Rail Vehicle Dynamics Research Articles

The wheel-rail contact friction influence on high speed vehicle model stability

Right estimating of the coefficient of friction between the wheel and rail is essential in modelling rail vehicle dynamics. Constant...

Jerk analysis in rail vehicle dynamics

Summary The acceleration and deceleration of trains are essential for satisfactory performance of train services and for effective utilisation of line capacity by railways for a given network. However, it increases the risk of unbalancing the passengers. Therefore, in this paper, the jerk was analysed in the vehicle in order to examine its effect on safety and comfort to the passengers. For the purpose of this analysis, a rake with 24 ICF coaches fitted with CBC (H type tight lock) and low preload draft gear hauled by WDP4 locomotive was considered. It was modelled using Universal Mechanism – a multibody dynamic software. Also, in addition, the vehicle is considered to be subjected to external forces such as rolling resistance, longitudinal wheel resistance, and gravitational force. The tractive and braking efforts for the locomotives are also considered with realistic track conditions between Lucknow and Kanpur of India. The presented results suggest that the CBC with balanced type draft gear reduces the jerk in the train.

An efficient recursive least square-based condition monitoring approach for a rail vehicle suspension system

ABSTRACTA model-based condition monitoring strategy for the railway vehicle suspension is proposed in this paper. This approach is based on recursive least square (RLS) algorithm focusing on the deterministic ‘input–output’ model. RLS has Kalman filtering feature and is able to identify the unknown parameters from a noisy dynamic system by memorising the correlation properties of variables. The identification of suspension parameter is achieved by machine learning of the relationship between excitation and response in a vehicle dynamic system. A fault detection method for the vertical primary suspension is illustrated as an instance of this condition monitoring scheme. Simulation results from the rail vehicle dynamics software ‘ADTreS’ are utilised as ‘virtual measurements’ considering a trailer car of Italian ETR500 high-speed train. The field test data from an E464 locomotive are also employed to validate the feasibility of this strategy for the real application. Results of the parameter identification performed indicate that estimated suspension parameters are consistent or approximate with the reference values. These results provide the supporting evidence that this fault diagnosis technique is capable of paving the way for the future vehicle condition monitoring system.

Machine learning from computer simulations with applications in rail vehicle dynamics

ABSTRACTThe application of stochastic modelling for learning the behaviour of a multibody dynamics (MBD) models is investigated. Post-processing data from a simulation run are used to train the stochastic model that estimates the relationship between model inputs (suspension relative displacement and velocity) and the output (sum of suspension forces). The stochastic model can be used to reduce the computational burden of the MBD model by replacing a computationally expensive subsystem in the model (suspension subsystem). With minor changes, the stochastic modelling technique is able to learn the behaviour of a physical system and integrate its behaviour within MBD models. The technique is highly advantageous for MBD models where real-time simulations are necessary, or with models that have a large number of repeated substructures, e.g. modelling a train with a large number of railcars. The fact that the training data are acquired prior to the development of the stochastic model discards the conventional sampling plan strategies like Latin Hypercube sampling plans where simulations are performed using the inputs dictated by the sampling plan. Since the sampling plan greatly influences the overall accuracy and efficiency of the stochastic predictions, a sampling plan suitable for the process is developed where the most space-filling subset of the acquired data with number of sample points that best describes the dynamic behaviour of the system under study is selected as the training data.Results indicated that the stochastic modelling technique is effective in improving the computational efficiency of the MBD model without compromising the accuracy of the predictions, although the improvements in the computational efficiency of the technique could not be quantified due to the inefficiencies associated with transferring the data between multiple software packages (SIMPACK, SIMULINK).

An alternative to FASTSIM for tangential solution of the wheel–rail contact

ABSTRACTIn most rail vehicle dynamics simulation packages, tangential solution of the wheel–rail contact is gained by means of Kalker's FASTSIM algorithm. While 5–25% error is expected for creep force estimation, the errors of shear stress distribution, needed for wheel–rail damage analysis, may rise above 30% due to the parabolic traction bound. Therefore, a novel algorithm named FaStrip is proposed as an alternative to FASTSIM. It is based on the strip theory which extends the two-dimensional rolling contact solution to three-dimensional contacts. To form FaStrip, the original strip theory is amended to obtain accurate estimations for any contact ellipse size and it is combined by a numerical algorithm to handle spin. The comparison between the two algorithms shows that using FaStrip improves the accuracy of the estimated shear stress distribution and the creep force estimation in all studied cases. In combined lateral creepage and spin cases, for instance, the error in force estimation reduces from 18% to less than 2%. The estimation of the slip velocities in the slip zone, needed for wear analysis, is also studied. Since FaStrip is as fast as FASTSIM, it can be an alternative for tangential solution of the wheel–rail contact in simulation packages.

Computational Modelling of the Rail Vehicle Multibody System Including Flexible Bodies

Tools for computer simulations are widely used in the field of a rail vehicle design. These means of virtual reality allow to perform static analyses of rail vehicle parts and dynamic analyses of a rail vehicle multibody system. For static analyses the finite element methods are most commonly used while the multibody system analyses are used for analyses of the rail vehicle dynamics. This paper deals with an implementation of flexible bodies into the rail vehicle multibody system. The implementation of flexible bodies into the rail vehicle multibody system extends the using of simulations, especially for an assessment of an influence of flexible bodies on running properties of the rail vehicle.

Influence of wheel–rail contact modelling on vehicle dynamic simulation

This paper presents a comparison of four models of rolling contact used for online contact force evaluation in rail vehicle dynamics. Until now only a few wheel–rail contact models have been used for online simulation in multibody software (MBS). Many more models exist and their behaviour has been studied offline, but a comparative study of the mutual influence between the calculation of the creep forces and the simulated vehicle dynamics seems to be missing. Such a comparison would help researchers with the assessment of accuracy and calculation time. The contact methods investigated in this paper are FASTSIM, Linder, Kik–Piotrowski and Stripes. They are compared through a coupling between an MBS for the vehicle simulation and Matlab for the contact models. This way the influence of the creep force calculation on the vehicle simulation is investigated. More specifically this study focuses on the influence of the contact model on the simulation of the hunting motion and on the curving behaviour.

Influence of Bearing Flexibility in Rail Vehicle Dynamics

Dynamic multibody models for railway vehicles usually assume that the stiffness of the bearings is much higher than that of the primary suspension, neglecting their effect whatsoever. This assumption might not be entirely valid for high speed vehicles, where the primary suspension is stiffer than other rail vehicles; or for more complex systems such as variable gauge wheelsets, where the whole mechanic system might have a higher than expected flexibility. In this paper, a model to obtain the stiffness of a typical configuration of railway bearings is developed and applied to both a high speed vehicle bearing set and a variable gauge wheelset bearing set. The results show that the reduction of lateral stiffness as a result of bearing flexibility can reach up to 35% of its theoretical value. This massive reduction has a major influence on the prediction of the dynamic behaviour of these vehicles, e.g. critical speed or curving performance.

INVESTIGATION OF DYNAMIC CHARACTERISTICS OF GONDOLA CARS ON PERSPECTIVE BOGIES

Purpose. In this paper, it is necessary to examine the dynamic properties of the gondola car with bogies, model 18-1711 when it moves on straight and curved sections of a track. Methodology. The calculations were performed using the object-oriented programming on the program "Dynamics of Rail Vehicles" ("DYNRAIL" Myamlin S.V. registered 20.03.2003). Mathematical models of a gondola car and bogies 18-100 and 18-711 were created for the calculations. Findings. Dynamic performances comparison of the gondola car with bogies 18-1711 and the gondola car with bogies 18-100, obtained by calculation method was carried out. Originality. Firstly calculations in order to determine the dynamic properties of the gondola car with bogies 18-1711 when it moves on straight and curved sections of track were performed. At the same time an assessment of the dynamic characteristics of the gondola car was made. The following dynamic standards were determined: the coefficient of vertical dynamics (Cdv), the coefficient of horizontal dynamics (Cdh), and the safety factor against derailment (SFd). Track irregularities in vertical and horizontal transverse planes were assigned as perturbations. They should be so that the dynamic indexes of the widely used in operation gondola car on bogies model 18-100 keep in admissible range of speeds up to 80km / h for the empty gondola car and at speeds up to 90km / h for the loaded gondola cars. Practical value. As a result of the calculations and comparisons of their results, we have findings that the use of bogies with bilinear characteristic of the central suspension will improve the dynamic performances of gondola cars, currently operating on bogies, model 18-100. And by improving the dynamic performances it is possible to increase the permissible speeds of these cars motion.

A novel method to model wheel–rail normal contact in vehicle dynamics simulation

An approximate analytical method is proposed for calculating the contact patch and pressure distribution in the wheel–rail interface. The deformation of the surfaces in contact is approximated using the separation between them. This makes it possible to estimate the contact patch analytically. The contact pressure distribution in the rolling direction is assumed to be elliptic with its maximum calculated by applying Hertz' solution locally. The results are identical to Hertz's for elliptic cases. In non-elliptic cases good agreement is achieved in comparison to the more accurate but computationally expensive Kalker's variational method (CONTACT code). Compared to simplified non-elliptic contact methods based on virtual penetration, the calculated contact patch and pressure distribution are markedly improved. The computational cost of the proposed method is significantly lower than the more detailed methods, making it worthwhile to be applied to rolling contact in rail vehicle dynamics simulation. Such fast and accurate estimation of contact patch and pressure paves the way for on-line modelling of damage phenomena in dynamics simulation packages.

Experimental research of dynamic qualities of freight cars with bogies of different designs

Purpose. With the advent of new designs of freright cars the task of designing the more modern bogies, assessment of their dynamic properties depending on the type and structure of pecularities, accounting the axle loadings, providing the dynamic and running characteristics, meeting the conditions of impact on the track, stability, and frame forces intensity etc. becomes especially important. In order to launch the new production into manufacture and to assess the dynamic properties using different designs of bogies the running testes were conducted. They allowed one to compare the dynamic performance of the new bogie with the existing models. Methodology. The study was conducted using the method of numerical integration and mathematical modeling of dynamic loading of freight cars using the software package «Dynamics of Rail Vehicles» («DYNRAIL»). Findings. The results of studies of dynamic characteristics of open cars with new and worn wheels of bogie models 18-9771, 18-9770 and 18-578 in graphical and tabular form are presented. All figures are within the normative values and do not exceed the maximum admissible ones. Originality. When designing the bogie for loading 23.5 t/axle almost all available technical solutions to improve the characteristics of the freight car bogies (elastic bearers, cassette bearing in axle boxes, axle boxe adapter of original design, bilinear central spring suspension, etc.) were used. Practical value. As a result of the engineering works on projecting and manufacturing of the improved designs of freight car bogies a new design was received. It is highly competitive with the dynamic qualities of the best ones. Made choice of rational values of elastic-dissipative parameters of the bogie allows one to create standard series of running gears for freight cars for promising operating conditions.The results are of practical importance. They have found reflection in the number of author’spublications in special and semi-populareditions.

Determination of friction performance influence in the system "body–bogie" on the freight car dynamics

Purpose. The main requirements for the design of a new generation of cars, according to the Program of rolling stock renovation, are the requirements reducing the operating costs and increasing the cost-effectiveness of their use, taking into account the achievements of scientific and technical thought. Due to the urgency of this subject the paper is devoted to the study of the friction coefficient influence in the bearing connection «center plate – center bowl – bearers»of freight cars on their main dynamic parameters – coefficients of horizontal and vertical dynamics, body acceleration, frame strength, derailment stability factor. Methodology. The study was conducted by numerical integration and mathematical modeling of the freight car dynamic loading using the software package «Dynamics of Rail Vehicles» («DYNRAIL»). Findings. Investigations have shown that the safety movement parameters are influenced by both the friction parameters in bearing connection «center plate – center bowl – bearers» of freight cars in empty and loaded state with bogies TSNII-X3 (model 18-100). Effect have other components of freight car dynamics, namely: radii of curved track sections, height of outer rail, etc. Originality. The author investigated the friction influence on the car dynamic loading using new approaches to solving the problem of predicting the rolling stock dynamics. Prediction was carried out on the basis of significantly updated theoretical material that covers all history of the friction theory and includes the results of recent experimental studies because of the speed on the straights and curves of small-and medium-range sections of the road.Practical value. The obtained results have practical orientation. During the research and after modeling with the improved method of accounting of friction processes dependencies of main dynamic parameters of a four-freight gondola on the value of the friction coefficient in the "body – bogie" with regard to speed were obtained. The results of scientific studies have found their scientific use in a number of author publications in the special scientific and popular publications.

Design improvement of the locomotive running gears

Purpose. To determine the dynamic qualities of the mainline freight locomotives characterizing the safe motion in tangent and curved track sections at all operational speeds, one needs a whole set of studies, which includes a selection of the design scheme, development of the corresponding mathematical model of the locomotive spatial fluctuations, construction of the computer calculation program, conducting of the theoretical and then experimental studies of the new designs. In this case, one should compare the results with existing designs. One of the necessary conditions for the qualitative improvement of the traction rolling stock is to define the parameters of its running gears. Among the issues related to this problem, an important place is occupied by the task of determining the locomotive dynamic properties on the stage of projection, taking into account the selected technical solutions in the running gear design. Methodology. The mathematical modeling studies are carried out by the numerical integration method of the dynamic loading for the mainline locomotive using the software package «Dynamics of Rail Vehicles » («DYNRAIL»). Findings. As a result of research for the improvement of locomotive running gear design it can be seen that the creation of the modern locomotive requires from engineers and scientists the realization of scientific and technical solutions. The solutions enhancing design speed with simultaneous improvement of the traction, braking and dynamic qualities to provide a simple and reliable design, especially the running gear, reducing the costs for maintenance and repair, low initial cost and operating costs for the whole service life, high traction force when starting, which is as close as possible to the ultimate force of adhesion, the ability to work in multiple traction mode and sufficient design speed. Practical Value. The generalization of theoretical, scientific and methodological, experimental studies aimed at further improvement of the running parts for the mainline locomotives of promising designs is urgent for improving the rolling stock design. The observed improvements of the design features of the running gear elements for some types of the modern mainline locomotives, providing the necessary dynamic parameters of the vehicle movement are relevant; they have the practical value and can be used for further developments.

Optimization of rail profile to reduce wear on curved track

Wear is one of the most important factors affecting the structural life of railways. In urban railways, the curved track results in more wear than tangent track. Furthermore, the wear is frequently detected in a sharply curved track. Wear leads to reduction in the durability of railway as well as increase in the risk of derailment. In a recent study, a rail grinding was suggested to enhance the dynamic performance and extend the fatigue life of rails. This paper deals with an optimum design procedure for asymmetric rail head profile wherein the design profiles of high and low rails are simultaneously determined by minimizing the wear on curved tracks. The procedure employs a genetic-algorithm-based optimization method. The dynamic performances of a train such as lateral force, derailment and vertical force are evaluated using a rail vehicle dynamics program. The optimum design is validated by comparing the initial rail profile with the optimum profile in a full-scale wear test.

Practical Solution of Rail Vehicle and Track Dynamics Monitoring System

The improvement of traveller comfort and safety, in parallel to an increase of passenger train speed, is a reason to implement monitoring systems. These systems are more often used to monitor components of railway infrastructure and vehicles. Studies in this area must be preceded by identification and a complex analysis of the railway vehicle - track system. This allows us to recognise the dynamic properties of the system and then select the appropriate place to install sensors on board the vehicle. This paper presents the results of model studies and a prototype monitoring system which is installed on a passenger electric traction unit. This system is aimed, inter alia, at monitoring the state of train suspension and the detection of some particular track geometric irregularities.

The influence of track modelling options on the simulation of rail vehicle dynamics

This paper investigates the effect of different models for track flexibility on the simulation of railway vehicle running dynamics on tangent and curved track. To this end, a multi-body model of the rail vehicle is defined including track flexibility effects on three levels of detail: a perfectly rigid pair of rails, a sectional track model and a three-dimensional finite element track model. The influence of the track model on the calculation of the nonlinear critical speed is pointed out and it is shown that neglecting the effect of track flexibility results in an overestimation of the critical speed by more than 10%. Vehicle response to stochastic excitation from track irregularity is also investigated, analysing the effect of track flexibility models on the vertical and lateral wheel–rail contact forces. Finally, the effect of the track model on the calculation of dynamic forces produced by wheel out-of-roundness is analysed, showing that peak dynamic loads are very sensitive to the track model used in the simulation.

Wheel/rail contact model for rail vehicle dynamics

An advanced method using progressive concept of correspondence is applied to create new wheel/rail model based on the virtual penetration theory. The geometry and mechanism of contact are solved simultaneously because of the independency in a defined correspondence. This model takes the penetrated profiles of wheel and rail and also associated creeps as its inputs, and produces driving contact forces as its outputs. The advantage of model is that there is no need to pre-tabulate rigid contact situation. This method allows calculating flexible, non-elliptical, multiple contact patches during integration of the model.

Computer Simulations of the Freight Wagon Laboratory Excitation

This paper deals with numerical and experimental investigations in the field of a rail vehicle dynamics. The sensitivity analysis of the influence of relevant wagon parameters on the coincidence of experimental measurements' and numerical simulations' results was examined. The aim of laboratory tests and computer simulations is the investigation of dynamic properties of leaf springs of two types mounted on a freight wagon. The goal of the computer simulations and experimental tests is the verification of the developed approach to the wagon multibody modeling. In future, verified wagon models can be used for studying the dynamics of complex vehicles in different driving situations or for various laboratory excitations.

Enhancing rail vehicle stability using bogie direction reversal

Steel wheels are facing the problem of plastic deformation and wear during their operation. Wheel wear within the flange and tread regions can affect the dynamics of rail vehicles. A number of methods are commonly employed to decrease the wear rate within both the flange and the tread regions of wheels. This paper focuses on the running-in period, and on a procedure for Bogie Direction Reversal 1 (BDR) to indicate the importance of operational aspect on the dynamics improvement of wheelset behaviour, and hence, vehicle safety and stability. Test results of eight wheels in a case study have been presented and analysed.

The importance of kinematics accuracy in modelling the dynamics of rail vehicle moving in a curved track with variable velocity

The paper is devoted to accurate description of kinematics of rail vehicle in its motion along curved track with variable velocity. Failing to do this description properly means inaccurate determination of inertia terms in the dynamical equations of motion. Determining how important are these terms is the paper’s main objective. Simulation results from complete model that includes all inertia terms arising from motion of the track centre-line based reference frames and from incomplete models with such terms selectively omitted are compared. The comparison proved particular significance of the omitted terms for vehicle moving along transition curves with variable velocity.