Energy Management of Networked Smart Railway Stations Considering Regenerative Braking, Energy Storage System, and Photovoltaic Units

The networking of microgrids has received significant attention in the form of a smart grid.In this paper,a set of smart railway stations,which is assumed as microgrids,is connected together.It has been tried to manage the energy exchanged between the networked microgrids to reduce received energy from the utility grid.Also,the operational costs of stations under various conditions decrease by applying the proposed method.The smart railway stations are studied in the presence of photovoltaic(PV)units,energy storage systems(ESSs),and regenerative braking strategies.Studying regenerative braking is one of the essential contributions.Moreover,the stochastic behaviors of the ESS’s initial state of energy and the uncertainty of PV power generation are taken into account through a scenario-based method.The networked microgrid scheme of railway stations(based on coordinated operation and scheduling)and independent operation of railway stations are studied.The proposed method is applied to realistic case studies,including three stations of Line 3 of Tehran Urban and Suburban Railway Operation Company(TUSROC).The rolling stock is simulated in the MATLAB environment.Thus,the coordinated operation of networked microgrids and independent operation of railway stations are optimized in the GAMS environment utilizing mixed-integer linear programming(MILP).

Design and Analysis of Electro-mechanical Hybrid Anti-lock Braking System for Hybrid Electric Vehicle Utilizing Motor Regenerative Braking

Braking on low adhesion-coefficient roads, hybrid electric vehicle＇s motor regenerative torque is switched off to safeguard the normal anti-lock braking system （ABS） fimction. When the ABS control is terminated, the motor regenerative braking is readmitted. Aiming at avoiding permanent cycles from hydraulic anti-lock braking to motor regenerative braking, a novel electro-mechanical hybrid anti-lock braking system using fuzzy logic is designed. Different from the traditional single control structure, this system has a two-layered hierarchical structure, The first layer is responsible for harmonious adjustment or interaction between regenerative system and anti-lock braking system. The second layer is responsible for braking torque distribution and adjustment. The closed-loop simulation model is built. Control strategy and method for coordination between regenerative and anti-lock braking are developed. Simulation braking on low adhesion-coefficient roads with fuzzy logic control and real vehicle braking field test are presented. The results from simulating analysis and experiment show braking performance of the vehicle is perfect, harmonious coordination between regenerative and anti-lock braking function, significant amount of braking energy can be recovered and the proposed control strategy and method are effective.

Regenerative Braking Strategy for Motor Hoist by Ultracapacitor

Rising concern in environmental issues on global scale has made energy saving in powered equipment a very important subject.In order to improve the energy efficiency and driving range of a motor hoist,a regenerative braking system is designed and discussed.The system takes a unique ultracapacitor-only approach to energy storage system.The bi-directional bride DC？DC converter which regulates current flow to and from the ultracapacitor operates in two modes：boost and buck,depending on the direction of the flow.In order to provide constant input and output current at the ultracapacitor,this system uses a double proportional-integral（PI） control strategy in regulating the duty cycle of PWM to the DC？DC converter.The permanent magnet synchronous motor（PWSM） drive system is also studied.The space vector pulse width modulation（SVPWM） technique,along with a two-closed-loop vector control model,is adopted after detailed analysis of PMSM characteristics.The overall model and control strategy for this regenerative braking system is ultimately built and simulated under the MATLAB and Simulink environment.A test platform is built to obtain experimental results.Analysis of the results reveals that more than half of the gravitational potential energy can be recovered by this system.Simulation and experimentation results testify the validity of the double PI control strategy for interface circuit of ultracapacitor and SVPWM strategy for PMSM.

Analysis of torque transmitting behavior and wheel slip prevention control during regenerative braking for high speed EMU trains

The wheel-rail adhesion control for regenerative braking systems of high speed electric multiple unit trains is crucial to maintaining the stability,improving the adhesion utilization,and achieving deep energy recovery.There remain technical challenges mainly because of the nonlinear,uncertain,and varying features of wheel-rail contact conditions.This research analyzes the torque transmitting behavior during regenerative braking,and proposes a novel methodology to detect the wheel-rail adhesion stability.Then,applications to the wheel slip prevention during braking are investigated,and the optimal slip ratio control scheme is proposed,which is based on a novel optimal reference generation of the slip ratio and a robust sliding mode control.The proposed methodology achieves the optimal braking performancewithoutthewheel-railcontactinformation.Numerical simulation results for uncertain slippery rails verify the effectiveness of the proposed methodology.

Regenerative braking control for hybrid electric vehicles under decelerating condition

The operating mode of a single shaft hybrid electric vehicle （SSHEV） in which the electric motor exerts negative torque on the shaft to imitate engine braking is analyzed. The method of determining the quantity of regenerative braking torque is proposed with the premise that the braking intensity required by the driver is satisfied. On this basis, factors that affect torque generated by the motor are listed, and how the battery＇ s temperature and state of charge （ SOC ） restrict and correct the braking torque is expounded. Finally, road test results show that the motor＇ s constant power or constant torque control is an effective way to recover the mechanical energy during decelerating.

Energy model based sensorless estimation method for operational temperature of braking resistor onboard metro vehicles

Purpose–This study aims to improve the availability of regenerative braking for urban metro vehicles by introducing a sensorless operational temperature estimation method for the braking resistor(BR)onboard the vehicle,which overcomes the vulnerability of having conventional temperature sensor.Design/methodology/approach–In this study,the energy model based sensorless estimation method is developed.By analyzing the structure and the convection dissipation process of the BR onboard the vehicle,the energy-based operational temperature model of the BR and its cooling domain is established.By adopting Newton’s law of cooling and the law of conservation of energy,the energy and temperature dynamic of the BR can be stated.To minimize the use of all kinds of sensors(including both thermal and electrical),a novel regenerative braking power calculation method is proposed,which involves only the voltage of DC traction network and the duty cycle of the chopping circuit;both of them are available for the traction control unit(TCU)of the vehicle.By utilizing a real-time iterative calculation and updating the parameter of the energy model,the operational temperature of the BR can be obtained and monitored in a sensorless manner.Findings–In this study,a sensorless estimation/monitoring method of the operational temperature of BR is proposed.The results show that it is possible to utilize the existing electrical sensors that is mandatory for the traction unit’s operation to estimate the operational temperature of BR,instead of adding dedicated thermal sensors.The results also validate the effectiveness of the proposal is acceptable for the engineering practical.Originality/value–The proposal of this study provides novel concepts for the sensorless operational temperature monitoring of BR onboard rolling stocks.The proposed method only involves quasi-global electrical variable and the internal control signal within the TCU.

Regenerative Braking Energy Recovery System ofMetro Train Based on Dual-Mode PowerManagement

In order to fully utilize the regenerative braking energy of metro trains and stabilize the metro DC traction busbar voltage,a hybrid regenerative braking energy recovery system with a dual-mode power management strategy is proposed.Firstly,the construction of the hybrid regenerative braking energy recovery system is explained.Then,based on the power demand of low-voltage load in metro stations,a dual-mode power management strategy is proposed to allocate the reference power of each system according to the different working conditions,and the control methods of each system are set.Finally,the correctness and effectiveness of the dual-mode strategy are verified through simulation,and the proposed braking energy utilization scheme is compared with other singleform utilization schemes.The results illustrate that the hybrid system with the dual-mode strategy can effectively recycle the regenerative braking energy of metro train and inhibit the busbar voltage fluctuation;the proposed braking energy utilization scheme has certain advantages on energy recovery and DC bus voltage stabilization compared with other single-form schemes;the proposed power management strategy can correctly allocate the reference power of each system with a lower construction cost.

Driving and Braking Control of PM Synchronous Motor Based on Low-resolution Hall Sensor for Battery Electric Vehicle

Resolvers are normally employed for rotor positioning in motors for electric vehicles, but resolvers are expensive and vulnerable to vibrations. Hall sensors have the advantages of low cost and high reliability, but the positioning accuracy is low. Motors with Hall sensors are typically controlled by six-step commutation algorithm, which brings high torque ripple. This paper studies the high-performance driving and braking control of the in-wheel permanent magnetic synchronous motor （PMSM） based on low-resolution Hall sensors. Field oriented control （FOC） based on Hall-effect sensors is developed to reduce the torque ripple. The positioning accuracy of the Hall sensors is improved by interpolation between two consecutive Hall signals using the estimated motor speed. The position error from the misalignment of the Hall sensors is compensated by the precise calibration of Hall transition timing. The braking control algorithms based on six-step commutation and FOC are studied. Two variants of the six-step commutation braking control, namely, half-bridge commutation and full-bridge commutation, are discussed and compared, which shows that the full-bridge commutation could better explore the potential of the back electro-motive forces （EMF）, thus can deliver higher efficiency and smaller current ripple. The FOC braking is analyzed with the phasor diagrams. At a given motor speed, the motor turns from the regenerative braking mode into the plug braking mode if the braking torque exceeds a certain limit, which is proportional to the motor speed. Tests in the dynamometer show that a smooth control could be realized by FOC driving control and the highest efficiency and the smallest current ripple could be achieved by FOC braking control, compared to six-step commutation braking control. Therefore, FOC braking is selected as the braking control algorithm for electric vehicles. The proposed research ensures a good motor control performance while maintaining low cost and high reliability.

Energy-Optimal Braking Control Using a Double-Layer Scheme for Trajectory Planning and Tracking of Connected Electric Vehicles

Most researches focus on the regenerative braking system design in vehicle components control and braking torque distribution,few combine the connected vehicle technologies into braking velocity planning.If the braking intention is accessed by the vehicle-to-everything communication,the electric vehicles(EVs)could plan the braking velocity for recovering more vehicle kinetic energy.Therefore,this paper presents an energy-optimal braking strategy(EOBS)to improve the energy efficiency of EVs with the consideration of shared braking intention.First,a double-layer control scheme is formulated.In the upper-layer,an energy-optimal braking problem with accessed braking intention is formulated and solved by the distance-based dynamic programming algorithm,which could derive the energy-optimal braking trajectory.In the lower-layer,the nonlinear time-varying vehicle longitudinal dynamics is transformed to the linear time-varying system,then an efficient model predictive controller is designed and solved by quadratic programming algorithm to track the original energy-optimal braking trajectory while ensuring braking comfort and safety.Several simulations are conducted by jointing MATLAB and CarSim,the results demonstrated the proposed EOBS achieves prominent regeneration energy improvement than the regular constant deceleration braking strategy.Finally,the energy-optimal braking mechanism of EVs is investigated based on the analysis of braking deceleration,battery charging power,and motor efficiency,which could be a guide to real-time control.

Optimal energy saving in DC railway system withon-board energy storage system by using peak demand cutting strategy

A problem of peak power in DC-electrified railway systems is mainly caused by train power demand during acceleration.If this power is reduced,substation peak power will be significantly decreased.This paper presents a study on optimal energy saving in DC-electrified railway with on-board energy storage system(OBESS) by using peak demand cutting strategy under different trip time controls.The proposed strategy uses OBESS to store recovered braking energy and find an appropriated time to deliver the stored energy back to the power network in such a way that peak power of every substations is reduced.Bangkok Mass Transit System(BTS)-Silom Line in Thailand is used to test and verify the proposed strategy.The results show that substation peak power is reduced by63.49% and net energy consumption is reduced by 15.56%using coasting and deceleration trip time control.

Electro-mechanical Braking Method in Hybrid Electric Vehicles Based on Feedback Control Theory

In this paper, the hybrid electric vehicle braking process is researched, by using variables consists of HEV speed, motor speed, and state of charge established, fimctions of mechanical braking force, regenerative braking force and efficiency of energy recovery are constructed, and the control goal is to maximization the energy recovery efficiency. Under the feedback control strategy, with the constrain condition of braking strength and braking stability, combining experiments in ADVISOR, in different experiments of different working conditions, we can see that in UDDS Cycle, the regenerative braking efficiency is the best. What＇s more, compared with strategies in ADVISOR, strategy proposed in this paper is obviously better.

A Novel Braking Control Strategy for Hybrid Electric Buses Based on Vehicle Mass and Road Slope Estimation

Proper braking force distribution strategies can improve both stability and economy performance of hybrid electric vehicles,which is prominently proved by many studies.To achieve better dynamic stable performance and higher energy recovery efficiency,an effective braking control strategy for hybrid electric buses(HEB)based on vehicle mass and road slope estimation is proposed in this paper.Firstly,the road slope and the vehicle mass are estimated by a hybrid algorithm of extended Kalman filter(EKF)and recursive least square(RLS).Secondly,the total braking torque of HEB is calculated by the sliding mode controller(SMC),which uses the information of brake intensity,whole vehicle mass,and road slope.Finally,comprehensively considering driver’s braking intention and regulations of the Economic Commission for Europe(ECE),the optimal proportional relationship between regenerative braking and pneumatic braking is obtained.Furthermore,related simulations and experiments are carried out on the hardware-in-the-loop test bench.Results show that the proposed strategy can effectively improve the braking performance and increase the recovered energy through precise control of the braking torque.

Parameters Matching and Control Method of Hydraulic Hybrid Vehicles with Secondary Regulation Technology

Hydraulic hybrid vehicles （HHV） with secondary regulation technology has the potential of improving fuel economy by operating the engine in the optimum efficiency range and making use of regenerative braking. Hydrostatic transmission technology has the advantage of higher power density and the ability to accept the high rates and high frequencies of charging and discharging, both of which are not favorable for batteries, but the lower energy density requires special power matching design and control strategy to coordinate all the powertrain components in an optimal manner. A multi-objective optimization method is proposed to distinguish the components size values of HHV by considering the requirements of driving cycles and technology aspects. The regenerative braking strategy and energy control strategy based on the optimized HHV is proposed to recovery the braking energy and distribute the regenerated braking energy. Simulation results show that by taking the optimized configuration of HHV, adopting the regenerative braking strategy and energy control strategy are helpful to improve the system efficiency and fuel economy of HHV under urban driving cycles.

Critical Speeds of Electric Vehicles for Regenerative Braking

Efficient regenerative braking of electric vehicles(EVs)can enhance the efficiency of an energy storage system(ESS)and reduce the system cost.To ensure swift braking energy recovery,it is paramount to know the upper limit of the regenerative energy during braking.Therefore,this paper,based on 14 typical urban driving cycles,proposes the concept and principle of confidence interval of“probability event”and“likelihood energy”proportion of braking.The critical speeds of EVs for braking energy recovery are defined and studied through case studies.First,high-probability critical braking speed and high-energy critical braking speed are obtained,compared,and analyzed,according to statistical analysis and calculations of the braking randomness and likelihood energy in the urban driving cycles of EVs.Subsequently,a new optimized ESS concept is proposed under the frame of a battery/ultra-capacitor(UC)hybrid energy storage system(HESS)combined with two critical speeds.The battery/UC HESS with 9 UCs can achieve better regenerative braking performances and discharging performances,which indicates that a minimal amount of UCs can be used as auxiliary power source to optimize the ESS.After that,the efficiency regenerative braking model,including the longitudinal dynamics,motor,drivetrain,tire,and wheel slip models,is established.Finally,parameters optimization and performance verification of the optimized HESS are implemented and analyzed using a specific EV.Research results emphasize the significance of the critical speeds of EVs for regenerative braking.

Simulating train movement in an urban railway based on an improved car-following model

Based on the optimal velocity car-following model, in this paper, we propose an improved model for simulating train movement in an urban railway in which the regenerative energy of a train is considered. Here a new additional term is introduced into a traditional car-following model. Our aim is to analyze and discuss the dynamic characteristics of the train movement when the regenerative energy is utilized by the electric locomotive. The simulation results indicate that the improved car-following model is suitable for simulating the train movement. Further, some qualitative relationships between regenerative energy and dynamic characteristics of a train are investigated, such as the measurement data of regenerative energy presents a power-law distribution. Our results are useful for optimizing the design and plan of urban railway systems.

Feasibility study of a diesel-powered hybrid DMU

Nowadays,the interest in hybrid vehicles is constantly increasing,not only in the automotive sector,but also in other transportation systems,to reduce pollution and emissions and to improve the overall efficiency of the vehicles.Although railway vehicles are typically the most eco-friendly transportation system,since commonly their primary energy source is electricity,they can still gain benefits from hybrid technologies,as many lines worldwide are not electrified.In fact,hybrid solutions allow ICEpowered(internal combustion engine)railway vehicles,such as diesel multiple units(DMUs),to operate in fullelectric mode even when the track lacks electrification.The possibility to switch to full electric mode is of paramount importance when the vehicle runs on urban or underground track sections,where low or zero emission levels are required.We conduct the feasibility study of hybridization of an existing DMU vehicle,designed by Blue Engineering S.r.l.,running on the Aosta–Torino Italian railway line,which includes a non-electrified urban track section and an electrified underground section.The hybridization is obtained by replacing one of the diesel generators installed on the original vehicle with a battery pack,which ensures the vehicle to operate in full-electric mode to complete its mission profile.The hybridization is also exploited to implement a regenerative braking strategy,which allows an increase in the energetical efficiency of the vehicle up to 18%.This work shows the sizing of the battery pack based on dynamic simulations performed on the Turin underground track section,and the results demonstrate the feasibility of the hybridization process.

A novel downshifting strategy based on medium-time-distance information for hybrid electric bus

Vehicle downshifting during braking for the hybrid electric vehicle(HEV) equipped with the automatic mechanical transmission(AMT) could adjust work points of the motor. Thus, downshifting has great potential to effectively improve the efficiency of braking energy recovery. However, the power interruption during shifting could cause some loss of regenerative energy meanwhile.Hence, the choice of the downshifting point during vehicle braking which has crucial effect on energy recovery efficiency needs to be intensively studied. Moreover, the real-time application of the high-efficiency braking energy recovery strategy is a challenging problem to be tackled. Therefore, this paper proposes a dynamic-programming-rule-based(DPRB) downshifting strategy for a specific hybrid electric bus(HEB) driving condition. Firstly, the braking characteristic of the HEB during the process of pulling in is analyzed. Secondly, the medium-time-distance(MTD) demonstrating the dimension of time and space is proposed to define the boundary condition of the running bus. Then, look-up tables are established based on a dynamic programming algorithm offline using multiple sets of historical data. Thus, Based on the real-time driving data, whether to enter the optimal gear selection process can be decided online. Finally, simulations and hardware-in-the-loop(HIL) tests are carried out, and the results show that the proposed method can be indeed effective for braking energy recovery.