Patent Application
20050065674
The present invention relates generally to the field of controlling a railway consist and more specifically to the field of generating and tracking optimal consist driving profiles.
In freight train and other railway consist operations, fuel consumption constitutes a major operating cost to railroads and is also the ultimate source of any potentially harmful emissions. Reducing fuel consumption, therefore, directly increases railroad profit and directly reduces emissions. While modest fuel savings are possible by improving efficiencies of engines and other components in the locomotive propulsion chain, larger savings are generally expected to be achieved by improving strategies for how the train is driven. A train driving strategy specifying throttle or brake settings or desired consist speed as a function of distance along a route or as a function of time is referred to as a “driving plan.”
Train schedules are determined by a central dispatcher and are frequently changed, to account for variability from numerous sources, often as a train is en route to a next decision point. At heavy traffic times, the schedule may have no schedule slack time and can only be met by continuous operation at prevailing railroad speed limits.
Frequently, however, the schedule does have at least some schedule slack time, allowing the engineer to drive at average speeds well below the speed limits and still arrive at subsequent decision points on time. Under such circumstances, it is possible to calculate an optimal driving plan that exploits the schedule slack time and minimizes fuel consumption, or an alternative objective function, subject to constraints of meeting the schedule and obeying the speed limits.
Opportunities exist, therefore, to provide train drivers with tools for generating driving plans and controlling railway consists to exploit schedule slack time and improve railway consist efficiency and performance.
The opportunities described above are addressed, in one embodiment of the present invention, by an apparatus for controlling a railway consist, the apparatus comprising: a consist model adapted for computing an objective function from a set of candidate driving plans and a set of model parameters; a parameter identifier adapted for calculating the model parameters from a set of consist measurements; and a trajectory optimizer adapted for generating the candidate driving plans and for selecting an optimal driving plan to optimize the objective function subject to a set of terminal constraints and operating constraints.
The present invention is also embodied as a method for controlling a railway consist, the method comprising: computing an objective function from a set of candidate driving plans and a set of model parameters; calculating the model parameters from a set of consist measurements; and generating the candidate driving plans and selecting an optimal driving plan to optimize the objective function subject to a set of terminal constraints and operating constraints.
These and other features, aspects, and advantages of the present invention will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:
In accordance with one embodiment of the present invention,
As used herein, “optimize” refers to minimizing or maximizing, as appropriate. Examples of objective function 120 include, without limitation, fuel consumption, travel time, integral squared input rate, summed squared input difference, and combinations thereof. “Fuel consumption” and “travel time” refer respectively to the amount of fuel consumed and to the amount of time spent over an entire route or over any prescribed portion or portions of a route. In a continuous time implementation of consist model 110, “integral squared input rate” refers to an integral with respect to time of a squared time derivative of a driving plan throttle setting. In a discrete time implementation of consist model 110, “summed squared input difference” refers to a summation of a squared backward difference of driving plan throttle settings. Minimizing (i.e., penalizing) these functions of the input produces a smoother driving plan thereby improving train handling with respect to coupling slack management.
Examples of model parameters 140 include, without limitation, consist mass and consist drag force parameters including, without limitation, coefficients in polynomial approximations to consist drag force as a function of consist speed. Examples of consist measurements 160 include, without limitation, a consist position measurement, a consist speed measurement, a tractive effort signal, and a track slope (grade) signal. Examples of terminal constraints include, without limitation, time constraints for reaching prescribed places along the track (i.e., train schedules). Examples of operating constraints include, without limitation, maximum or minimum speed limits and maximum or minimum acceleration limits.
In a more specific embodiment in accordance with the embodiment of
In another more specific embodiment in accordance with the embodiment of
In accordance with another embodiment of the present invention,
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In a more detailed embodiment in accordance with the embodiment of
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All of the above described elements of embodiments of the present invention may be implemented, by way of example, but not limitation, using singly or in combination any electric or electronic devices capable of performing the indicated functions. Examples of such devices include, without limitation: analog devices; analog computation modules; digital devices including, without limitation, small-, medium-, and large-scale integrated circuits, application specific integrated circuits (ASICs), and programmable logic arrays (PLAs); and digital computation modules including, without limitation, microcomputers, microprocessors, microcontrollers, and programmable logic controllers (PLCs).
In some implementations, the above described elements of the present invention are implemented as software components in a general purpose computer. Such software implementations produce a technical effect of controlling a railway consist so as to optimize a selected objective function.
While only certain features of the invention have been illustrated and described herein, many modifications and changes will occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention.
