Bogie System Research Articles

Mars Science Laboratory Mission and Science Investigation

Scheduled to land in August of 2012, the Mars Science Laboratory (MSL) Mission was initiated to explore the habitability of Mars. This includes both modern environments as well as ancient environments recorded by the stratigraphic rock record preserved at the Gale crater landing site. The Curiosity rover has a designed lifetime of at least one Mars year (∼23 months), and drive capability of at least 20 km. Curiosity’s science payload was specifically assembled to assess habitability and includes a gas chromatograph-mass spectrometer and gas analyzer that will search for organic carbon in rocks, regolith fines, and the atmosphere (SAM instrument); an x-ray diffractometer that will determine mineralogical diversity (CheMin instrument); focusable cameras that can image landscapes and rock/regolith textures in natural color (MAHLI, MARDI, and Mastcam instruments); an alpha-particle x-ray spectrometer for in situ determination of rock and soil chemistry (APXS instrument); a laser-induced breakdown spectrometer to remotely sense the chemical composition of rocks and minerals (ChemCam instrument); an active neutron spectrometer designed to search for water in rocks/regolith (DAN instrument); a weather station to measure modern-day environmental variables (REMS instrument); and a sensor designed for continuous monitoring of background solar and cosmic radiation (RAD instrument). The various payload elements will work together to detect and study potential sampling targets with remote and in situ measurements; to acquire samples of rock, soil, and atmosphere and analyze them in onboard analytical instruments; and to observe the environment around the rover. The 155-km diameter Gale crater was chosen as Curiosity’s field site based on several attributes: an interior mountain of ancient flat-lying strata extending almost 5 km above the elevation of the landing site; the lower few hundred meters of the mountain show a progression with relative age from clay-bearing to sulfate-bearing strata, separated by an unconformity from overlying likely anhydrous strata; the landing ellipse is characterized by a mixture of alluvial fan and high thermal inertia/high albedo stratified deposits; and a number of stratigraphically/geomorphically distinct fluvial features. Samples of the crater wall and rim rock, and more recent to currently active surface materials also may be studied. Gale has a well-defined regional context and strong evidence for a progression through multiple potentially habitable environments. These environments are represented by a stratigraphic record of extraordinary extent, and insure preservation of a rich record of the environmental history of early Mars. The interior mountain of Gale Crater has been informally designated at Mount Sharp, in honor of the pioneering planetary scientist Robert Sharp. The major subsystems of the MSL Project consist of a single rover (with science payload), a Multi-Mission Radioisotope Thermoelectric Generator, an Earth-Mars cruise stage, an entry, descent, and landing system, a launch vehicle, and the mission operations and ground data systems. The primary communication path for downlink is relay through the Mars Reconnaissance Orbiter. The primary path for uplink to the rover is Direct-from-Earth. The secondary paths for downlink are Direct-to-Earth and relay through the Mars Odyssey orbiter. Curiosity is a scaled version of the 6-wheel drive, 4-wheel steering, rocker bogie system from the Mars Exploration Rovers (MER) Spirit and Opportunity and the Mars Pathfinder Sojourner. Like Spirit and Opportunity, Curiosity offers three primary modes of navigation: blind-drive, visual odometry, and visual odometry with hazard avoidance. Creation of terrain maps based on HiRISE (High Resolution Imaging Science Experiment) and other remote sensing data were used to conduct simulated driving with Curiosity in these various modes, and allowed selection of the Gale crater landing site which requires climbing the base of a mountain to achieve its primary science goals. The Sample Acquisition, Processing, and Handling (SA/SPaH) subsystem is responsible for the acquisition of rock and soil samples from the Martian surface and the processing of these samples into fine particles that are then distributed to the analytical science instruments. The SA/SPaH subsystem is also responsible for the placement of the two contact instruments (APXS, MAHLI) on rock and soil targets. SA/SPaH consists of a robotic arm and turret-mounted devices on the end of the arm, which include a drill, brush, soil scoop, sample processing device, and the mechanical and electrical interfaces to the two contact science instruments. SA/SPaH also includes drill bit boxes, the organic check material, and an observation tray, which are all mounted on the front of the rover, and inlet cover mechanisms that are placed over the SAM and CheMin solid sample inlet tubes on the rover top deck.

The “resultant bifurcation diagram” method and its application to bifurcation behaviors of a symmetric railway bogie system

The concept of symmetric bifurcation for a symmetric wheel-rail system is defined. After that, the time response of the system can be achieved by the numerical integration method, and an unfixed and dynamic Poincare section and its symmetric section for the symmetric wheel-rail system are established. Then the ‘resultant bifurcation diagram’ method is constructed. The method is used to study the symmetric/asymmetric bifurcation behaviors and chaotic motions of a two-axle railway bogie running on an ideal straight and perfect track, and a variety of characteristics and dynamic processes can be obtained in the results. It is indicated that, for the possible sub-critical Hopf bifurcation in the railway bogie system, the stable stationary solutions and the stable periodic solutions coexist. When the speed is in the speed range of Hopf bifurcation point and saddle-node bifurcation point, the coexistence of multiple solutions can cause the oscillating amplitude change for different kinds of disturbance. Furthermore, it is found that there are symmetric motions for lower speeds, and then the system passes to the asymmetric ones for wide ranges of the speed, and returns again to the symmetric motions with narrow speed ranges. The rule of symmetry breaking in the system is through a blue sky catastrophe in the beginning.

소형탈선시뮬레이터를 이용한 1/5 축소대차의 주행안정성 시험

철도차량의 탈선은 발생 시 대형사고로 이어질 수 있어, 철도차량의 주행안전 확보 문제는 철도운영기관 및 시설기관의 주요 현안 사항이다. 현재 대차의 동적 안정성 특성 시험은 대차 주행시험대라는 시험설비를 이용하여 시험을 하고 있다. 그러나 실물을 대상으로 한 실물규모의 주행시험대상에서의 동특성 시험은 시험 준비와 관련된 시험비용 및 시험소요 시간의 증가, 다양한 시험조건 설정 측면에서 어려움이 있다. 이러한 단점을 극복하고자 시험 편의성 측면에서 축소형 주행시험대를 활용하고 있으나 국내에서는 아직까지 축소대차, 축소트랙 등의 기초적인 수준의 연구가 진행되고 있다. 본 연구에서는 철도차량의 동적 거동을 예측하는 방법으로서 소형탈선시뮬레이터를 이용하여 상사기법이 적용된 1/5 축소대차의 주행안정성 시험에 대한 연구를 수행하였다. 또한, 시험데이터와 해석데이터를 비교·검증하기 위하여 상용해석프로그램을 이용하여 해석모델을 구현하고, 이를 이용하여 도향상에 따른 1/5 축소대차의 동적특성을 확인하였다. The dynamic stability of railway vehicle has been one of the important issues in railway safety. The dynamic simulator has been used in the study about the dynamic stability of railway vehicle and wheel/rail interface optimization. Especially, a small scale simulator has been widely used in the fundamental study in the laboratory instead of full scale roller rig which is not cost effective and inconvenient to achieve diverse design parameters. But the technique for the design of the small scale simulator about the dynamic characteristics of the wheel-rail system and the bogie system has not been well developed in Korea. Therefore, the research using the small-scaled derailment simulator and the 1/5 scaled bogie has been conducted. In this paper, we did running stability test of 1/5 scaled bogie using small-scaled derailment simulator. Also, for the operation of the small scaled simulator, it is required to investigate the performance and characteristics of the simulator system. This could be achieved by a comparative study between an analysis and an experiment. This paper presented the analytical model which could be used for verifying the test results and understanding of the physical behavior of the dynamic system comprising the small- scaled derailment simulator and the 1/5 scaled bogie.

Derailment Analysis of High-Speed Railway Vehicle Bogies

Based on the heuristic nonlinear creep model, the nonlinear coupled differential equations of the motion of a 12 degree-of-freedom (12-DOF) bogie system which takes account of the lateral displacement, vertical displacement, the roll angle and the yaw angle of the each wheelset and the bogie frame, moving on curved tracks are derived. The nonlinear creep forces and moments are constructed via the saturation constant of the nonlinear creep model in completeness. The effect of the suspension parameters of a bogie system on the derailment quotient is investigated. Results obtained in this study show that the derailment quotient of a bogie system increases as the vehicle speed increases. In addition, the derailment quotient of a bogie system is generally decreased with the increasing values of suspension parameters.

Multibody dynamics modelling of the freight train bogie system

Previous work in the railway technology laboratory at Virginia Polytechnic Institute and State University (Virginia Tech) focused on better capturing the dynamics of the friction wedge, modelled using three-dimensional rigid body dynamics with unilateral contact conditions. The current study extends the previous work to a half-bogie model treated as an application of multibody dynamics with unilateral contact to model the friction wedge interactions with the bolster and the sideframe. The half-bogie model was derived using MATLAB and functions as a three dimensional, dynamic, and multibody dynamics model comprised of four rigid bodies: a bolster, two friction wedges, and a sideframe assembly. This expanded model allows each wedge four degrees of freedom: vertical displacement, longitudinal displacement (between the bolster and sideframe), pitch (rotation around the lateral axis), and yaw (rotation around the vertical axis). The bolster and the sideframe are constrained to have only the vertical degree of freedom. The geometry of these bodies can be adjusted for various simulation scenarios. The bolster can be initialised with a pre-defined yaw (rotation around the vertical axis) and the sideframe may be initialised with a pre-defined pitch/toe (rotation around the lateral axis). The results of the multibody dynamics in half-bogie model simulation are shown in comparison with results from NUCARS®, an industry standard in train-modelling software, for similar inputs.

Dynamic Analysis for Derailment Safety of High-Speed Railway Vehicle Bogies

Based on the heuristic nonlinear creep model, the nonlinear coupled differential equations of the motion of a 12 degree-of-freedom (12-DOF) bogie system which takes account of the lateral displacement, vertical displacement, the roll angle and the yaw angle of the each wheelset and the bogie frame, moving on curved tracks are derived. The nonlinear creep forces and moments are constructed via the saturation constant of the nonlinear creep model in completeness. The effect of the suspension parameters of a bogie system on the derailment quotient is investigated. Results obtained in this study show that the derailment quotient of a bogie system increases as the vehicle speed increases. In addition, the derailment quotient of a bogie system is generally decreased with the increasing values of suspension parameters.

A Study on the Fracture Test in Running System of Railway

This paper describes the results of structural analysis and loading test of a bogie frame. The purpose of the analysis and test is to evaluate the safety and functionality of the bogie frame under maximum load. The bogie system consist of the bogie frame, suspensions, wheel-sets, a brake system and a transmission system. Of these components, the bogie frame is the major component subjected to the vehicle and passenger loads. The evaluation method used the JIS E 4207 specifications throughout the FEM analysis and static load test. The test results have shown the bogie frame to be safe and stable under design load conditions.

Anti‐slip/slid re‐adhesion control based on disturbance observer considering bogie vibration

AbstractIn order to suppress slip/skid phenomena, we have already proposed an anti‐slip/skid re‐adhesion control system based on a disturbance observer, and have confirmed that this system drives the train with a high adhesion force utilization ratio. However, this system does not consider vibration in the actual bogie dynamics of electric commuter trains, even though tangential force estimation is affected by bogie vibration. Hence, the drive control system cannot determine the appropriate motor torque reference, and sometimes reduces the adhesion force utilization ratio. This paper proposes a new anti‐slip/skid re‐adhesion control system based on a disturbance observer considering the first resonant frequency of the bogie system.In order to confirm the performance of the proposed anti‐slip/skid re‐adhesion control system, the system was tested by numerical simulation. This paper presents the results of a numerical simulation using a 4M1C motor car model, which has a sensorless vector control system. The proposed disturbance observer is found to be effective in suppressing the vibration of the estimated tangential force. The numerical simulation results show that the proposed adhesion control method has excellent performance. © 2010 Wiley Periodicals, Inc. Electr Eng Jpn, 172(2): 37–46, 2010; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.20974

Realization of anti‐slip/skid re‐adhesion control for electric commuter train based on disturbance observer

AbstractRecently, disturbance observer has been used in many system and industry applications. This paper focus on the fine motion control technology based on disturbance observer for electric commuter train. The improvement of adhesion characteristics is important in electric commuter train. We propose the anti‐slip/skid re‐adhesion control system based on disturbance observer and sensor‐less vector control. The effectiveness of the proposed method is confirmed by the experiment based on the actual electric commuter train, which is Series 205‐5000 of East Japan Railway Company. Moreover, in order to extend the anti‐slip/skid re‐adhesion control considering the bogie vibration phenomenon, we propose a new anti‐slip re‐adhesion control based on the high order disturbance observer considering the resonant frequency of bogie system. Copyright © 2009 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.

鉄道車両用アシスト操舵システムの実験的検討

鉄道車両用アシスト操舵システムの実験的検討

Development of a tilting system for electric multiple unit to speed up on conventional lines

An advanced tilting system for KTT (Korean Tilting Train) was developed and a performance test of the system has been completed. KTT has been constructed to speed up and promise a significant enhancement in service quality on a conventional line. KTT is an electric multiple unit composed of 6 cars running at the design speed of 200 km/h. The tilting system is the core technology of KTT and combined with the conventional bogie system. It has a self-steering mechanism and a swing link. The self-steering mechanism of Z-bar type is free to rotate on the curve and stable to run on a straight line. The swing link mechanism of the bolster enables the carbody to tilt up to 8°. A tilting control system detects a curve with sensors and commands the electro-mechanical actuators to move the bolster through the computer network system. GPS collaborates with the tilting system to perceive the curve previously and enables gradual tilting so as not to violate passenger comfort. The performance of the tilting system has been verified by a trial test running of KTT on a commercial conventional line. The tilting system is ready for commercial use.

A Study on the Fatigue Test of Bogie Frame by Stress Measurement

This paper describes the results of structural analysis and loading test of a bogie frame. The purpose of the analysis and test is to evaluate the safety and functionality of the bogie frame under maximum load. The bogie system consist of the bogie frame, suspensions, wheel-sets, a brake system and a transmission system. Of these components, the bogie frame is the major component subjected to the vehicle and passenger loads. The evaluation method used the JIS E 4207 specifications throughout the FEM analysis and static load test. The test results have shown the bogie frame to be safe and stable under design load conditions.

Antislip Readhesion Control Based on Speed-Sensorless Vector Control and Disturbance Observer for Electric Commuter Train—Series 205-5000 of the East Japan Railway Company

The improvement of adhesion characteristics is important in electric commuter train. The electric commuter train has both a slip phenomenon and a slide phenomenon. Slip-and-slide phenomena degrade the comfortable riding performance of electric commuter train. We have already proposed an antislip/ antislide readhesion control system based on disturbance observer and sensorless vector control. The effectiveness of the proposed method has been confirmed by the experiment and the numerical simulation using the tested bogie system of electric commuter train. Then, we apply the proposed method to the actual electric commuter train of series 205-5000 of the East Japan Railway Company. In the experimental results of series 205-5000, this paper demonstrates that the proposed antislip/slide readhesion control system has the desired driving wheel torque response. Moreover, this paper discusses the evaluation method of readhesion control test results.

A Study on the Structural Analysis and Loading Test of the Bogie Frame

This paper describes the results of structural analysis and loading test of a bogie frame. The purpose of the analysis and test is to evaluate the safety and functionality of the bogie frame under maximum load. The bogie system consist of the bogie frame, suspensions, wheel-sets, a brake system and a transmission system. Of these components, the bogie frame is the major component subjected to the vehicle and passenger loads. The evaluation method used the JIS E 4207 specifications throughout the FEM analysis and static load test. The test results have shown the bogie frame to be safe and stable under design load conditions.

Experimental Study on the Structural Safety Assessment of the Tilting Bolster Frame

This study has performed the experimental study to assess the structural safety of a bolster frame that is applied to the bogie system of Korean tilting train. In order to achieve this goal, firstly, loading conditions imposed on the bolster frame were investigated. Based on the international standard and dynamic analysis, the loading conditions were derived. In this study, the dynamic load cases that consider the carbody tilting effect were established. The structural safety of the bolster frame was evaluated by static test under these static loads and the fatigue strength was assessed using Goodman diagram. From the assessment, the bolster frame has satisfied the structural safety. In addition, fatigue test was carried out up to 1x107cycles under tilting load condition established in this study. The inspection of fatigue crack using NDT method was conducted at 6x106 and 1x107 cycles.

Evaluation of structural safety of a tilting bolster

This study has performed the experimental study to assess the structural safety of a bolster frame that is applied to the bogie system of Korean tilting train. In order to achieve this goal, firstly, loading conditions imposed on the bolster frame were investigated. Based on the international standard and dynamic analysis, the loading conditions were derived. In this study, the dynamic load cases that consider the carbody tilting effect were established. The structural safety of the bolster frame was evaluated by static test under these static loads and the fatigue strength was assessed using Goodman diagram. From the assessment, the bolster frame has satisfied the structural safety. In addition, fatigue test was carried out up to 10 × 10 6 cycles under tilting load condition established in this study. The inspection of fatigue crack using NDT method was conducted at 6 × 10 6 and 10 × 10 6 cycle.

On the motion of the structure varying multibody systems with two-dimensional dry friction

In the present paper the dynamics of the structure varying multibody systems caused by stick-slip motion with two-dimensional dry friction are analyzed. The methods to determine friction force both in stick and slip states are described. The direct method of considering the wagon bogie system as a structure varying system was used to consider two dimensional friction at the wheelset-side frame connection. The concept of friction direction angle used to determine the friction force components of two-dimensional dry friction both in the stick and slip motion states was used. A speed depended friction coefficient was used and described approximately by hyperbolic secant function. All switch conditions were derived and friction forces both for stick and slip states. Some simulation results are provided.

電空協調制御を考慮した滑走再粘着制御への外乱オブザーバによる再粘着制御系の応用

We have already proposed the anti-slip re-adhesion control based on disturbance observer and sensor-less vector control at acceleration mode. This paper proposes a new anti-skid re-adhesion control based on disturbance observer at braking mode. The numerical simulation and experimental results point out that the proposed anti-skid re-adhesion control system has the desired driving wheel torque response for the tested bogie system of electric train.An actual train uses both electric brake and air brake in the high-speed range. Hence, this paper proposes a new anti-skid re-adhesion control considering the air brake, which carries out the cooperation control of electric brake and air brake in order to realize a fine re-adhesion control. The numerical simulation results point out that the proposed system has the desired driving wheel torque response and a fine anti-skid re-adhesion control.

速度センサレスベクトル制御·外乱オブザーバによる空転再粘着制御の実車両への適用とその評価<br>-205系5000番代電車における実例-

The improvement of adhesion characteristics is important in electric motor coach. We have already proposed the anti-slip/skid re-adhesion control system based on disturbance observer and sensor-less vector control. The effectiveness of the proposed method has been confirmed by the experiment and the numerical simulation using the tested bogie system of electric motor coach.Then, we apply the proposed method to the actual electric multiple units, which is Series 205-5000. In the experimental results of Series 205-5000, this paper discusses that the proposed anti-slip/skid re-adhesion control system has the desired driving wheel torque response. Moreover, this paper proposes the evaluation method of re-adhesion control test results.

A new three-dimensional finite element analysis model of high-speed train–bridge interactions

In this study, a new finite element model for three-dimensional FE analysis of high-speed train–bridge interactions is proposed, in which various improved finite elements are used for modeling the structural constituents of a railway bridge. Specifically, the deck of a railway bridge is modeled by nonconforming flat shell (NFS) elements with 6 DOFs, which have shown high performance in the numerical examples of previous research. The track structures are idealized using beam finite elements with the offset of beam nodes and assumed to be beams on a two-parameter elastic foundation. Also, the vehicle model devised for a high-speed train is employed, which has an articulated bogie system. Using Lagrange’s equation, the equations of motion of the vehicle–bridge system can be formulated. In addition, by deriving the equations of the forces acting on the bridge considering the vehicle–bridge interaction forces, the complete system matrices of the total vehicle–bridge system can be constructed. As numerical examples of this study, a simply supported steel–concrete composite bridge and a two-span PC box-girder bridge are analyzed and results are compared with those of previous research and experimental results.