Abstract
High power level and temporal operation flexibility endow electric trains with great potential for improving grid resilience. It becomes crucial to quantify the grid support capacity (GSC) from large-scale electrified railways. This paper innovatively proposes a hierarchical train coordination and trajectory regulation method to evaluate and deliver the GSC from electrified railways. In the light of the mechanical energy consumption analysis of train running, the energy-oriented train operation model is proposed to avoid the nonlinear differential dynamics of train kinetics when coordinating large-scale trains. Then the aggregation and disaggregation of trains for grid support can be formulated as linear and convex quadratic programming problems respectively. To closely follow the reference power and enhance the feasibility of train operation, a novel iterative discretization approach is proposed to generate the precise reference trajectory. A sliding mode controller with disturbance bound adaption is devised to overcome the modeling errors and disturbances when deploying GSC in realistic environment. Comprehensive numerical examples verify the effectiveness of the proposed scheme, and demonstrate the significant grid support potential from collaborative electrified railways.
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