Energooptymalne sterowanie układu napędowego tramwaju z silnikami prądu stałego przy zakłóceniach ruchu pojazdu

The paper deals with problems of elaboration of an algorithm of the tram vehicle traffic with the object of achieving the minimum energy consumption. Except some specific, idealized situations, the frequent, dynamical changes of the tram traffic conditions occur. In particular, it's typical for the ride in the city centre. The various, unforeseeable disturbances of the traffic can appear. In this paper, within the framework of the original methodics three types of tram ride with traffic perturbations have been described: disturbances at the beginning of the ride, unplanned speed limitations during the vehicle run, unexpected disturbances inside the segment between the neighbouring stops. It was shown that the best determination of duration of the starting, the running with the constant speed, the coasting and braking made possible achieving the minimum of the electric-energy consumption. In the paper, calculations of the vehicle run according to the criterion of the minimum energy use have been connected with the procedure of liquidation of the delay.