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Research on Energy Efficient Collaborative Control Method of Autonomous Consistency for Urban Rail Trains
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DOI：10.1109/tits.2026.3693318.png)
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Abstract
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To address the issue of autonomous consistency in energy-saving operation of multiple urban rail trains, a negotiation coefficient is introduced and an autonomous consistency protocol based on event triggering mechanism is designed. This paper performs consistency analysis based on Lyapunov stability theory, and proves the convergence of the system and eliminates the Zeno phenomenon. While ensuring that the train schedule remains unchanged, this paper adopts a parameter adaptive adjustment strategy to further improve the utilization rate of regenerative energy. First, The secondary traction time of trains participating in collaborative control is calculated based on the consistency protocol. Second, the maximum primary traction speed of trains is calculated based on the parameter adaptive adjustment strategy. Finally, based on the train dynamics equation, the operating condition transition points of the train consistency collaborative control are determined, and the train operation curve is ultimately generated. Through simulation analysis, compared with the leader-following consistency, the regenerative energy utilization of urban rail trains with the application of the autonomous consistency protocol no longer relies on the leader train. By negotiating coefficients and tuning parameter, the punctuality of the trains is ensured while further reducing their net energy consumption. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i>—The motivation of this study is to improve the utilization rate of regenerative energy for urban rail trains, in order to achieve the goal of reducing the net energy consumption of trains. The popular methods adopted to reduce the net energy consumption of trains are optimizing train schedules and adjusting inter station operating curves. However, these methods exert an impact on the punctuality of urban rail trains, causing unnecessary waiting time for passengers and reducing the quality of service operation. To solve this problem, we take train punctuality as a constraint and train acceleration as a negotiation variable. We combine parameter adaptive adjustment strategy with autonomous consistency collaborative control algorithm to study the mechanism of mutual utilization of regenerative braking energy of urban rail trains. The aim is to maximize the utilization of regenerative energy and reduce the net energy consumption of urban rail trains while ensuring train punctuality. Obviously, this method can ensure that the original train schedule of urban rail transit remains unchanged to the maximum extent, and minimize the impact on urban rail transit operators, thus possessing high practical value.
Keywords:
Urban rail train
energy saving
autonomous consistency
collaborative control
event triggering
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