In this paper, the dynamics model and energy consumption model for subway trains are established. Based on the models, a speed trajectory optimization strategy for subway trains considering the utilization of regenerative brake energy is designed. In order to ensure the executable of the optimization strategy, a terminal sliding mode fault-tolerant control strategy is designed for speed and position tracking of a subway train. Finally, a simulation case is designed based on the train data from Beijing Batong Line to prove the effectiveness of the proposed strategy.

subway train,energy-saving strategy,terminal sliding mode control,regenerative brake energy,trajectory optimization