Использование гибридных накопителей энергии в электроприводе трамвая (г.Прага)
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Declaration 2
Реферат 4
Abbreviations 5
Content 6
List of pictures 9
List of graphs 11
List of tables 12
Introduction 13
1. History and present of tramway system in Prague 15
2. Most known tramways used in Prague 17
2.1. Ringhoffer tram 17
2.2. Tatra T1 19
2.3. Tatra T3 21
2.4. CKD KT8D5 and KT8D5R.N2P 22
2.5. Skoda Transportation 14T and 15T 26
2.5.1. Skoda 14T 26
2.5.2. Skoda 15T 29
3. Alternative power sources in city transport 31
3.1. Energy flows and loses in tramway service 31
3.1.1. Energy flows and loses in tram with no recuperation or batteries system 32
3.1.2. Energy flows and loses in tramway with recuperation 33
3.1.3. Energy flows and loses in tramway using batteries and supercapacitors 34
3.2. Reasons for use of APS in city transport 35
3.3. Types of energy storage devices 37
3.3.1. Flywheel 37
3.3.2. Accumulation based on electro-chemical exchange 37
3.3.3. Comparison of different types of electro-chemical accumulators ... 40
3.3.4. Accumulation based on electrostatic field 42
3.4. Comparison of electrochemical accumulators and supercapacitors and
their suitability for application as alternative power source of tram 45
3.5. Bombardier system MITRAC using supercapacitors as alternative power
source in Mannheim, Germany 47
3.6. Siemens SITRAS stationary-system 50
3.7. Siemens SIBAC on-board system 51
4. Real data and simulation 52
4.1. Chosen line for physical interpretation of tramway line in Simulink .... 52
4.2. Chosen vehicle for realisation of Simulink model 55
4.2.1. Basic data useful for model in MATLAB 55
4.2.2. Physical model of tramway and used equations 57
4.3. Calculation of data for supercapacitor/batteries system designing 62
4.4. Designing of supercapacitor/accumulator batteries hybrid system 69
4.4.1. Calculation of energy density of accumulation energy system 69
4.4.2. Designing or stand-alone supercapacitor system 72
4.4.3. Design of system using batteries 77
4.4.4 Design of hybrid system using batteries and supercapacitors 77
7
4.4.5 Compare of all designed solutions of alternative power source 78
5. Simulink model 80
5.1. General model using APS in scheme 80
5.2. Mechanic model of tramway 83
5.3. Model of electric parts of tramway 85
6. Economic part 87
6.1. SWOT analysis 87
6.2. Cost analysis 89
6.2.1. Capital investment costs 89
6.2.2. Energy consumption 91
6.2.3. Energy demands and savings 93
6.3. Reliability of investment 95
6.4. Economic conclusion 97
7. Social responsibility 99
7.1. Law rules, regulations and acts of parliament concerned to noise from
public transport services 99
7.2. Effects of noise from tramway service according to quality of life 99
7.3. Solutions to eliminate the noise from tramway service 102
Epilogue 104
Sources 106
Реферат 4
Abbreviations 5
Content 6
List of pictures 9
List of graphs 11
List of tables 12
Introduction 13
1. History and present of tramway system in Prague 15
2. Most known tramways used in Prague 17
2.1. Ringhoffer tram 17
2.2. Tatra T1 19
2.3. Tatra T3 21
2.4. CKD KT8D5 and KT8D5R.N2P 22
2.5. Skoda Transportation 14T and 15T 26
2.5.1. Skoda 14T 26
2.5.2. Skoda 15T 29
3. Alternative power sources in city transport 31
3.1. Energy flows and loses in tramway service 31
3.1.1. Energy flows and loses in tram with no recuperation or batteries system 32
3.1.2. Energy flows and loses in tramway with recuperation 33
3.1.3. Energy flows and loses in tramway using batteries and supercapacitors 34
3.2. Reasons for use of APS in city transport 35
3.3. Types of energy storage devices 37
3.3.1. Flywheel 37
3.3.2. Accumulation based on electro-chemical exchange 37
3.3.3. Comparison of different types of electro-chemical accumulators ... 40
3.3.4. Accumulation based on electrostatic field 42
3.4. Comparison of electrochemical accumulators and supercapacitors and
their suitability for application as alternative power source of tram 45
3.5. Bombardier system MITRAC using supercapacitors as alternative power
source in Mannheim, Germany 47
3.6. Siemens SITRAS stationary-system 50
3.7. Siemens SIBAC on-board system 51
4. Real data and simulation 52
4.1. Chosen line for physical interpretation of tramway line in Simulink .... 52
4.2. Chosen vehicle for realisation of Simulink model 55
4.2.1. Basic data useful for model in MATLAB 55
4.2.2. Physical model of tramway and used equations 57
4.3. Calculation of data for supercapacitor/batteries system designing 62
4.4. Designing of supercapacitor/accumulator batteries hybrid system 69
4.4.1. Calculation of energy density of accumulation energy system 69
4.4.2. Designing or stand-alone supercapacitor system 72
4.4.3. Design of system using batteries 77
4.4.4 Design of hybrid system using batteries and supercapacitors 77
7
4.4.5 Compare of all designed solutions of alternative power source 78
5. Simulink model 80
5.1. General model using APS in scheme 80
5.2. Mechanic model of tramway 83
5.3. Model of electric parts of tramway 85
6. Economic part 87
6.1. SWOT analysis 87
6.2. Cost analysis 89
6.2.1. Capital investment costs 89
6.2.2. Energy consumption 91
6.2.3. Energy demands and savings 93
6.3. Reliability of investment 95
6.4. Economic conclusion 97
7. Social responsibility 99
7.1. Law rules, regulations and acts of parliament concerned to noise from
public transport services 99
7.2. Effects of noise from tramway service according to quality of life 99
7.3. Solutions to eliminate the noise from tramway service 102
Epilogue 104
Sources 106
Реферат
Выпускная квалификационная работа 107 с.,31 рис., 24 граф., 10 табл. , 16 источников
Ключевые слова: трамвайная сеть, накопители энергии,
суперконденсаторы, аккумуляторные батареи.
Обьектом исследования является использование накопителей энергии в тяговом электроприводе трамвая ХХХХ в городе Праге
Цель работы - определить возможность модернизации трамвая ХХХХ путем добавления гибридного накопителя энергии в тяговый электропривод для повышения его энергетической эффективности.
Методы исследования - аналитический, проектный, компьютерное моделирование.
В процессе исследований проведен аналитический обзор повышения эффективности тягового электропривода трамвая путем рекуперации энергии. В качестве накопителя энергии рассмотрены варианты его построения на суперконденсаторах, аккумуляторных батареях и гибридного типа. Разработаны математические модели динамики трамвая, силового преобразователя и накопителя. Определена оптимальная емкость накопителя. Проведено технико-экономическое обоснование.
В результате исследования определена целесообразность применения накопителей энергии в системе тягового электропривода трамвая.
Степень внедрения: Резултаты расчетов могут быть использованы при работах, связанных с модернизацией трамвайного парка.
Область применения: Г ородская трамвайная сеть
Экономическая эффективность/ значимость работы: Полученные результаты позволяют уменьшить потребление энергии в городской трамвайной сети и сократить протяженность контактных линий.
В будущем планируется: Проведение уточненных расчетов с учетом оценки движения и циклов заряда-разряда накопителя на больших временных интервалах.
Introduction
We, as citizens living in 21th century, are surrounded with modern technologies in all parts of our life. Modern trends in technologies are ecology, economy and energy savings. This topic affect not only our households or free time technologies but as well work accessories or transport technologies. In developed society is the necessity of fast, save and ecologic transport. And of course from one day to another more important.
This master thesis is set as case study based on research of possibility of using alternative power source as accumulator in Prague tramway lines. As this case study will show, there are many possibilities how to use any alternative power sources in Prague tram lines such as flywheels, fuel cells, supercapacitors, batteries or hybrid system consist supercapacitors and batteries in one device. For this research is used only three types of researched technologies and that are standalone supercapacitors, standalone batteries or hybrid system consist both technologies.
First part of the work consist history of tramway transport in Prague that is really rich. Prague, as capital, use tramway lines for more than 140 years and due to fact that Prague had for a long time some famous name's mechanical engineering manufactures such as Ringhoffer, Tatra or CKD companies, there was a possibility to test new technologies in the city.
Part about history slightly turns into technical preview of mostly common types of trams used in Prague in history, present and introduction to some technologies used in Prague in the future. If we mention city name “Prague” most people will remember Charles bridge or Prague Castle, but people with target into technics mostly will remember about world tram legend Tatra T3. Case study's list contains not only this type of vehicle but tramways used before as Ringhoffer's tram, but as well modern and still manufactured tramways type 15T and 15T4, which were designed especially for Prague tramway lines.
The most important part is part based on technical solution of using alternative power sources in chosen tramway. As most important thing was to choose the tramway line, that is not only flat. It means to find a tramway line where up-hill and down-hill parts are, where the vehicle can store some energy into APS system and where this energy could be used. As the most appropriate was chosen the tram line No.1 that rides from Sidliste Petriny to Spojovaci tram stop. Calculations are done for explanation only in one way ride. On the way back there are differences in distances between tramway stops, in altitude between tramway stops that mean the power and energies used or saved to system could be different. However, the calculation programme that is evaluated in Matlab Simulink is possible to calculate any other track if we are able to insert all the information about distances between tram stops and altitudes. The results of used energies and energies that we can store helped me to calculate capacity of storage system and features used in this storage system.
Every technical issue, with a main goal of quality, must have as well economic calculations of expedience. These calculations will show better if the technical solution is possible to realize or not and what conditions could be accepted in case of realizing due to fact of having benefits from this solution.
In this master thesis were used technologies of Matlab Simulink, Microsoft Office Excel and Word. All the files containing the model, track information or economic calculations is possible to download from CD-disk inserted in this work.
Выпускная квалификационная работа 107 с.,31 рис., 24 граф., 10 табл. , 16 источников
Ключевые слова: трамвайная сеть, накопители энергии,
суперконденсаторы, аккумуляторные батареи.
Обьектом исследования является использование накопителей энергии в тяговом электроприводе трамвая ХХХХ в городе Праге
Цель работы - определить возможность модернизации трамвая ХХХХ путем добавления гибридного накопителя энергии в тяговый электропривод для повышения его энергетической эффективности.
Методы исследования - аналитический, проектный, компьютерное моделирование.
В процессе исследований проведен аналитический обзор повышения эффективности тягового электропривода трамвая путем рекуперации энергии. В качестве накопителя энергии рассмотрены варианты его построения на суперконденсаторах, аккумуляторных батареях и гибридного типа. Разработаны математические модели динамики трамвая, силового преобразователя и накопителя. Определена оптимальная емкость накопителя. Проведено технико-экономическое обоснование.
В результате исследования определена целесообразность применения накопителей энергии в системе тягового электропривода трамвая.
Степень внедрения: Резултаты расчетов могут быть использованы при работах, связанных с модернизацией трамвайного парка.
Область применения: Г ородская трамвайная сеть
Экономическая эффективность/ значимость работы: Полученные результаты позволяют уменьшить потребление энергии в городской трамвайной сети и сократить протяженность контактных линий.
В будущем планируется: Проведение уточненных расчетов с учетом оценки движения и циклов заряда-разряда накопителя на больших временных интервалах.
Introduction
We, as citizens living in 21th century, are surrounded with modern technologies in all parts of our life. Modern trends in technologies are ecology, economy and energy savings. This topic affect not only our households or free time technologies but as well work accessories or transport technologies. In developed society is the necessity of fast, save and ecologic transport. And of course from one day to another more important.
This master thesis is set as case study based on research of possibility of using alternative power source as accumulator in Prague tramway lines. As this case study will show, there are many possibilities how to use any alternative power sources in Prague tram lines such as flywheels, fuel cells, supercapacitors, batteries or hybrid system consist supercapacitors and batteries in one device. For this research is used only three types of researched technologies and that are standalone supercapacitors, standalone batteries or hybrid system consist both technologies.
First part of the work consist history of tramway transport in Prague that is really rich. Prague, as capital, use tramway lines for more than 140 years and due to fact that Prague had for a long time some famous name's mechanical engineering manufactures such as Ringhoffer, Tatra or CKD companies, there was a possibility to test new technologies in the city.
Part about history slightly turns into technical preview of mostly common types of trams used in Prague in history, present and introduction to some technologies used in Prague in the future. If we mention city name “Prague” most people will remember Charles bridge or Prague Castle, but people with target into technics mostly will remember about world tram legend Tatra T3. Case study's list contains not only this type of vehicle but tramways used before as Ringhoffer's tram, but as well modern and still manufactured tramways type 15T and 15T4, which were designed especially for Prague tramway lines.
The most important part is part based on technical solution of using alternative power sources in chosen tramway. As most important thing was to choose the tramway line, that is not only flat. It means to find a tramway line where up-hill and down-hill parts are, where the vehicle can store some energy into APS system and where this energy could be used. As the most appropriate was chosen the tram line No.1 that rides from Sidliste Petriny to Spojovaci tram stop. Calculations are done for explanation only in one way ride. On the way back there are differences in distances between tramway stops, in altitude between tramway stops that mean the power and energies used or saved to system could be different. However, the calculation programme that is evaluated in Matlab Simulink is possible to calculate any other track if we are able to insert all the information about distances between tram stops and altitudes. The results of used energies and energies that we can store helped me to calculate capacity of storage system and features used in this storage system.
Every technical issue, with a main goal of quality, must have as well economic calculations of expedience. These calculations will show better if the technical solution is possible to realize or not and what conditions could be accepted in case of realizing due to fact of having benefits from this solution.
In this master thesis were used technologies of Matlab Simulink, Microsoft Office Excel and Word. All the files containing the model, track information or economic calculations is possible to download from CD-disk inserted in this work.
Main aim of this work was to prepare a case study of possible use of alternative power sources in Prague tramway lines. Research began with choose of the most appropriate tramway line, that can prove the best possible numeric results. For this purpose was chosen the line number 1. This tramway line have the biggest altitude difference 82 metres. Profile of this tramway track is from the beginning downgrading until the approximate middle part. After then the track starts to step into hill on Krejcarek tram stop and then on Ohrada and Strazni. After this tramway stop has the tramway track again downgrading character. To explain the better results for this track has author chosen another 2 different tracks from tramway lines No.7 and No.13, to compare altitude difference in comparison to length of this track.
After choosing appropriate track was this track set into Matlab, where it was transformed into approximated function by 5th order. This was done due to fact that is much easier to work next only with function which have the same characteristics as dependence graph of altitude to length of tramway track.
As another important part was to set the speed between tramway stops. There is showed real data in the graph below, but in final decision was used easier solution that we manage between all stops acceleration of a=1.1ms-2 until the tramway will reach the speed of 50 kmh-1.
With these data and basic technical data about used tramway we were able to calculate other parameters of drive. From all the forces that accelerate and affect against tramway ride we could calculate power and energy used for tramway work on the track. Final graphs we could see inside of this work. These energies were later used for calculations of number of appropriate source quantity. In our case it was calculations for quantity of used supercapacitors, batteries or both in hybrid system.
As final technical solution was chosen hybrid system based on combination of series-parallel interconnected batteries and supercapacitors that are divided into 8 parts. It is due to fact, that tramway we use for our calculations consists 8 DC- engines so in fact every engine consist one branch of batteries and 2 branches of supercapacitors.
Economic part have a main point of research to prove sustainability of this solution. For the beginning was mentioned SWOT analysis to interpret all the positive and negative features of this solution that can affect our final decision. Main analysis of sustainability is based on calculations of Net present value and interpret this calculations as: “How many years it will take until this solution can start earn money and it eliminate all the initial costs”. Calculations showed, that solution of use of this technology could be valuable in case of new tramway, but couldn't be valuable in case of older tramway reconstruction. Calculations was done with nowadays energy prices and possible future prices of energy that were set higher. In case of more expensive energy is this solution more valuable as well for the older tramway reconstructions.
Last part was targeted to social responsibility and especially to noise that is made from tramway transport. It was mentioned what kind of noise could exist and how it could affect quality of human life in nearest buildings next to tramway tracks. Last part of this topic could explain some techniques how to minimize these noises and vibrations with some different technologies.
This work reached the targets that were set on the beginning and I as author hope that the work could bring some new positive thoughts or discussions to professionals about future way of tramway transport in Prague and how to improve technical part, economy part, how to reach ecology normative and improve quality of human life around tramway tracks. As future goal is set to design an automatic control system for control of angle for energetic scheme. This topic is huge that is why we didn't mentioned it in this work.
After choosing appropriate track was this track set into Matlab, where it was transformed into approximated function by 5th order. This was done due to fact that is much easier to work next only with function which have the same characteristics as dependence graph of altitude to length of tramway track.
As another important part was to set the speed between tramway stops. There is showed real data in the graph below, but in final decision was used easier solution that we manage between all stops acceleration of a=1.1ms-2 until the tramway will reach the speed of 50 kmh-1.
With these data and basic technical data about used tramway we were able to calculate other parameters of drive. From all the forces that accelerate and affect against tramway ride we could calculate power and energy used for tramway work on the track. Final graphs we could see inside of this work. These energies were later used for calculations of number of appropriate source quantity. In our case it was calculations for quantity of used supercapacitors, batteries or both in hybrid system.
As final technical solution was chosen hybrid system based on combination of series-parallel interconnected batteries and supercapacitors that are divided into 8 parts. It is due to fact, that tramway we use for our calculations consists 8 DC- engines so in fact every engine consist one branch of batteries and 2 branches of supercapacitors.
Economic part have a main point of research to prove sustainability of this solution. For the beginning was mentioned SWOT analysis to interpret all the positive and negative features of this solution that can affect our final decision. Main analysis of sustainability is based on calculations of Net present value and interpret this calculations as: “How many years it will take until this solution can start earn money and it eliminate all the initial costs”. Calculations showed, that solution of use of this technology could be valuable in case of new tramway, but couldn't be valuable in case of older tramway reconstruction. Calculations was done with nowadays energy prices and possible future prices of energy that were set higher. In case of more expensive energy is this solution more valuable as well for the older tramway reconstructions.
Last part was targeted to social responsibility and especially to noise that is made from tramway transport. It was mentioned what kind of noise could exist and how it could affect quality of human life in nearest buildings next to tramway tracks. Last part of this topic could explain some techniques how to minimize these noises and vibrations with some different technologies.
This work reached the targets that were set on the beginning and I as author hope that the work could bring some new positive thoughts or discussions to professionals about future way of tramway transport in Prague and how to improve technical part, economy part, how to reach ecology normative and improve quality of human life around tramway tracks. As future goal is set to design an automatic control system for control of angle for energetic scheme. This topic is huge that is why we didn't mentioned it in this work.