Abstract
In this paper, a multibody dynamic model of a railway vehicle that assumes that vertical and lateral dynamics are weakly coupled, has been experimentally validated using an instrumented scaled vehicle running on a 5-inch-wide experimental track. The proposed linearised model treats the vertical and lateral dynamics of the multibody system almost independently, being coupled exclusively by the suspension forces. Several experiments have been carried out at the scaled railroad facilities at the University of Seville in order to test and validate the simulation model under different working conditions. The scaled vehicle used in the experiments is a bogie instrumented with various sensors that register the accelerations and angular velocities of the vehicle, its forward velocity, its position along the track, and the wheel–rail contact forces in the front wheelset. The obtained results demonstrate how the proposed computational model correctly reproduces the dynamics of the real mechanical system in an efficient computational manner.
Highlights
The presence of computer simulations applied to the dynamic analysis of railroad vehicles and infrastructures has increased in the railways industry over the last decade
The mentioned model has been fully developed by the Department of Mechanical Engineering at the University of Seville [7]. It assumes that vertical and lateral dynamics are weakly coupled through the suspension forces
Terms M L, CsL and KsL in Equation (2) respectively represent the constant mass, suspension damping and suspension stiffness matrices associated with the lateral dynamics, CcL and KcL are damping and suspension matrices associated with the contact forces acting on the wheelset in the lateral direction; Q ForIn represents the vector of generalised inertia forces due to the forward motion; L
Summary
The presence of computer simulations applied to the dynamic analysis of railroad vehicles and infrastructures has increased in the railways industry over the last decade. The most sophisticated and commonly used commercial simulation software in the railroad industry and research, such as SIMPACK or ADAMS-Rail, despite their accuracy, are far from having Real-Time (RT) simulation capabilities This represents a clear drawback if they want to be implemented on a vehicle’s onboard computer for the online running-safety monitoring of the vehicle, for instance. Every railway operating company is interested in on-board systems for the continuous monitoring of their vehicles and tracks for the detection of derailment at its earliest stage (detecting the magnitude of the vertical (V) and lateral (L) wheel-rail contact forces that can be used to calculate the value of derailment coefficients, like Nadal formula, to evaluate the risk of wheel climbing) [22,23,24], estimation of wheel and rail profiles [25], detection of track defects [26], or the measurement of track irregularities Any of these methods must be developed on the basis of a robust, accurate, and RT capable simulation model.
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