Recuperation of Regenerative Braking Energy in Electric Rail Transit Systems

Electric rail transit systems are the large consumers of energy. In trains with regenerative braking capability, a fraction of the energy used to power a train is regenerated during braking. This regenerated energy, if not properly captured, is typically dumped in the form of heat to avoid overvoltage. Finding a way to recuperate regenerative braking energy can result in economic as well as technical merits. In this comprehensive paper, the various methods and technologies that were proposed for regenerative energy recuperation have been analyzed, investigated, and compared. These technologies include: train timetable optimization, energy storage systems (onboard and wayside), and reversible substations.

[1]  Wei Liu,et al.  Study of the simulation of DC traction power supply system based on AC/DC unified Newton-Raphson method , 2009, 2009 International Conference on Sustainable Power Generation and Supply.

[2]  Ahmed Mohamed,et al.  Modeling and Simulation of Regenerative Braking Energy in DC Electric Rail Systems , 2018, 2018 IEEE Transportation Electrification Conference and Expo (ITEC).

[3]  Hiroaki Morimoto,et al.  Fixed Energy Storage Technology Applied for DC Electrified Railway , 2010 .

[4]  J. Van Mierlo,et al.  Quasi-static simulation method for evaluation of energy consumption in hybrid light rail vehicles , 2008, 2008 IEEE Vehicle Power and Propulsion Conference.

[5]  Antonio Piccolo,et al.  Sizing and energy management of on-board hybrid energy storage systems in urban rail transit , 2016, 2016 International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC).

[6]  P. Barrade,et al.  Study and simulation of the energy balance of an urban transportation network , 2007, 2007 European Conference on Power Electronics and Applications.

[7]  Pablo Arboleya,et al.  Unified AC/DC Power Flow for Traction Systems: A New Concept , 2012, IEEE Transactions on Vehicular Technology.

[8]  Lei Chen,et al.  An integrated metro operation optimization to minimize energy consumption , 2017 .

[9]  James S. Wallace,et al.  Stationary applications of energy storage technologies for transit systems , 2010, 2010 IEEE Electrical Power & Energy Conference.

[10]  Flavio Ciccarelli,et al.  Optimal Control of Stationary Lithium-Ion Capacitor-Based Storage Device for Light Electrical Transportation Network , 2017, IEEE Transactions on Transportation Electrification.

[11]  Haichang Liu,et al.  Flywheel energy storage—An upswing technology for energy sustainability , 2007 .

[12]  W. Gunselmann,et al.  Technologies for increased energy efficiency in railway systems , 2005, 2005 European Conference on Power Electronics and Applications.

[13]  Enrico Tironi,et al.  Voltage stabilization and efficiency improvements on DC railways by stand alone energy storage systems , 2017, 2017 IEEE International Conference on Environment and Electrical Engineering and 2017 IEEE Industrial and Commercial Power Systems Europe (EEEIC / I&CPS Europe).

[14]  Zhongping Yang,et al.  Variable gain control of supercapacitor energy storage system of urban rail transit considering system parameters variation , 2015, 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE).

[15]  Pablo Arboleya Heterogeneous Multiscale Method for Multirate Railway Traction Systems Analysis , 2017, IEEE Transactions on Intelligent Transportation Systems.

[16]  Michael Meinert,et al.  New mobile energy storage system for rolling stock , 2009, 2009 13th European Conference on Power Electronics and Applications.

[17]  Jihong Wang,et al.  Overview of current development in electrical energy storage technologies and the application potential in power system operation , 2015 .

[18]  S.N. Talukdar,et al.  The analysis of electrified ground transportation networks , 1977, IEEE Transactions on Power Apparatus and Systems.

[19]  Bassam Mohamed,et al.  DC Railway Simulation Including Controllable Power Electronic and Energy Storage Devices , 2018, IEEE Transactions on Power Systems.

[20]  Denis Seimbille Design of power supply system in DC electrified transit railways - Influence of the high voltage network , 2014 .

[21]  M. Bolduc,et al.  Vista rail network simulation , 1995, Proceedings of the 1995 IEEE/ASME Joint Railroad Conference.

[22]  Zhongping Yang,et al.  Brake Voltage Following Control of Supercapacitor-Based Energy Storage Systems in Metro Considering Train Operation State , 2018, IEEE Transactions on Industrial Electronics.

[23]  C. J. Goodman,et al.  Investigation into the Computational Techniques of Power System Modelling for a DC Railway , 2006 .

[24]  Masafumi Miyatake,et al.  Energy Saving Speed and Charge/discharge Control of a Railway Vehicle with On-board Energy Storage by Means of an Optimization Model , 2009 .

[25]  Shen Zupei Flywheel Energy Storage , 2003 .

[26]  Hasan Moghbeli,et al.  Design and simulation of hybrid electrical energy storage (HEES) for Esfahan urban railway to store regenerative braking energy , 2016, 2016 7th Power Electronics and Drive Systems Technologies Conference (PEDSTC).

[27]  Flavio Ciccarelli,et al.  Supercapacitors-based energy storage for urban mass transit systems , 2011, Proceedings of the 2011 14th European Conference on Power Electronics and Applications.

[28]  Ilhami Colak,et al.  Enhanced operating scheme of ESS for DC transit system , 2016, 2016 IEEE International Power Electronics and Motion Control Conference (PEMC).

[29]  A. Lohner,et al.  Ultra low emission traction drive system for hybrid light rail vehicles , 2006, International Symposium on Power Electronics, Electrical Drives, Automation and Motion, 2006. SPEEDAM 2006..

[30]  R.-L. Lin,et al.  Optimization of an MRT train schedule: reducing maximum traction power by using genetic algorithms , 2005, IEEE Transactions on Power Systems.

[31]  Huaixin Chen,et al.  Modeling and state of charge-based energy management strategy of ultracapacitor energy storage system of urban rail transit , 2015, IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society.

[32]  Y. Sekijima,et al.  Development of Energy Storage System for DC Electric Rolling Stock applying Electric Double Layer capacitor , 2006 .

[33]  Flavio Ciccarelli,et al.  Control of metro-trains equipped with onboard supercapacitors for energy saving and reduction of power peak demand , 2012 .

[34]  S. Sagareli,et al.  Implementation of new technologies in traction power systems , 2004, ASME/IEEE Joint Rail Conference, 2004. Proceedings of the 2004.

[35]  Karen Holmes Smart grids and wayside energy storage : opportunities for transit , 2008 .

[36]  P. Firpo,et al.  Optimized train running curve for electrical energy saving in autotransformer supplied AC railway systems , 1995 .

[37]  R. Barrero,et al.  Energy savings in public transport , 2008, IEEE Vehicular Technology Magazine.

[38]  M. Miyatake,et al.  Numerical analyses of minimum energy operation of multiple trains under DC power feeding circuit , 2007, 2007 European Conference on Power Electronics and Applications.

[39]  M. Steiner,et al.  Energy storage on board of DC fed railway vehicles PESC 2004 conference in Aachen, Germany , 2004, 2004 IEEE 35th Annual Power Electronics Specialists Conference (IEEE Cat. No.04CH37551).

[40]  F. Ciccarelli,et al.  A Novel energy management control of wayside Li-Ion capacitors-based energy storage for urban mass transit systems , 2012, International Symposium on Power Electronics Power Electronics, Electrical Drives, Automation and Motion.

[41]  S. Barcellona,et al.  Modeling and Parameter Identification of Lithium-Ion Capacitor Modules , 2014, IEEE Transactions on Sustainable Energy.

[42]  Flavio Ciccarelli,et al.  Speed-based supercapacitor state of charge tracker for light railway vehicles , 2011, Proceedings of the 2011 14th European Conference on Power Electronics and Applications.

[43]  Paolo Mattavelli,et al.  Vanadium Redox Flow Batteries: Potentials and Challenges of an Emerging Storage Technology , 2016, IEEE Industrial Electronics Magazine.

[44]  Mihaela Popescu Synchronous Reference Frame Method Applied in the Indirect Current Control for Active DC Traction Substation , 2015 .

[45]  Xiaodong Wang,et al.  MRTS traction power supply system simulation using Matlab/Simulink , 2002, Vehicular Technology Conference. IEEE 55th Vehicular Technology Conference. VTC Spring 2002 (Cat. No.02CH37367).

[46]  Paul Batty,et al.  Sustainable urban rail systems: strategies and technologies for optimal management of regenerative braking energy , 2013 .

[47]  H. Ibrahima,et al.  Energy storage systems — Characteristics and comparisons , 2008 .

[48]  Masafumi Miyatake,et al.  Optimization of Train Speed Profile for Minimum Energy Consumption , 2010 .

[49]  Andrew Nash,et al.  Railroad simulation using OpenTrack , 2004 .

[50]  Bin Wang,et al.  Optimal Energy Management, Location and Size for Stationary Energy Storage System in a Metro Line Based on Genetic Algorithm , 2015 .

[51]  Masamichi Ogasa Energy Saving and Environmental Measures in Railway Technologies: Example with Hybrid Electric Railway Vehicles , 2008 .

[52]  Xiang Li,et al.  A Cooperative Scheduling Model for Timetable Optimization in Subway Systems , 2013, IEEE Transactions on Intelligent Transportation Systems.

[53]  A. Stephan OpenPowerNet –Simulation Of Railway Power Supply Systems , 2008 .

[54]  Diego Iannuzzi,et al.  The Use of Energy Storage Systems for Supporting the Voltage Needs of Urban and Suburban Railway Contact Lines , 2013 .

[55]  Joeri Van Mierlo,et al.  Innovative iteration algorithm for a vehicle simulation program , 2004, IEEE Transactions on Vehicular Technology.

[56]  Keystone State,et al.  2015 Annual Report , 2015 .

[57]  Ahmed Mohamed,et al.  A study on super capacitor wayside connection for energy recuperation in electric rail systems , 2017, 2017 IEEE Power & Energy Society General Meeting.

[58]  D. Riu,et al.  Quasi-static decoupled load flow modelling of a power supply network with AC-DC converters applied to light rail system , 2007, 2007 European Conference on Power Electronics and Applications.

[59]  Mehmet Turan Soylemez,et al.  MULTI-TRAIN SIMULATION OF DC RAIL TRACTION POWER SYSTEMS WITH REGENERATIVE BRAKING , 2004 .

[60]  M. Steiner,et al.  Energy storage system with ultracaps on board of railway vehicles , 2007, 2007 European Conference on Power Electronics and Applications.

[61]  D. Iannuzzi,et al.  Energy management of electrified mass transit systems with Energy Storage devices , 2012, International Symposium on Power Electronics Power Electronics, Electrical Drives, Automation and Motion.

[62]  J. G. Yu Computer simulation of wayside energy storage substations in DC traction power systems , 2010 .

[63]  Javier Campillo,et al.  Flow batteries use potential in heavy vehicles , 2015, 2015 International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles (ESARS).

[64]  Hong Kam Lo,et al.  An energy-efficient scheduling and speed control approach for metro rail operations , 2014 .

[65]  Bassam Mohamed,et al.  Modified Current Injection Method for Power Flow Analysis in Heavy-Meshed DC Railway Networks With Nonreversible Substations , 2017, IEEE Transactions on Vehicular Technology.

[66]  Paul Weston,et al.  System energy optimisation strategies for metros with regeneration , 2017 .

[67]  Kazuya Nishimura,et al.  Test Results of a High Capacity Wayside Energy Storage System Using Ni-MH Batteries for DC Electric Railway at New York City Transit , 2011, 2011 IEEE Green Technologies Conference (IEEE-Green).

[68]  David Turner,et al.  Return on Investment from Rail Transit Use of Wayside Energy Storage Systems , 2005 .

[69]  Flavio Ciccarelli,et al.  Line-Voltage Control Based on Wayside Energy Storage Systems for Tramway Networks , 2016, IEEE Transactions on Power Electronics.

[70]  Paul Batty,et al.  Energy-efficient urban rail systems: strategies for an optimal management of regenerative braking energy , 2014 .

[71]  B. Sanso,et al.  Train scheduling desynchronization and power peak optimization in a subway system , 1995, Proceedings of the 1995 IEEE/ASME Joint Railroad Conference.

[72]  Nanming Chen,et al.  A detailed R-L fed bridge converter model for power flow studies in industrial AC/DC power systems , 1995, IEEE Trans. Ind. Electron..

[73]  Hansang Lee,et al.  Peak power reduction and energy efficiency improvement with the superconducting flywheel energy storage in electric railway system , 2013 .

[74]  Maite Pena-Alcaraz,et al.  Optimal underground timetable design based on power flow for maximizing the use of regenerative-braking energy , 2012 .

[75]  Clement Mayet,et al.  Comparison of Different Models and Simulation Approaches for the Energetic Study of a Subway , 2014, IEEE Transactions on Vehicular Technology.

[76]  Fei Lin,et al.  Optimization of peak load shifting control strategy for battery energy storage system used in urban rail transit , 2017, IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society.

[77]  Marc Petit,et al.  Smart micro-grid integration in DC railway systems , 2014, IEEE PES Innovative Smart Grid Technologies, Europe.

[78]  A. Elserougi,et al.  DC bus control of an advanced flywheel energy storage kinetic traction system for electrified railway industry , 2013, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society.

[79]  J. Scholten,et al.  Improving Overall Energy Efficiency of Traction Vehicles , 2006 .

[80]  R. J. Hill Electric railway traction. Part 3. Traction power supplies , 1994 .

[81]  José Antonio Aguado,et al.  Optimal Operation of Electric Railways With Renewable Energy and Electric Storage Systems , 2018, IEEE Transactions on Smart Grid.

[82]  Keping Li,et al.  A Multi-objective Timetable Optimization Model for Subway Systems , 2014 .

[83]  V. Gelman Braking energy recuperation , 2009, IEEE Vehicular Technology Magazine.

[84]  Andrew J. Gillespie,et al.  Energy Storage in Pennsylvania: SEPTA's Novel and Innovative Integration of Emerging Smart Grid Technologies , 2014, IEEE Vehicular Technology Magazine.

[85]  R. J. Hill Electric railway traction. II. Traction drives with three-phase induction motors , 1994 .

[86]  D. Iannuzzi,et al.  Speed-Based State-of-Charge Tracking Control for Metro Trains With Onboard Supercapacitors , 2012, IEEE Transactions on Power Electronics.

[87]  Asier Romo,et al.  Kinetic energy recovery on railway systems with feedback to the grid , 2010, Proceedings of 14th International Power Electronics and Motion Control Conference EPE-PEMC 2010.

[88]  T Albrecht REDUCING POWER PEAKS AND ENERGY CONSUMPTION IN RAIL TRANSIT SYSTEMS BY SIMULTANEOUS TRAIN RUNNING TIME CONTROL , 2004 .

[89]  Pierre Mertiny,et al.  Analysis of a flywheel energy storage system for light rail transit , 2016 .

[90]  M. B. Richardson Flywheel energy storage system for traction applications , 2002 .

[91]  Xin Yang,et al.  An optimisation method for train scheduling with minimum energy consumption and travel time in metro rail systems , 2015 .

[92]  R. R. Pecharromán,et al.  Challenge A : A more and more energy efficient railway 1 / 12 Energy efficiency on train control : design of metro ATO driving and impact of energy accumulation devices , 2011 .

[93]  Thanatchai Kulworawanichpong,et al.  Multi-train modeling and simulation integrated with traction power supply solver using simplified Newton–Raphson method , 2015 .

[94]  Pablo Arboleya,et al.  Energy Is On Board: Energy Storage and Other Alternatives in Modern Light Railways , 2016, IEEE Electrification Magazine.

[95]  Richard J. Gran Numerical Computing with Simulink, Volume I: Creating Simulations , 2007 .

[96]  A Nasri,et al.  Timetable optimization for maximum usage of regenerative energy of braking in electrical railway systems , 2010, SPEEDAM 2010.

[97]  J. Van Mierlo,et al.  Improving energy efficiency in public transport: Stationary supercapacitor based Energy Storage Systems for a metro network , 2008, 2008 IEEE Vehicle Power and Propulsion Conference.

[98]  Xiang Gao,et al.  A Power Factor-Oriented Railway Power Flow Controller for Power Quality Improvement in Electrical Railway Power System , 2017, IEEE Transactions on Industrial Electronics.

[99]  Asunción P. Cucala,et al.  Analysis of the demand charge in DC railway systems and reduction of its economic impact with energy storage systems , 2017 .

[100]  Davide Lauria,et al.  A New Supercapacitor Design Methodology for Light Transportation Systems Saving , 2011 .

[101]  Philippe Delarue,et al.  Energy Storage System With Supercapacitor for an Innovative Subway , 2010, IEEE Transactions on Industrial Electronics.

[102]  Xiang Li,et al.  An energy-efficient scheduling approach to improve the utilization of regenerative energy for metro systems , 2015 .

[103]  Daniel Cornic Efficient recovery of braking energy through a reversible dc substation , 2010, Electrical Systems for Aircraft, Railway and Ship Propulsion.

[104]  Martin P Schroeder,et al.  Utilizing Wayside Energy Storage Substations in Rail Transit Systems – Some Modelling and Simulation Results , 2010 .

[105]  Xiaoling Yang,et al.  Control strategy research of wayside supercapcitor energy storage system for urban rail transit , 2014, The 26th Chinese Control and Decision Conference (2014 CCDC).

[106]  Wei Liu,et al.  Study on control strategy of urban rail train with on-board regenerative braking energy storage system , 2017, IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society.

[107]  Diego Iannuzzi,et al.  Optimal control strategy of onboard supercapacitor storage system for light railway vehicles , 2010, 2010 IEEE International Symposium on Industrial Electronics.

[108]  R. J. Hill TRACTION DRIVES AND CONVERTERS , 2007 .

[109]  François Fages,et al.  A Greedy Heuristic for Optimizing Metro Regenerative Energy Usage , 2014 .

[110]  Jianguo Yu,et al.  Guiding the Selection and Application of Wayside Energy Storage Technologies for Rail Transit and Electric Utilities , 2010 .

[111]  R Barrero,et al.  Stationary or onboard energy storage systems for energy consumption reduction in a metro network , 2010 .

[112]  Vitaly Gelman Energy Storage That May Be Too Good to Be True: Comparison Between Wayside Storage and Reversible Thyristor Controlled Rectifiers for Heavy Rail , 2013, IEEE Vehicular Technology Magazine.

[113]  François Lac ote Alstom : future trends in railway transportation , 2005 .

[114]  Bih-Yuan Ku,et al.  A modulized train performance simulator for rapid transit DC analysis , 2000, Proceedings of the 2000 ASME/IEEE Joint Railroad Conference (Cat. No.00CH37110).

[115]  S. P. Gordon,et al.  Coordinated train control and energy management control strategies , 1998, Proceedings of the 1998 ASME/IEEE Joint Railroad Conference.

[116]  Christian Doetsch,et al.  Vanadium Redox Flow Batteries , 2020, Encyclopedia of Electrochemistry.

[117]  Xiang Li,et al.  A Subway Train Timetable Optimization Approach Based on Energy-Efficient Operation Strategy , 2012, IEEE Transactions on Intelligent Transportation Systems.

[118]  T. S. Bhatti,et al.  A review on electrochemical double-layer capacitors , 2010 .

[119]  Jisheng Hu,et al.  The design of regeneration braking system in light rail vehicle using energy-storage Ultra-capacitor , 2008, 2008 IEEE Vehicle Power and Propulsion Conference.

[120]  Flavio Ciccarelli,et al.  Improvement of Energy Efficiency in Light Railway Vehicles Based on Power Management Control of Wayside Lithium-Ion Capacitor Storage , 2014, IEEE Transactions on Power Electronics.

[121]  Andrew M. Tobias,et al.  Reduction of train and net energy consumption using genetic algorithms for Trajectory Optimisation , 2010 .

[122]  Ahmed Mohamed,et al.  Supercapacitors for electric rail transit systems , 2017, 2017 IEEE 6th International Conference on Renewable Energy Research and Applications (ICRERA).

[123]  Jean-Paul Moskowitz,et al.  STEEM: ALSTOM and RATP experience of supercapacitors in tramway operation , 2010, 2010 IEEE Vehicle Power and Propulsion Conference.

[124]  Oindrilla Dutta,et al.  Wayside Energy Storage System for Peak Demand Reduction in Electric Rail Systems , 2018, 2018 IEEE Industry Applications Society Annual Meeting (IAS).

[125]  B. S. Thia,et al.  Economy/regularity fuzzy-logic control of DC railway systems using event-driven approach , 1996 .

[126]  Rabih A. Jabr,et al.  Solution of DC Railway Traction Power Flow Systems Including Limited Network Receptivity , 2018, IEEE Transactions on Power Systems.

[127]  S. Barcellona,et al.  Overview of Lithium-ion Capacitor Applications Based on Experimental Performances , 2016 .

[128]  A. Oudalov,et al.  Value Analysis of Battery Energy Storage Applications in Power Systems , 2006, 2006 IEEE PES Power Systems Conference and Exposition.

[129]  Clement Mayet,et al.  Comparison of Different EMR-Based Models of Traction Power Substations for Energetic Studies of Subway Lines , 2016, IEEE Transactions on Vehicular Technology.

[130]  Andres Ramos,et al.  MATHEMATICAL PROGRAMMING APPROACH TO UNDERGROUND TIMETABLING PROBLEM FOR MAXIMIZING TIME SYNCHRONIZATION , 2007 .

[131]  Haisheng Chen,et al.  Progress in electrical energy storage system: A critical review , 2009 .

[132]  David Turner,et al.  Saving Money Every Day: LA Metro Subway Wayside Energy Storage Substation , 2015 .

[133]  Mike Barnes,et al.  Modeling Electrified Transit Systems , 2010, IEEE Transactions on Vehicular Technology.

[134]  Clement Mayet,et al.  Electrokinematical Simulation for Flexible Energetic Studies of Railway Systems , 2018, IEEE Transactions on Industrial Electronics.

[135]  Mario A. Rios,et al.  Power System Modelling for Urban Massive Transportation Systems , 2012 .

[136]  A. J. Lopez-Lopez,et al.  Charging Electric Vehicles Using Regenerated Energy from Urban Railways , 2017, 2017 IEEE Vehicle Power and Propulsion Conference (VPPC).

[137]  Xiang Li,et al.  A Survey on Energy-Efficient Train Operation for Urban Rail Transit , 2016, IEEE Transactions on Intelligent Transportation Systems.

[138]  Hitoshi Hayashiya,et al.  Proposal of a novel control method of Li-ion battery system for regenerative energy utilization in traction power supply system , 2016, 2016 IEEE International Power Electronics and Motion Control Conference (PEMC).

[139]  Keiichiro Kondo,et al.  A voltage basis power flow control for charging and discharging wayside energy storage devices in the DC-electrified railway system , 2016, 2016 19th International Conference on Electrical Machines and Systems (ICEMS).

[140]  Fei Lin,et al.  Control Strategies with Dynamic Threshold Adjustment for Supercapacitor Energy Storage System Considering the Train and Substation Characteristics in Urban Rail Transit , 2016 .