Energooszczędne sterowanie silników napędowych tramwaju z uwzględnieniem sygnalizacji świetlnej zakłócającej płynność ruchu pojazdu

The paper deals with problems of the tram vehicle control in accordance with the criterion of the minimum electrical energy consumption. In this elaboration, the energy-saving control of the tram driving electric motors takes also into consideration the influence of cross-roads light signalling disturbing the smoothness of the vehicle traffic. In general, the light change during the tram running is here treated as the ride perturbation. Relations describing the tram traffic contain nonlinearities as a result of properties of motion resistances and owing to the magnetic circuit saturation in the motors. Determination of the run algorithm ensuring minimization of the electric energy consumption has been realized by application of the numerical method of differential equations solving and by using the optimization procedure. Calculation process takes many constraints into account, for example the adhesion effect connected with existence of a limiting force acting in the wheel circumference. Within perturbations caused by light signalling, computations of the tram energy-saving run were connected with the algorithm of the delay liquidation. In the case of greater time lags of the traffic, the ride delay must be liquidated during the run between some succeeding stops. Also here the best control strategy can ensure the electrical energy saving.