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Boora, Arash A. and Zare, Firuz and Ghosh, Arindam and Ledwich, Gerard F.
(2007) Applications of power electronics in railway systems. In Proceedings
Australasian Universities Power Engineering Conference, 2007 (AUPEC 2007),
pages pp. 113-121, Perth, Western Australia.
I. INTRODUCTION
MW) and high speed intercity (4-6 MW) trains. Very high
speed commuters (TGV: 8-10MW) and freight trains (EU: 610MW, US: 18-24MW) are high demand railways. To
establish a railway system its economical and technical
feasibility, compatibility with other power system customers
and adjacent communicational systems should be considered
[3]. Light trains are designed to stop every 2 or 3 km to cover
a wide urban area and they require accelerating and
decelerating fast enough to be efficient. When the working
field of railway is wider to cover suburban areas, commuter
trains come along. They travel in longer distances and longer
intervals (5 to 10 miles) between each stop and with higher
speeds (125 mile/h). Their feeder voltage needs to be AC to
reach high enough voltage levels of 15kV or 25 kV. If
frequency of stops is reduced to achieve higher speeds and
more carriage, high speed intercity trains will be defined. An
identical ex. for high speed train is TGV which has a single
phase 25kV; 50Hz on its catenary TGV can travel up to 330
miles/h. the power supply of TGV is handled by French
national grid on voltage levels of 275 kV or 400 kV to
increase reliability and power quality. There are other high
speed railways (HSR) like ICE in Germany or HSR 350X and
KTX in Korea [5] Sinkansen and Maglev in Japan. For general
information about worldwide high speed trains are described
in [17].
However very high power traction motors are applied in
freight trains especially those are running in US. They run in a
low speed high power manner. Because of this high power and
lower priority of freight in comparison to passenger carrying
railways, freight electrification has more power quality
problems and less economical justification.
2
countries devoted a specific power system to their ERs and
made other customers isolated from power quality
disturbances produced by railway. The other solution is to use
DC transmission systems for trains. This strategy is working
and different standard and a few not standard DC voltage
levels are used to supply railway system. In this approach
railway is connected to a main power system trough an AC\DC
rectifier and all of the power turbulences are cut off at a point
of common coupling by this high voltage rectifier. The other
solution was to design railway train to work as AC load but not
necessarily with standard frequency of 50/60 Hz. There are
different voltage levels for this type of railway power feeding.
The solutions before power electronics viability for this
level of voltage were limited to a few balancing
transformations in AC feeders namely: V transformer, Scott
transformer and Le Blanc transformer all of them well
compatible with simple single phase transformation in
capability of unbalance reduction. (Fig 1 from 80)
3
presented in [65] and [27] are shunt connected to solve both
harmonic distortion of 3rd , 5th and 7th harmonics and low
power factor. The shunt compensator is installed at the end of
overhead line and works regarding to the voltage which senses
at its connection point. In [67] an algorithm to achieve high
performance selective harmonic extraction is revised. In [68]
same active filter as [65] is deal as impedance connected to
end of feeder line. The paper is optimizing this impedance to
find the most effective control strategy for proposed active
filter to achieve acceptable voltage pantograph along the
whole line. In [64] another shunt connected active power
compensator is presented that suppose to compensate
unbalance created by railway application on power system in
addition to reactive power required by traction motor. The
method is upgrading a traditional Scott transformer with a
bidirectional inverter that can balance two output phases of
Scott transformer by transmitting a fraction of overloaded
phase to under loaded one. By side the inverter compensates
harmonics. [33] has realized same but more advanced strategy
for Shinkansen high speed railway (HSR). (Fig 2 from [33])
Fig 2: Scott transformer and DC/AC converter application for power balance
in Railway system.
4
which is used in this study is explained and measurements
results are presented and compared with mathematical
predictions. Then parameters that can not be easily considered
in mathematical harmonic analyse methods are named and the
difference they make is shown in measurement results. In [49]
Olympic electric train is studied in the power quality point of
view. Chargeable batteries are used to improve power quality
in case study system. In [86] and [92] probabilistic methods
for load flow in ER suppling power systems is suggested. They
purpose to layout Probability density functions of voltage or
power flow in certain point of the power system which
indicates the ranges of variations of these parameters. In [80]
traction unbalance problem is discussed and some
methodologies to analyse are presented. Then a new method is
offered which is based on sensing and compensating the
negative sequence of three phase power supply. The point
about this idea is that multiple sources of unbalance do not
interact because their effect on negative sequence is additive
and can be deal separately.
In [70] three level PWM inverter which is used for the HSR
traction drive is studied. The purpose is to analyses its
harmonic current characteristics in steady state mode. A
comparison between a three level converter harmonics with a
pair of interlaced two level converters is presented and
resulted to their equality in this point of view.
In [71] a model of an auto transformer fed AC HSR is
presented. Voltage pantograph in HSR is more problematic
because of fast change of load and structure by trains
movement. [71] has utilised its proposed model to introduce a
generalized, multi rout, and efficient method to solve
complicated system of working HSR. In [72] a mathematical
work is done to estimate voltage unbalance due to HSR power
demands. Different main power supply and feeder connections
are considered and there potential to reduce unbalance is
compared. [90] has suggested a rigorous way to evaluate
voltage unbalance produced by single phase HSR application
on power system. This new methods results are compared
with traditionally formulas for unbalance estimation. In [90]
the case of Taiwan HSR is studied. Another study concerning
about unbalance estimation is presented in [91], which uses
dynamic load estimation (DLE) to predict railway produced
unbalance. In this way an algorithm is illustrated which is used
to estimate dynamic load of Taiwan HSR and then foresee
unbalance affect of this changing load. In [93] the regarding
power system (Taipower) which -due to geographical
situations- is a longitudinal power system is studied to extract
impact of HSR on such a power system.
5
signalling ex. [100] is around British Railways history in
signalling technologies. [101] is an early survey on signalling
systems, Which has theorized signalling and listed common
purposes of signalling ex. speed increasing, reduction of
distance between trains and so increasing rail capacity. [102]
has suggested formal mathematical methods to specify and
design railway signalling schemes.
When the case is mass transit railway systems, signalling
strategy can contribute in concepts of power and energy
management. For ex. starting time of multiple running trains
which are supplied by same power network has considerable
effects on peak power demand. Regarding to mass transit
railway systems [103] has suggested generic algorithm to
optimize traffic.
[104] has explained a heavy traffic light train railway from
the signalling point of view. The main obligation is to arrange
signalling in a way that trains can keep moving and interrupts
be eliminated. The innovation suggested in this paper is to use
separated communication system to locate moving trains by
data transfer between train and a parallel installed
communication system. Traditionally partitioned rails were
used to detect moving trains positions, as accurate as
shortness of each rail partition. To compare abovementioned
train detection systems with recently proposed systems, [105]
can be mentioned which considers application of GPS for
signalling and train position detection. At last [106] and [87]
are explaining technical aspects about application of satellite
in railway signalling and navigation. To have a broader
approach to railway system compatibility concept [52] is
worthy to be reviewed. It covers all of probable compatibility
problems including EMI.
6
of current interest.
7
under study. [59] focuses on dynamic brake energy
recuperation on North American freight locomotives. It
suggests hybridisation for a rout that has two characteristics: it
contains 25 miles long down grade and it has a heavy traffic of
about 80 traversing trains a day. [73] and [99] has approached
Superconducting Magnetic Energy Storage (SMES) and
battery energy storage combination as a load levelling device.
Simultaneous application of SMES and battery is optimized to
increase life cycle of both. Another optimization in [77] is
undertaken to minimize volume of storage unit. In [99] SMES
is connected to feeders unlike [73] and [77]. (Fig 5 from [77])
Grid
SMES
Overhead Line
8
switches. In [81] an adaptive inverse model controller is
devised to compensate non-linearity and imperfections of
components. Switching strategy is a modified PWM to adapt
duty cycle with nonlinear and non-ideal system.
In [83] a two-switch high frequency flyback converter is
developed to achieve ZVS. A few modules of proposed
converter can be paralleled for higher power. The input
voltage of dc/dc converter in [83] is obtained from a fuel cell.
The characteristic of this circuit is the application of energy
transfer from leakage inductance of transformer. Due to the
fact that auxiliary power despite of input voltage fluctuation
has to provide a regulated voltage at output, some papers
around this purpose reviewed:
In [85] a phase modulated full-bridge converter is improved
to decrease output voltage harmonics and enhance it to show
more robustness against input voltage fluctuation. In [86] a
ZVS multi level resonant converter is proposed as well as [85]
phase shift modulation is utilized. For ZVS, leakage
inductance of transformer is brought into play. In [88] a novel
AC three phase input DC output converter is introduced. The
previous circuit that the new one is based on is a three parallel
full bridge rectifiers followed by buck-boost converters, which
proposed paper has merged rectifiers together and uses a
single buck boost converter. [89] has presented a new scheme
for switching which decouples gate switching voltages from
input voltage, and then it is a desirable configuration for
situations with varying input voltage.
IX. CONCLUSION
There are different power systems for energy distribution in
ERs and different problems to be solved in railway systems.
They are namely, power balance and quality, EMC, and
satisfactory auxiliary power. Active filters and more robust
and flexible power systems are general solutions to power
system problems. More accurately designed power electronics
devices are the solution for EMI problem. These solutions
briefly but widely are explained here.
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