Real-time train regulation method for metro lines with substation peak power reduction

In high-frequency metro lines, train delays and substation peak power often occur, affecting safe and efficient train operation. In this paper, we propose real-time train regulation methods considering substation peak power reduction, in which runtimes and dwelltimes are adjusted to minimize the timetable and headway deviations and avoid multiple train accelerating. Firstly, we proposed two indirect indicators, i.e. overlapping time between accelerating phases and overlapping quantity between accelerating phases, which are minimized to suppress substation peak power in joint optimal train regulation models. The joint optimal train regulation models are based on the traditional real-time train regulation model considering the train traffic dynamics and control constraints. For the real-time requirement of train regulation, model predictive control (MPC) algorithms are designed to solve the formulated joint optimal control models, which generate the optimal train regulation strategies at each control cycle based on the real-time updated feedback system states. Finally, numerical examples based on one of the Guangzhou metro lines are implemented to verify the effectiveness and robustness of the proposed methods. The results show that the train regulation strategy with minimizing the overlapping quantity can not only suppress train delays and substation peak power, but also meet the real-time computation requirement.