1. Introduction
Railroad transport is the most environmentally friendly mode of land transport, but in recent decades, it has been confronted with the huge expansion of individual road transport and air transport. Many international treatments and national policies have firmly entrenched the goal of lowering the modal split of individual road transport. Therefore, many countries are building high-speed lines and reducing domestic air connections. Alternatively, they are increasing the parameters of current railway lines, which is also a common way of developing the railway network, as it is cheaper than the construction of new lines. On the other hand, these changes require compliance with a number of geographical or urban restrictions of the original line. The Czech Republic is also preparing the construction of a high-speed line network (HSL) and is introducing speeds higher than 160 km·h
−1 on existing lines. This implementation is conditional on implementation of the European Rail Traffic Management System (ERTMS) trackside signaling equipment (European Train Control System (ETCS) + Global System for Mobile Communication—Railway (GSM-R)). This process brings with it unresolved issues about implementation of the ERA braking model given the conditions of the Czech railways. This article presents how partial measures have small impacts, but how important they are for the final target. The line section Praha–Plzeň hl. n. (a modernized section of the 3rd national transit railway corridor, which is part of the Rhine–Danube corridor in the TEN-T network) includes the longest railway tunnel in the Czech Republic. At 4150 m long, the tunnel was commissioned on 15 November 2018 [
1]. Successfully passing the pantograph tests, the Ejpovice tunnel was authorized for operation at 160 km·h
−1 on 26 September 2019 [
2]. In the future, it is planned to be used for a high-speed railway network within the national Fast Connection development programme. Therefore, the design speed for the tunnel is up to 200 km·h
−1 [
1]. With its maximum design speed of 200 km·h
−1, this line section is one of the pilot projects in the Czech Republic. Other pilot sections include: Brno–Břeclav, Kolín–Poříčany and Choceň–Pardubice on the 1st national transit railway corridor, Olomouc–Dluhonice on the 3rd national transit railway corridor, and Soběslav–Doubí and Sudoměřice–Votice on the 4th national transit railway corridor [
3].
Increasing the track speed is a current trend necessary for maintaining and reinforcing the attractiveness of railway transport. At the same time however, it is connected with higher investment costs for buildings, vehicles and safety devices. For a speed exceeding 160 km·h
−1 in the context of the Czech Republic, it is also necessary to amend the existing internal regulations of the railway infrastructure manager which set out the maximum speed of 160 km·h
−1 so far [
4]. Moreover, a track speed of more than 160 km·h
−1 will only be possible for vehicles equipped with the ETCS system in accordance with the national implementation plan [
5].
Considering the technical and financial challenges connected with the preparation and operation of sections at a speed exceeding 160 km·h−1, it is necessary to individually assess the efficiency and benefits of further increases in track speed in each such section. Using OpenTrack, this paper will simulate the rides through the Ejpovice tunnels at 140, 160 and 200 km·h−1. Based on the simulation results, the efficiency of such speed increase will be assessed in terms of both shortening the journey time and energy performance. Furthermore, the model will include the simulation of braking under ETCS, which also has an impact on the efficiency of driving at the maximum track speed.
The focus of this research is on the use of a simulation model in the SW OpenTrack for modeling a train run through the Ejpovice railway tunnel at speeds of 160 km·h
−1 and higher. The aim is to confirm the use of a higher speed in the tunnel based on the model with regard to saving travel time, energy consumption and the effect of ascending or descending gradient. The last part of the article focuses on the train run under the full supervision of the ERTMS/ETCS which is the necessary condition for the train running over 160 km·h
−1. In this area, the Czech infrastructure manager has not yet approved national values for ETCS, which can significantly affect the shape of the braking curve [
6]. In Poland, found that national values are a key parameter for the safety and throughput of the railway network [
7]. This article will show the effect of the ETCS on the useful length of the section with increased speed. The length of the tunnel can be compared with the research [
8], which can be used to calculate the optimal section length on a track with ETCS L2. These findings about the ETCS system will help in the near future, because this system is still under development for the Czech conditions and mainly the changes in national values are highly recommended [
9].
2. Materials and Methods
Modelling in OpenTrack allows for the assessment of rail infrastructure from many different perspectives. For instance, it can be used in assessing the following areas: running dynamics of railway vehicles, energy performance, operating intervals, line capacity, transport planning and the effect of changes on rail infrastructure and vehicles. From this perspective, it is quite a complex tool [
9]. However, it is always necessary to define the aim of a specific model and only model those elements that are relevant for this aim. A general scheme of setting up a simulation model in OpenTrack is provided in
Figure 1.
In the simulation model, the infrastructure is represented by a network graph. The vertices of the graph represent the kilometre position of decisive points on the transport infrastructure [
10]. The edges connecting them represent the characteristics of the individual line sections. In this case, each edge was assigned two speed profiles. One speed profile is meant for conventional trainsets (speed boards N), the other one for tilting trainsets (speed board NS). An alternative speed profile was created for the section between kilometre 93.751 at the Ejpovice railway station and kilometre 101.052 (a total of 7301 m), with track speed increased from the current 160 km·h
−1 to 200 km·h
−1. The model was created for the following stations: Rokycany (only the main tracks), Ejpovice (all tracks) and Plzeň hl. n. (station tracks 0, 0b, 1, 1a, 1b, 2 and 2a). The model of the Plzeň hl. n. station was designed to allow for the simulation of train service movements on the main tracks from/to the passenger station perimeter. Subsequently, itineraries were created for the envisaged train routes. In the stations Rokycany and Plzeň hl. n., the fictitious trains appear and disappear.
Figure 2 shows a part of the transport infrastructure model with operation point Ejpovice tunnel (from entry signals in Ejpovice to entry signals in the Plzeň hl. n. station).
The trains are ČD 680 “Pendolino” unit equipped with the tilting mechanism, the engine ČD 380 + 5 coaches—a representative of the modern long-distance express segment—and the engine ČD 362 + 5 coaches representing the contemporary long-distance express segment. The basic parameters of the individual reference trainsets are provided in
Table 1. The parameter “maximum deceleration” was calculated based on the actual braked mass percentage and based on the equation defined by the Decree No. UIC 544-1 [
11] using the following Equations (1) and (2).
where:
These equations expect that the deceleration is a constant from maximal speed to standstill, but [
7,
12] show that it is a set of variables. According to [
12], the deceleration limits for ETCS were calculated and set up in the OpenTrack software. Another discussed problem of braking curves is the brake build-up time. Equation (3) is commonly used, but this equation is rather far from the reality in the area of small speeds. The real shape of the braking curve is different which makes problems on the real infrastructure.
where:
te = total time of brake build-up [s]
treaction = reaction time [s]
tbuild = brake build-up time—Fb ≥ 0.95
This problem is solved in [
13] with the conclusion that the specifications of the ETCS should be changed, mainly that the braking calculation should be extended for the possibility of negative values of the deceleration during the brake build-up time. This will ensure a much more accurate shape of the braking curve in the OBU compared to conventional train braking. The resulting Equation (4) expresses a possible improvement in the calculation of surveillance curves compared to the current state. After the implementation of the proposal [
13] the target speed could be reached up to 22% closer to the speed restriction.
where:
dCSM/TSM = distance needed for deceleration from ceiling speed to target speed [m]
asafe = value of safe deceleration dependent on gradient, adhesion, BWP
aest = acceleration estimated during the traction cut off process
Tbe = emergency break build-up time
Tbs2 = service brake build-up time
Tdriver = driver reaction time between permitted speed supervision limit and SBITindication = Indication time for Indication supervision limit
a, b, c = constants from Subset 026-3
L = length of the train
Calculation of braking curves when solving the case of allusion to other limits, which can be calculated from the calculation of braking curves of the conversion calculation, which is based on Subset 026-3 [
12]. In this case it is a brake build-up time for emergency brake which can be described by Equation (5).
where:
This method described in [
12] counts that the variable
L is set as a
L = max (400 m; train length). If we substitute into Equation (5) we can calculate the minimum brake build-up time for emergency brake in (6):
This value is a minimum brake build-up time for emergency brake. For ceiling speed 200 km·h−1, this is the distance for brake build-up more than 270 m. If Equation (5) does not contain the condition of the minimum length of the train, the curve of EBD could be much closer to the danger point or End of Authority. Another time value added to the braking calculation is the driver reaction time. This value is stated in the Subset 026-3 as 4 s. The train running 200 km·h−1 runs more than 120 metres. This makes together nearly 400 metres of safety pillow.
In this simulation, it was not necessary to create a specific timetable. Simulation scenarios were designed to allow for the simulation of all feasible variants, which are relevant for maximum speed. Existing journey times and trainset standards were taken from the current timeTable 2019/2020 created by the infrastructure manager. An overview of existing journey times is provided in
Table 2. The values in
Table 2 are in seconds, because the following use of the simulation SW enables punctuality in seconds. For real timetable purposes, values are rounded to minutes with halves.
4. Discussion
The intention to increase the track speed in the Ejpovice tunnels to 200 km·h
−1 is in line with the fast connection development programme of the Czech Republic and the development of the TEN-T network. However, if the track speed is only increased in such a short section (7301 m) in the initial phase, the contribution of this increase towards the overall efficiency will be entirely marginal in relation to the total journey time. The greatest time savings were achieved in the direction Ejpovice–Plzeň hl. n., where thanks to favourable gradients, the journey time was shorter by 16 and 18 s for the ČD 680 “Pendolino” and ČD 380 + 5 Bmz, respectively. However, in the direction Plzeň hl. n.–Ejpovice, the effect was completely insignificant. This is mainly due to two factors. The first factor is the reduced speed within the perimeter of the Plzeň hl. n. railway station, which is limited to 80 km·h
−1. The other reason is the gradients, with the track ascending by up to 9‰. The speed increase, or more specifically achieving the maximum speed, is also connected with a jump in traction energy consumption. For the reference trainsets, the energy consumption in the direction Ejpovice–Plzeň hl. n. increased by 129% and 80.5% for the ČD 380 + 5 Bmz and ČD 680 “Pendolino”, respectively. In view of the insignificant shortening of the journey time, it should be considered whether it makes sense to only increase the track speed in this section. However, in the context of including the Ejpovice tunnel in the fast connection network, the intention to increase the track speed to 200 km·h
−1 is entirely justified. Another equally important effect is the fact that the entire section has to be equipped with the ETCS train protection system. Even though this system has a limiting effect on the maximum utilization of the infrastructure parameters, as mentioned in
Section 3, its commissioning is completely indispensable. At the same time, the introduction of ETCS will further increase safety and eliminate the risk of human errors. This elimination is a highly monitored parameter and is essential for the HSL.
This article solves just a short part of the track, but the findings can be generalized for the upcoming process of designing of the HSL in the Czech Republic. There will be many similar cases and decisions about the longer tunnel or higher slope. Using a simulation tool as a forecast can help the decision makers to detect the most effective scenario of the HSL.