The invention relates to a train energy-saving speed trajectory optimization method based on dynamic planning, which comprises the following steps of discretizing train position, speed and residual running time into train running state variables, considering constraints such as road section speed limit and gradient, and considering a complex motor inherent characteristic curve, braking energy recovery and a dynamic efficiency map; and calculating energy loss and time loss of transition between the state points to form a four-dimensional energy-time loss data table. Defining a dynamic planning mother problem and a sub-problem, deriving an optimal sub-structure relationship between states, reversely calculating a state target value offline by using a loss data table, constructing a three-dimensional state target value table, lengthening a time component, extracting key information, and reducing the size of the table. And using the loss data table and the optimized target value table to positively calculate an optimized speed trajectory and adjust the trajectory in real time. The method has the advantages of small memory occupation, fast online calculation, high model precision, global optimum and the like.
本发明涉及一种基于动态规划的列车节能速度轨迹优化方法,包括以下步骤,将列车位置、速度、剩余运行时间离散化为列车运行状态变量,考虑路段限速与坡度等约束,并考虑复杂的电机固有特性曲线、制动能量回收以及动态效率图谱,计算状态点间跃迁的能量损耗和时间损耗,构成四维能量‑时间损耗数据表。定义动态规划母问题与子问题,推导状态间最优子结构关系,使用损耗数据表逆向离线计算状态目标值,构建三维状态目标值表格,并拉长时间分量,提取关键信息,缩减表格大小。使用损耗数据表和优化后目标值表正向计算优化速度轨迹并实时调整轨迹。该方法具有内存占用小、在线计算快、模型精度高、全局最优等优点。
Train energy-saving speed trajectory optimization method based on dynamic programming
一种基于动态规划的列车节能速度轨迹优化方法
2024-05-28
Patent
Electronic Resource
Chinese
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