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This paper aims at minimizing the total energy consumption of multi-train in an urban rail transit (URT) system by optimizing and updating speed profiles considering regenerative braking power losses on the catenary. To make full use of regenerative energy and decrease traction energy consumption simultaneously, energy-efficient control strategies of multi-train and a corresponding solution method are proposed. The running process of multi-train is divided into several sections based on passenger stations. Speed profiles of each train in each section are collaboratively optimized by searching only one transition point from the optimized single-train speed profile, which can be worked out by searching the switching point of coasting mode, and the optimized multi-train speed profiles are updated based on departure orders of trains. Moreover, an electrical network model is established to analyze energy flows, and dynamic losses of recovered regenerative energy on the line can be calculated. Besides, an improved optimization strategy of multi-train, which contains seven motion phases, is presented for steep slope. Simulation results based on Guangzhou Metro Line 8 verify the effectiveness of the proposed methods. Total energy consumption of optimized multi-train can be decreased by 6.95% compared with multi-train adopted single-train optimal control strategy, and the energy-saving rate of 21.08% can be achieved compared with the measured data by drivers under same trip time. In addition, the influence of departure interval on total energy consumption is analyzed and the optimal departure interval can be obtained.

Energy-Efficient Driving Strategies for Multi-Train by Optimization and Update Speed Profiles Considering Transmission Losses of Regenerative Energy