Yaw Damper Research Articles

Improving the stability of high-speed trains using an innovative passive yaw damper

Ensuring lateral stability is essential for achieving excellent operation safety and ride comfort of high-speed trains. However, complicated operational environments, particularly various wheel-rail contact geometries, would result in the occurrence of hunting instability. This study presents an innovative passive yaw damper to improve the stability of a high-speed train undergoing extreme wheel-rail contact conicities. A sensitivity analysis of the vehicle stability is first performed to demonstrate the importance of the dynamic stiffness of yaw dampers, promoting the application of the innovative damper. Experimental characterisation procedures enable the detailed investigation into the static and dynamic characteristics of the innovative damper, which are compared with those of conventional passive dampers to highlight the difference. To simulate the dynamic behaviour of the yaw damper, a numerical modelling method based on the Maxwell model is proposed. Using this method, the effectiveness of the innovative damper is assessed in terms of improving the vehicle stability at various wheel-rail conicities. The results show that the innovative yaw damper can ensure carbody stability at low conicity and bogie stability at high conicity, superior to conventional dampers, which fail to balance the vehicle stability at distinct conicities and usually result in hunting instability in specific wheel-rail contact states.

Directional control law functional analysis and design for civil aircraft simulator

Abstract Functional analyses of directional flight control law for a typical civil aircraft are conducted, including directional maneuver, rudder limiter, coordinated turn, Yaw Damper, Thrust Asymmetrical Compensation, Gust Alleviation, manual rudder trim, etc. Through inputs of doublet, step input, and sweeping frequency, open loop control characteristics are analyzed based on a linearized state-space matrix. Simulink block architecture of a closed-loop directional control law is constructed, aiming to fulfill flight control functions, including pedal-to-rudder control, Yaw Damper, coordinated turn, and gain-tuned rudder limiter. Simulations for the previously designed closed-loop directional control law are performed to verify the characteristics of directional handling qualities in the aspect of the Yaw Damper, directional static and dynamic stability, maneuverability, and sweeping frequency.

Research on fault diagnosis of mechanical component in high-speed train based on one-dimensional convolutional block residual channel attention

The yaw damper and the rolling bearing are key components to ensure the safe and reliable operation of high-speed trains. However, fault identification in these components remains challenging, with traditional feature extraction methods often suffering from low diagnostic accuracy. To address these issues, a one-dimensional convolutional block residual channel attention (1DCBRCA) method for fault diagnosis of high-speed train components is introduced. Firstly, the convolutional layer is constructed for feature extraction, and the convolution block attention module is utilized for adaptive feature optimization in both channel and space dimensions. Subsequently, a residual neural network model is established, with channel attention added after each residual block to focus on critical feature information, which is used for adjusting the weight parameters. Furthermore, the proposed method was validated through damper fault experiments and bearing fault experiments. Comparative analysis with state-of-the-art methods demonstrated that the proposed 1DCBRCA approach achieves higher diagnostic accuracy, confirming its potential to enhance fault diagnosis in high-speed train components.

The influence of semi-actively controlled magnetorheological bogie yaw dampers on the guiding behaviour of a railway vehicle in an S-curve: Simulation and on-track test

Many publications have shown that semi-actively controlled dampers could significantly improve the behaviour of a road or rail vehicle. In the case of a railway vehicle, these dampers promise to solve the contradiction between the damping requirements of different running modes (fast running on a straight track vs negotiating a tight curve). It is known that semi-active control of a bogie yaw damper can improve the vehicle behaviour when running fast on a straight track, but it is not known whether such semi-active control worsens the vehicle behaviour when negotiating a tight curve. This paper investigates the application of magnetorheological bogie yaw dampers in the locomotive bogie to reduce guiding forces and wear in wheel-rail contact when the vehicle negotiates the S-curve. The paper describes the magnetorheological damper, its mathematical model and the strategies for its semi-active control, followed by the results of simulations on a complex multi-body locomotive model and on-track testing on a real vehicle. The simulations and on-track tests have shown that the use of semi-active control of the yaw dampers reduces the guiding force by about 10%. The reduction in these forces will lead to a reduction in wear in the wheel-rail contact.

Mechanism and improvement for tail vehicle swaying of power-centralized EMUs

The swing phenomenon of the tail vehicle will reduce the stability of the train operation, and even seriously deteriorate the ride comfort of passengers. In response to the relevant railway department, this paper reported the different dynamics performances in tail vehicle swaying when power-concentrated EMUs passed through a tunnel under push/pull operation. To analyze the characteristics and mechanism of the EMU tail swaying, field tests and numerical simulations were conducted. Firstly, through the on-track test, it was found that under push operation, the EMU tail continued to sway at a frequency of 1.3 Hz inside the tunnel, while under pull operation, only a swing of 1.7 Hz appeared at the tunnel entrance. Subsequently, through a simulation analysis, it was found that under push operation, the vortex-induced vibration of the tail carbody occurred inside the tunnel, leading to the sustained swing with a carbody hunting frequency of 1.3 Hz; under pull operation, due to the aerodynamic effect of the tunnel entrance, the secondary lateral stop had an abnormal elastic collision with the bogie frame, and the lateral impact on the bottom of the tail carbody caused a swing of 1.7 Hz, which was verified by the field test. Finally, for the motor vehicle of the EMU tail, two improvement measures of yaw damper optimization were proposed to alleviate the EMU tail swaying inside the tunnel. Furthermore, the research results can provide a reference for the aerodynamic swing problem of other trains, which has certain engineering significance.

Carbody swaying suppression for a high-speed rail vehicle by utilising active lateral suspension control

This study proposes the use of active lateral secondary suspension (ALS) to address low-frequency carbody swaying in high-speed rail vehicles under low wheel-rail conicity conditions. Field experiments reveal lateral acceleration exceeding 0.10 g at a dominant frequency of 1.4 Hz, with a Sperling index exceeding 3.0 during carbody swaying occurs. By integrating field-measured wheel/rail profiles and yaw damper parameters into a multibody dynamics model of vehicle system, the coupling between bogie hunting and carbody yaw and upper-center roll modes is identified as the root cause of swaying. Evaluating classic sky-hook ALS controls, damping control proves highly effective. Doubling the damping coefficient and blow-off force becomes essential when only half of the four actuators per vehicle are active. Stiffness control adjusts carbody suspension modal characteristics to prevent resonances with the bogie hunting mode, effectively suppressing swaying. In contrast, inerter control exhibits limited efficacy. Semi-active control, with optimised gain settings, can also alleviate swaying, with control system delay identified as a critical factor, suggesting a 100 ms limit for effective swaying suppression.

Study of Resonance between Bogie Hunting and Carbody Mode via Field Measurements and Dynamic Simulation.

By addressing the phenomenon of carbody abnormal vibrations in the field, the acceleration of the carbody and bogie was measured using accelerometers, and the diamond mode of the carbody was identified. The equivalent conicity of the wheelset and the acceleration at the frame end indicated that the shaking of the carbody was caused by bogie hunting. In the SIMPACK simulation, the acceleration frequency and amplitude at the frame end and midsection of the side beam were calculated. The lateral deformation amplitude of the side beam in the finite element model was extracted, and a modal shape function for the diamond-shaped mode was established. By utilizing the modal vibration equation, the modal generalized forces of the carbody were computed, revealing that, during carbody shaking, the yaw damper force contributed significantly among the forces of the secondary suspension, with the phase difference between the front and rear bogies approaching 180°. This insight offers a novel perspective for subsequent active control strategies. Subsequently, these modal generalized forces were applied as external excitation to a coupled vibration model encompassing both the carbody and transformer. Aiming to reduce the acceleration amplitude at the side beam, the transformer was treated as a dynamic vibration absorber, allowing for the optimization of its lateral suspension parameters. As a result, the lateral and vertical acceleration amplitudes at the side beam were concurrently reduced, with the maximum decrease reaching 58.5%, significantly enhancing the ride comfort.

Numerical and experimental study on adaptive stiffness yaw damper for suppressing abnormal vibration of high-speed trains

Numerical and experimental study on adaptive stiffness yaw damper for suppressing abnormal vibration of high-speed trains

Carbody hunting behaviour of high speed vehicles in low effective conicity of wheel-rail contact

In the past, bogie hunting instability garnered more attention due to its potential for causing serious safety issues. However, with the rise in high-speed vehicle speeds and operational mileage, the concerns arising from carbody hunting can no longer be overlooked. This article investigates the causes and solutions for low-frequency carbody swaying under low effective conicity in wheel-rail contact, employing a combination of experimental and numerical techniques. Initially, the study involves an in-depth analysis of time-domain signals from lateral and vertical accelerations of the carbody and bogie frame during a high-speed train field-test. The carbody vibration mode resulting from carbody hunting displays a swaying motion at a frequency of 1.5 Hz. Subsequently, a dynamic system model of the high-speed vehicle was established and the suspension mode of the model were verified. The frequency of the carbody upper sway motion is determined to be 1.39 Hz. Low effective conicity is induced when grinding wheel match with new rail or new wheel match with grinding rail. Under this low effective conicity, the hunting frequency of the vehicle is around 1.5 Hz, close to the frequency of the carbody upper sway motion. The coincidence of the hunting frequency and the upper sway motion frequency leads to the low-frequency swaying of the carbody. At last, the effects of wheel profiles, rail profiles and suspension parameters on the carbody hunting have been studied. The study demonstrates that addressing low-frequency carbody swaying can be achieved through targeted rail grinding. This process involves modifying the rail profile while ensuring careful grinding of the rail inner corner. Furthermore, it has been confirmed in the article that replacing suitable yaw dampers is also effective.

Semi-active yaw dampers in locomotive running gear: New control algorithms and verification of their stabilising effect

Semi-active yaw dampers in locomotive running gear: New control algorithms and verification of their stabilising effect

Mechanics based lateral stability design for a railway Electric Multiple Unit

This paper presented a mechanics-based method to address the typical lateral stability issue of railway trains. A Base Electric Multiple Unit (Base EMU) and an upgraded EMU were used as the research objects. Mechanics-based models were developed for both systems; the Base EMU model was validated using actual test data. Different wheel-rail equivalent conicity values and suspension parameters were investigated. The results showed that inadequate wheel-rail guiding capacity under low conicity can led to the occurrence of lateral stability issues. When the train is pushed by motor cars, coupler lateral forces aggravate stability issues. Altering the yaw damper’s angle and damping properties can significantly reduce lateral swaying and improve the ride index. This represents a low-cost and favored solution. Decreasing the stiffness of the axle box pull rod is also effective in mitigating low-frequency lateral swaying.

Hunting stability control of high-speed bogie based on active yaw damper

Hunting stability is an inherent property of railway vehicles that determines the operational speed. This paper establishes a half-vehicle model with nonlinear wheel/rail equivalent conicity and interactive forces. Additionally, the dynamic performances of vehicle under various levels of wheel wear with passive suspension are compared and analyzed. Importantly, the investigation delves into the hunting stability of the vehicle system, employing both linear and nonlinear control approaches. The results demonstrate a notable reduction in critical speed during the end-worn period with a passive suspension. However, this reduction can be substantially countered through the application of active control, resulting in a significant speed increase. The implementation of stiffness control raises the frequency of limit cycles, whereas damping control serves to diminish it. Notably, an appropriate linear cubic stiffness control effectively mitigates the amplitudes of limit cycles during instances of instability. Moreover, the control strategy derived from the simplified model is extended to enhance the stability of the entire vehicle system. The research findings hold the potential to offer a promising strategy for the active control of high-speed vehicles, particularly during periods of wheel wear.

Cavitation induced hydraulic yaw damper failure and its effect on railway vehicle dynamic stability

Hydraulic yaw damper (HYD) is an important suspension component that ensures the safe and stable operation of high-speed railway vehicles. However, HYD experiences the performance degradation and failure during service. Recent research found that the cavitation in HYD can affect vehicle stability by deteriorating the dynamics performance of HYD. To reveal the influence mechanism and quantify the effect extent of cavitation on hunting stability, this study delves into the cavitation phenomenon in HYD through theoretical modeling, numerical simulation and experimental validation. Considering the gas phase composition in hydraulic oil and the dynamic process of each phase transformation, a multi-phase interaction dynamic model of the hydraulic oil was originally proposed. Based on this sub-model, the physical parametric model of the HYD was established and integrated into the vehicle system as an advanced force element to study the effect of cavitation on vehicle hunting stability. The results indicate that cavitation can lead to insufficient damping force in the extension or compression stroke of HYD, subsequently affecting the vehicle hunting stability. Comparing the effects of different initial gas content on bifurcation characteristics and hunting frequency, it is observed that an increase in initial gas content results in a decrease in both linear and nonlinear critical speeds, changes in the bifurcation type and an increase in the hunting frequency. Furthermore, this effect is nonlinear, exhibiting sensitive ranges and saturation values. To ensure operational stability of high-speed vehicles, measures should be taken to prevent cavitation in HYD.

Accelerated degradation test method and performance prediction with service mileage of the yaw damper in railway vehicles

The performance of the yaw damper for rail vehicles degrades significantly degradation after long-term operation, which directly affects the dynamic behaviour of the vehicle operation. To quickly achieve the performance degradation of the yaw damper and predict the operating mileage under actual service conditions, the operating displacement spectrum of the yaw damper under actual operating conditions is analysed and decomposed using the short-time Fourier transform. Based on the equivalent principle of energy loss during vibration attenuation, an accelerated test method is proposed for the performance degradation of yaw dampers. By conducting the accelerated degradation test of the yaw damper on the test bench, the continuous degradation relationship between the performance parameters of the damper and the loading times is obtained. By combining the operating displacement spectrum and the accelerated degradation test data, the performance degradation trajectory model of the yaw damper is established, taking into account the equivalent energy loss between the service mileage and the loading times. The mapping relationship among loading times, service mileage and performance degradation is constructed. Finally, parameter performance tests are conducted on yaw dampers under different service mileage to verify the accuracy of the performance degradation trajectory model. The results show that the proposed acceleration test method and degradation trajectory model can quickly realise the performance degradation of the damper and accurately predict the performance parameters for different service mileage under actual operating conditions.

Study on dynamic performance of high-speed railway vehicle using roller rig and numerical simulation

The development of high-speed trains has increased the demand for dynamic vehicle tests on roller rigs. This study presents a nonlinear multi-body dynamic model of a vehicle system running on a roller rig and an actual track. Dynamic tests for a high-speed vehicle were performed using a full-scale roller rig to validate the numerical model. The hunting stability characteristics of the vehicle were investigated by performing a comparative analysis of the roller rig tests and numerical simulations of the vehicle on roller rigs and tracks. The results indicate that the critical hunting speed of the vehicle on a roller rig is lower than that on a track, particularly under significantly high or low equivalent conicity and yaw damper failure conditions. The characteristics of the hunting stability, riding performance, and lateral acceleration of the bogie frame were comparable in both rig tests and line operations, exhibiting consistent trends under the normal operation of the suspension system with the wheel/rail matches existing within the ideal range of equivalent conicity. However, the lateral acceleration or lateral Sperling index of the carbody could better detect the carbody hunting under low equivalent conicities, particularly when the lateral acceleration of the bogie was not sufficiently effective.

The effect of yaw damper performance degradation on carbody hunting of high-speed trains

The yaw damper is an integral and pivotal component in guaranteeing the carbody hunting stability of high-speed trains (HSTs). However, it is reported that the occurring incidences of low-frequency carbody hunting frequently have been observed in HSTs, a predicament attributed to the degradation of yaw damper performance resulting from the obstruction of the damping valve by foreign particulates. Given these circumstances, the objective of this study is to investigate the impact of yaw damper performance degradation on the intricate phenomenon of carbody hunting motion. A HST dynamic model is developed, incorporating a detailed physical parameter model of the yaw damper, which enables the reproduction of abnormal low-frequency swaying arising from the deterioration in yaw damper performance. The findings of this study demonstrate that the obstruction of the damping valve significantly augments the damping force and dynamic stiffness of the yaw damper, thereby potentially instigating the occurrence of severe low-frequency hunting motion and consequent deterioration in the ride comfort of HSTs.

An experimental methodology to support development of yaw damper prototypes based on a hardware-in-the-loop test bench

Research and development of innovative suspension components for rail vehicles have involved huge investments in recent years. Research efforts have focussed on designing and optimising suspension systems to deal with the new challenges introduced in railway dynamics by the continuous increase in vehicle speed. In particular, yaw dampers have been a relevant research topic due to their influence on vehicle stability. In this context, this paper aims to propose a Hardware-In-the-Loop (HIL) methodology for testing yaw dampers under experimental conditions close to real operating scenarios, comparing the influence of different prototypes on the stability of high-speed rail vehicles. A reduced vehicle model is proposed for real-time integration in HIL tests. This model provides a reference stroke to be imposed on the prototype tested, considering the actual damping force provided by the device being analysed. Two yaw damper prototypes are introduced to validate the proposed methodology by means of comparative analysis at different vehicle speeds. The experimental results provided by the HIL test bench are then compared with corresponding analysis done using Multi-Body (MB) simulations. The proposed HIL methodology has proved to be able to test physical prototypes and define guidelines to assist damper manufacturers developing and optimising yaw damper components.

Suppression of carbody hunting for a locomotive caused by low wheel–rail contact conicity by optimising yaw damper location

This study addresses the issue of carbody hunting in an electric locomotive induced by low wheel-rail contact conicity. The main objective is to mitigate this unstable motion by optimising the location of yaw dampers while ensuring bogie stability under high conicity conditions. A field test was first conducted to observe the carbody hunting behaviour, and a detailed locomotive dynamics model was then developed and validated using experimental data. The impact of yaw damper locations on locomotive stability was investigated, taking into consideration different carbody modes. The findings reveal the mechanism behind the deterioration of carbody stability due to the yaw damper installation angle and two installation layouts were proposed to enhance the carbody stability. Comparisons were then made with traditional solutions using both linear and nonlinear analysis, and experimental validation confirmed the effectiveness of the optimised yaw damper locations in improving carbody stability. This research highlights the importance of optimising the yaw damper's location to suppress carbody hunting, providing valuable insights for railway engineers and offering a promising solution for enhancing stability in high-speed train.

The first passage problem of a stochastic wheelset system

In this paper, the first passage problem of a wheelset system under Gaussian white noise excitation is studied. Mainly from two aspects of analysis, one is the so-called first passage damage. The influence of noise intensity on mean first passage time and the sensitivity of yaw damper to wheelset system at different operating speeds are analyzed. The other type of damage is caused by the accumulation of fatigue damage represented by a physical quantity. In addition, according to the stochastic averaging method of quasi-non-integrable Hamiltonian system is proposed, the Hamiltonian function is approximated as a one dimensional Markov diffusion process dominated by Itoˆ equation. The global stability of wheelset system is analyzed by using singular boundary theory. The instability condition of the wheelset system is analyzed theoretically from the perspective of energy, and the response of the wheelset system under different running speeds is analyzed numerically, and the critical speed is determined. Numerical simulation verifies the correctness of theoretical analysis.

Ride comfort assessment of high-speed rail vehicles: influence of yaw dampers installation angle

High-speed rail vehicles are equipped with yaw dampers to avoid the arising of hunting motion when running at high-speed. Although these suspension components provide a stabilizing effect on the vehicles, they also influence the ride comfort performances by affecting the accelerations perceived by the passengers. In this context, this paper aims to correlate the installation angle on the vertical plane of such suspension components on the ride comfort performances of a generic high-speed train. The proposed methodology is based on multibody simulations of a model with deformable car body. The modal behavior of the model is aligned to the typical mode shapes and natural frequencies reported in literature.