基于Radau伪谱法的储能式有轨电车速度优化控制

Optimal Control of Energy-storage Tram Speed Based on Radau Pseudo-spectral Method

优化有轨电车运行状态是一种简单、可靠、有效降低有轨电车能耗的方法。鉴于有轨电车站间红绿灯对其运行状态的影响,以及通过优化有轨电车的速度轨迹使其在不停车的前提下顺畅通过交叉口等仍缺少研究的现状,以储能式有轨电车为研究对象,建立了基于场景的环境模型和列车运动学模型。以有轨电车在行驶过程中的总能耗为优化目标,根据其出站时和到站时的状态以及红绿灯的配时信息建立模型约束,采用Radau伪谱法优化有轨电车的速度轨迹,实现行驶过程中的总能耗最小。仿真验证表明,该算法能使有轨电车平顺地通过信号交叉口,避免因在红灯时间窗到达停车线造成的急加速、急减速等行为,总能耗减少了23.45%。

Optimizing the running state of tram is a simple,reliable and effective method to reduce the energy consumption of tram.However,there is still a lack of relevant research on tram passing through intersection smoothly without stopping,while considering the influence of traffic lights on the running state of tram between stations and by optimizing the speed trajectory of tram.Taking energy-storage tram as research object,the scene based environment model and train kinematics model are established.Taking the total energy consumption of tram in the running process as the optimization objective,model constraints are established according to the tram exit/entry states and the timing information of traffic lights.Radau pseudo-spectral method is adopted to optimize the speed trajectory of tram to achieve the minimum total energy consumption in the running process.Simulation results show that the algorithm enables the tram to pass through the signalized intersection smoothly,rapid acceleration and deceleration caused by reaching the stop line at the red-light time window are avoided,and the total energy consumption is reduced by 23.45%.