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Energy Usage of Personal Rapid Transit Systems Simulation of the Skycab Concept

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AnnualEnergy Report Usage 2011 of Personal Rapid Transit Systems Simulation of the SkyCab Concept School of Engineering Sciences Master of Science Thesis by Platzhalterfläche für Bildmotiv cand. ing. Alexander Vogel Prof. Mats Berg Prof. Eckehard Schnieder Dipl. Ing. Tamás Kurczveil TRITA-AVE 2015:11 ISSN 1651-7660 IVA Nr. 1433 BioingenieurwesenStrukturiertes Doktorat Matr. 4349156 March 2015 BachelorWorkshop-Programm und Master of Science KTH Royal Institute of Technology Technische Universität Braunschweig Department of Aeronautical and Institut für Verkehrssicherheit und Vehicle Engineering: Division of Rail Vehicles AutomatisierungstechnikWintersemester 2014/15 Sammanfattning Den globala situationen för person- och godstransporter visar att energianvändningen inom transportsektorn stadigt ökar och prognoser tyder på att den kommer att fördubblas till 2050. Den största ökningen förväntas ske i Asien där, Kina kommer att stå för över 12 % av den globala energianvändningen år 2050. Inom EU, Europeiska Unionen, stod personbilarna 2012 för över 81 % av passagerartransporterna räknat i antal passager- arkilometrar. Nya energieffektiva och miljövänliga transportlösningar behöver utvecklas. En lösning med spårtaxi kombinerar fördelarna med konventionella vägtransportsys- tem (flexibilitet, tillgänglighet och attraktivitet) och spårtransportsystem (säkerhet, ka- pacitet och miljövänlighet). I detta examensarbete undersöks energianvändningen för spårtaxi. Detta sker i form av en fallstudie. Spårtaxi är en automatiserad transporttjänst för direktresor utan väntetider (likt taxiservice) i ett nätverk med banor som kompletterar masstransportsystem. Fokus i studien ligger på att utvärdera fordonens energianvändning i drift. Målet är att identifiera relevanta parametrar som avgör energianvändningen samt deras bidrag till denna. Frågan om effektiv energianvändning besvaras med hjälp av en simuleringsmodell. Denna baseras på konceptet SkyCab och en bedömning av fordonets parametrar. En beräkning är utförd som utgör en referens för att sedan jämföras med 16 variationer av nyckelparametrar. Relationen till växhusgaser undersöks och utsläppen beräknas för olika elektricitetsblandningar. Ett andragradspolynom är framtaget för att beskriva fordonets gångmotstånd som inkluderar uppskattningar av vagnens rullmotstånd för små, pneumatiska däck på en raksträcka samt i doserade kurvor. Hjälpkraftens energianvändning uppskattas säsom motsvarande en liten elektrisk bil och är starkt beroende av passagerarnas komfortbehov och yttre (väder)förhållanden. Ett resultat är att rullmotståndet står för cirka 44 % av energianvändningen och hjälpkraften för 33 %. Båda är potentiella mål för effektivitetsförbättringar. Ändringar av accelerationsnivåer har liten betydelse för energianvändningen då det är en mindre del av energin som regenereras. En ökning av topphastigheten är ett effektivt sätt att minska restiden med förhållanderis liten ökning av energianvändningen. Förslag lämnas i studien hur man kan minska energianvändningen genom att förbättra fordonets och banans nyckelegenskaper. Keywords: Energianvändning, spårtaxi, fordon, bana, simulering, parametervari- ation, elektrisk framdrivning, förarlös, nätverk I II Abstract The global situation of personal and freight transport shows that the energy demand for transportation steadily increases, and prognoses indicate that the energy usage will double until 2050. The largest growth rates are expected in Asia, and China in particular will account for over 12 % of global transport energy usage in 2050. Over 81 % of passenger transport in passenger kilometre was produced by passenger cars in 2012 in the European Union, and new energy efficient and environmental friendly solutions have to be developed. PRT (Personal Rapid Transit) systems combine the benefits of traditional road systems (flexibility, accessibility, attractiveness) and rail systems (safety, capacity, environmental friendliness). This MSc thesis investigates a concept by SkyCab AB as a case study, which offers an automated, non-stop and on-demand transportation service in a dedicated network and is supposed to fill a gap between personal cars and public transport. The focus is put on the energy usage of the vehicles in the operational phase. The objective is to identify the relevant parameters that determine the energy usage and their contributions. This request is addressed by setting up a simulation model, based on the SkyCab concept and estimations of vehicle parameters. A reference calculation and 16 variations of key parameters are conducted. The relation to greenhouse gas emissions is investigated and emissions are calculated for different electricity mixes. A second-order polynomial of running resistance for the vehicle is determined, includ- ing estimations of rolling resistance of small pneumatic tyres on straight track and in superelevated curves. The auxiliary power is estimated for the SkyCab vehicle on basis of a small electric passenger car. For the reference case the energy for rolling resistance is approx. 44 % of the energy usage, and auxiliary energy contributes by 33 %. Both offer potential for efficiency im- provement. The auxiliary power is strongly dependent on the passengers’ comfort needs and the ambient conditions. Changes of acceleration rates have low impact on the energy usage, since a smaller proportion of energy is regenerated. An increase in top speed is a sufficient measure to reduce trip time with comparably low increase in energy usage. Finally, suggestions are proposed to reduce the energy usage by improving key properties of the vehicle and guideway. Keywords: Energy usage, Personal Rapid Transit, tracked taxi, vehicle, guideway, sim- ulation, parameter variation, electric propulsion, autonomous, network III IV Zusammenfassung Der weltweite Energiebedarf des Personen- und Gütertransports zeigt einen kontinuier- lichen Anstieg, und der Ausblick bis 2050 zeigt eine Verdopplung des gesamten Ener- giebedarfs. Die größten Zuwachsraten werden in Asien erwartet, und insbesondere China allein wird in 2050 über 12 % des weltweiten Energiebedarfs verzeichnen. Über 81 % aller Personenkilometer in der Europäischen Union in 2012 wurden mit dem persönlichen Auto- mobil durchgeführt, und ein Bedarf für energieeffiziente und umweltfreundliche Transport- möglichkeiten wird deutlich. PRT (Personal Rapid Transit) Systeme vereinen die Vorzüge von traditionellen straßenge- bundenen Transportsystemen (Flexibilität, Zugänglichkeit, Attraktivität) und Schien- ensystemen (Sicherheit, Kapazität, Umweltfreundlichkeit). Diese MSc Thesis untersucht das Transportkonzept von SkyCab AB als Fallstudie. Es bietet einen automatisierten, un- unterbrochenen und bedarfsgesteuerten Transportdienst auf einem exklusiven Netzwerk und soll so die Lücke zwischen dem persönlichen Automobil und öffentlichen Transport- mitteln schließen. Der Fokus wird dabei auf den Energieverbrauch des Fahrzeugs in der operativen Phase gelegt. Die Zielsetzung besteht in der Identifizierung und Quantifizierung der relevanten Para- meter, die den Energieverbrauch bestimmen. Zu diesem Zweck wird ein Simulationsmodell konfiguriert welches auf dem Konzept von SkyCab basiert und zusätzlich Abschätzungen von Fahrzeugparametern enthält. Eine Referenzberechnung und 16 Parametervariationen werden durchgeführt. Der Bezug zur Emission von Treibhausgasen wird für verschiedene Energiemixe hergestellt. Das Polynom zweiter Ordnung für den Fahrwiderstand wird aufgestellt, wobei Abschätzun- gen bezüglich des Rollwiderstands kleiner pneumatischer Reifen auf gerader Strecke und in überhöhten Kurven berücksichtigt werden. Die Zusatzleistung für das Konzeptfahrzeug wird auf Basis eines kleinen rein elektrischen Fahrzeugs abgeschätzt. Der Energieverbrauch in der Referenzsimulation für den Rollwiderstand beträgt ca. 44 % des Gesamtenergieverbrauchs, und die Zusatzenergie beläuft sich auf ca. 33 %. Beide Anteile bieten Potential zur Optimierung, und die Zusatzenergie ist stark abhängig von den Komfortbedürfnissen der Passagiere und den Umgebungsbedingungen. Variationen der Beschleunigungs- und Bremsraten haben einen geringen Einfluss auf den Energiever- brauch, da gleichzeitig ein kleinerer Anteil regeneriert wird. Eine Zunahme der Höchst- geschwindigkeit wirkt sich durch mehr regenerierte Energie vergleichsweise gering auf den bezogenen Energieverbrauch aus, reduziert jedoch die Fahrzeit merklich. Abschließend werden Potentiale von Schlüsselparametern zur Reduktion des Energieverbrauchs des Fahrzeugs und der Fahrbahn aufgedeckt. Keywords: Energieverbrauch, Personal Rapid Transit, Fahrzeug, Simulation, Para- meter, Variation, autonom, elektrischer Antrieb, Netzwerk V VI Preface This MSc thesis is the final part of my studies on Mechanical Engineering. It was carried out at the Department of Aeronautical and Vehicle Engineering in the Division of Rail Vehicles at KTH Royal Institute of Technology in Stockholm. The supervision in Germany was provided by the Institute for Traffic Safety and Automation Engineering (IVA) at Technische Universität Braunschweig. I would like to thank my supervisor at KTH, Mats Berg, for giving me the opportunity and for his support and constructive criticism throughout all phases of this thesis. In the same way I would like to thank my supervisors Eckehard Schnieder and Tamás Kurczveil at IVA for their guidance and their trust in me. I am thankful for the proposition of the thesis by Åke Åredal from SkyCab AB and his encouragement and interest in my work. I am very grateful for the help of Sebastian
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