train is fixed, and v1 and a1 are found to minimize t. The constraints are: Among them, v lim is the speed limit, a lim is the acceleration limit; Determine the output power of the ground energy storage system at each stage.

8. A device for optimizing emergency traction control strategy of a ground energy storage system, characterized in that: include: The first processing module is used to respond to the emergency traction command issued by the dispatching center and determine the longest distance that can be towed by the current remaining energy according to the current remaining energy of the ground energy storage system and the operation information of the train; The second processing module is used to set an energy-saving strategy with the longest total travel distance during traction as the goal when the distance between the current position of the train and the nearest platform is greater than the longest distance; The third processing module is used to set a time-saving strategy to complete traction from the current position to the nearest platform with the goal of minimizing the total driving time during traction when the distance between the current position of the train and the nearest platform is less than the longest distance.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method for optimizing the emergency traction control strategy of the ground energy storage system as described in any one of claims 1 to 7 are implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for optimizing the emergency traction control strategy of a ground energy storage system as described in any one of claims 1 to 7 are implemented.

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