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In modern rail transportation, energy-efficient train control (EETC) isconcerned with the optimal train speed trajectory or control strategies toachieve the minimum energy cost under various operation and tractionconstraints. This paper proposes an EETC model based on convex optimization sothat the model can be rapidly solved by convex optimization algorithms. Thehigh computational efficiency and robustness of the convex model can beverified by comparing the results achieved by the method proposed by this paperand other mainstream mathematical programming methods including mixed-integerlinear programming (MILP) and Radau pseudospectral method (RPM). Based on thecharacteristics of convex optimization, the proposed method boasts moresignificant advantages over its counterparts in terms of computationalefficiency in the promising online applications for automatic train controlsystems of various types of rail transportation.

A fast-solved model for energy-efficient train control based on convex optimization