A numerical model of a HIL scaled roller rig for simulation of wheel–rail degraded adhesion condition

Scaled roller rigs used for railway applications play a fundamental role in the development of new technologies and new devices, combining the hardware in the loop (HIL) benefits with the reduction of the economic investments. The main problem of the scaled roller rig with respect to the full scale ones is the improved complexity due to the scaling factors. For this reason, before building the test rig, the development of a software model of the HIL system can be useful to analyse the system behaviour in different operative conditions. One has to consider the multi-body behaviour of the scaled roller rig, the controller and the model of the virtual vehicle, whose dynamics has to be reproduced on the rig. The main purpose of this work is the development of a complete model that satisfies the previous requirements and in particular the performance analysis of the controller and of the dynamical behaviour of the scaled roller rig when some disturbances are simulated with low adhesion conditions. Since the scaled roller rig will be used to simulate degraded adhesion conditions, accurate and realistic wheel–roller contact model also has to be included in the model. The contact model consists of two parts: the contact point detection and the adhesion model. The first part is based on a numerical method described in some previous studies for the wheel–rail case and modified to simulate the three-dimensional contact between revolute surfaces (wheel–roller). The second part consists in the evaluation of the contact forces by means of the Hertz theory for the normal problem and the Kalker theory for the tangential problem. Some numerical tests were performed, in particular low adhesion conditions were simulated, and bogie hunting and dynamical imbalance of the wheelsets were introduced. The tests were devoted to verify the robustness of control system with respect to some of the more frequent disturbances that may influence the roller rig dynamics. In particular we verified that the wheelset imbalance could significantly influence system performance, and to reduce the effect of this disturbance a multistate filter was designed.     

A finite-element-based approach to characterising FTire model for extended range of operation conditions

In order to accurately predict vehicle dynamic responses when traversing high obstacles or large bumps, appropriate tyre models need to be developed and characterised. Tyre models used in vehicle ride and durability are usually characterised by experimental tests on the tyre. However, limitations in rig design and operating conditions restrict the range of test conditions under which the tyre can be tested, hence characterisation of the tyre behaviour during extreme manoeuvres may not be possible using physical tests. In this study, a combination of experimental tests and finite-element (FE) modelling is used in deriving Flexible Ring Tire (FTire) Models appropriate for different levels of tyre/road interaction severity. It is shown that FE modelling can be used to accurately characterise the behaviour of a tyre where limitations in experimental facilities prevent tyre characterisation using the required level of input severity in physical tests. Multi-body simulation is used to demonstrate that the FTire model derived using extended range of obstacles produces more accurate transient dynamic response when traversing low and high road obstacles.     

Suspension parameter estimation in the frequency domain using a matrix inversion approach

The dynamic lumped parameter models used to optimise the ride and handling of a vehicle require base values of the suspension parameters. These parameters are generally experimentally identified. The accuracy of identified parameters can depend on the measurement noise and the validity of the model used. The existing publications on suspension parameter identification are generally based on the time domain and use a limited degree of freedom. Further, the data used are either from a simulated ‘experiment’ or from a laboratory test on an idealised quarter or a half-car model. In this paper, a method is developed in the frequency domain which effectively accounts for the measurement noise. Additional dynamic constraining equations are incorporated and the proposed formulation results in a matrix inversion approach. The nonlinearities in damping are estimated, however, using a time-domain approach. Full-scale 4-post rig test data of a vehicle are used. The variations in the results are discussed using the modal resonant behaviour. Further, a method is implemented to show how the results can be improved when the matrix inverted is ill-conditioned. The case study shows a good agreement between the estimates based on the proposed frequency-domain approach and measurable physical parameters.     

A method for testing railway wheel sets on a full-scale roller rig

Full-scale roller rigs for tests on a single axle enable the investigation of several dynamics and durability problems related with the design and operation of the railway rolling stock. In order to exploit the best potential of this test equipment, appropriate test procedures need to be defined, particularly in terms of actuators’ references, to make sure that meaningful wheel –rail contact conditions can be reproduced. The aim of this paper is to propose a new methodology to define the forces to be generated by the actuators in the rig in order to best reproduce the behaviour of a wheel set and especially the wheel –rail contact forces in a running condition of interest as obtained either from multi-body system (MBS) simulation or from on-track measurements. The method is supported by the use of a mathematical model of the roller rig and uses an iterative correction scheme, comparing the time histories of the contact force components from the roller rig test as predicted by the mathematical model to a set of target contact force time histories. Two methods are introduced, the first one considering a standard arrangement of the roller rig, the second one assuming that a differential gear is introduced in the rig, allowing different rolling speeds of the two rollers. Results are presented showing that the deviation of the roller rig test results from the considered targets can be kept within low tolerances (1% approximately) as far as the vertical and lateral contact forces on both wheels are concerned. For the longitudinal forces, larger deviations are obtained except in the case where a differential gear is introduced.     

A railway vehicle multibody model for real-time applications

Hardware in the loop (HIL) techniques are widely used for fast prototyping of control systems, electronic and mechatronic devices. In the railway field, several mechatronic on board subsystems are often tested and calibrated following the HIL approach. The accuracy of HIL tests depends on how the simulated virtual environment approximates the physical conditions. As the computational power available on real-time hardware grows, the demand for more complex and realistic models of railway vehicles for real-time application increases. In past research activities, the authors worked on the implementation of simplified real-time models for several applications and in particular for an HIL test rig devoted to the type approval of wheel slide protection systems. The activity has then been focused on the development of a three-dimensional model of the dynamics of a railway vehicle for more complex applications. The paper summarises the features and the results of the study.     

Numerical Model of a Tilting Body Railway Vehicle Compared With Rig and on Track Tests

The aim of the paper is to describe and verify a numerical model for the simulation of the dynamic behaviour of a tilting body railway vehicle, with particular attention to the curve negotiation conditions. In the model the dynamics of the tilting active control devices are reproduced, combining the numerical mechanical model of the vehicle with the control software used on the real vehicle. In order to validate the numerical simulation model, numerical results and experimental ones, from both a test rig and out-door tests, were compared.     

Numerical Model of a Tilting Body Railway Vehicle Compared With Rig and on Track Tests

The aim of the paper is to describe and verify a numerical model for the simulation of the dynamic behaviour of a tilting body railway vehicle, with particular attention to the curve negotiation conditions. In the model the dynamics of the tilting active control devices are reproduced, combining the numerical mechanical model of the vehicle with the control software used on the real vehicle. In order to validate the numerical simulation model, numerical results and experimental ones, from both a test rig and out-door tests, were compared.     

An insight into linear quarter car model accuracy

The linear quarter car model is the most widely used suspension system model. A number of authors expressed doubts about the accuracy of the linear quarter car model in predicting the movement of a complex nonlinear suspension system. In this investigation, a quarter car rig, designed to mimic the popular MacPherson strut suspension system, is subject to narrowband excitation at a range of frequencies using a motor driven cam. Linear and nonlinear quarter car simulations of the rig are developed. Both isolated and operational testing techniques are used to characterise the individual suspension system components. Simulations carried out using the linear and nonlinear models are compared to measured data from the suspension test rig at selected excitation frequencies. Results show that the linear quarter car model provides a reasonable approximation of unsprung mass acceleration but significantly overpredicts sprung mass acceleration magnitude. The nonlinear simulation, featuring a trilinear shock absorber model and nonlinear tyre, produces results which are significantly more accurate than linear simulation results. The effect of tyre damping on the nonlinear model is also investigated for narrowband excitation. It is found to reduce the magnitude of unsprung mass acceleration peaks and contribute to an overall improvement in simulation accuracy.     

计算机仿真在多轴道路模拟试验台架开发中的应用

针对轿车底盘结构件的多通道道路模拟试验台架的开发,阐述了计算机仿真技术在整个开发过程中的应用.通过计算机动力学仿真和有限元方法的应用,为试验台架设计提供必要的参数,对台架设计进行验证.大大缩短试验台架的开发周期,提高试验开发效率,并且具有广泛的工程应用前景.     

沥青混合料劈裂试验数值模拟

应用有限元软件ABAQUS,采用合适的材料模型建立有限元模型,模型网格按不同密度进行划分,对沥青混合料劈裂试验进行二维与三维数值模拟对比研究。通过研究,对劈裂试验中沥青混合料试件内的应力、应变分布及变形特性和变化规律有了深入的认识,并据此得出沥青混合料的强度参数。结果表明,有限元模拟中,网格划分密度、划分形式对模拟结果有较大影响;对于不同的沥青混合料,其劈裂试验模拟应以相应材料的单轴抗压试验结果为材料特性进行定义;经三维模拟及理论对比验证,简化二维模型在一定条件下是可行的。对沥青混合料性能试验进行数值模拟研究,是一种形象直观、快速高效的研究手段,对沥青混合料研究水平的提高有一定意义。     

沥青混合料抗拉性能试验研究及力学特性分析

沥青混合料的抗拉性能是表征其低温与疲劳性能的重要指标。本文针对半圆弯曲试验(SCB)与劈裂试验(IDT)建立三维非线性有限元模型,对两种试验方法的受力特点与破坏模式进行数值模拟,并利用室内试验进行验证。结果表明:两试验中试件的力学响应规律明显不同;半圆弯曲试验试件主要承受拉应力,劈裂试验试件内出现压缩、拉伸、剪切多种受力模式交织现象;非轴对称受力时,劈裂试件的应力响应更为复杂,不能充分体现间接拉伸的目的。相比较而言,半圆弯曲试验更能模拟沥青混凝土路面的层底受拉状况。     

中国公路车-桥耦合振动车辆模型研究（双语出版）

为了提出适用于中国车-桥耦合振动分析的车辆动力分析模型,首先基于中国桥梁规范中的设计车辆荷载,结合大量调查统计数据和等效静力分析方法,初步拟定车辆动力分析模型的几何尺寸、质量、刚度、阻尼等参数取值,并与国内外广泛采用的几种车辆模型的参数取值进行对比。接着选取4座钢筋混凝土简支梁桥并建立其三维有限元模型,基于车-桥耦合振动数值模拟分析车辆模型的刚度、阻尼等参数对桥梁上动力冲击系数的影响,并对比几个不同车辆模型对动力冲击系数的影响。最后,选择中国湖南省境内一座实桥和几辆不同轴数的重车开展实桥试验,将实测动力冲击系数与所提车辆模型数值模拟获得的冲击系数进行对比。结果表明：动力冲击系数随车辆总质量的增大而减小,随车辆整体刚度的增大而增大,但随车辆整体阻尼的增大呈先减小后增大的趋势;单个车轴的刚度和阻尼对动力冲击系数的影响不明显;车辆总质量是导致不同车辆模型作用下动力冲击系数差异的主要因素;数值模拟结果与实测结果吻合良好,验证了所提车辆模型及参数取值的合理性;该车辆模型可用于中国的设计车辆荷载作用下桥梁的动力响应分析和相关研究,也可用于估算重量相当的不同类型车辆对桥梁的动力冲击效应。     

PALIO后桥应变疲劳分析

为解决PALIO后桥国产化过程中寿命达不到要求的问题，采用电测法测得了进口件和几种工艺条件下的国产件PALIO后桥在扭转台架疲劳试验中的主应变幅度。当取有效应变集中系数为1.3时，根据Coffin-Manson公式，运用PALIO后桥用钢的应变疲劳性能计算得到的疲劳寿命与实际台架疲劳寿命相符。     

粘弹性材料的离散元数值分析

基于Burgers模型,应用微观力学理论和粘弹性原理,建立了均质粘弹性材料的离散单元模型,对粘弹性材料的蠕变过程进行了数值模拟,并对模拟结果与已有且经过验证的理论公式计算结果作了比较。结果表明,数值模拟结果曲线与B嶝模型的理论蠕变曲线相一致,且数值模拟与解析解的结果整体上基本一致,相比解析解的复杂繁琐,DEM数值模拟是一种更加行之有效的较简单的研究方法。但是,数值模拟的结果在卸载后的部分与解析解不很吻合。总之,DEM数值模拟可以节省大量的室内试验并提高准确性,可用于对粘弹性材料的进一步研究。     

桥梁冲击系数理论研究和应用进展

为推动桥梁冲击系数理论和应用研究的进一步深入开展,从计算方法、理论与数值模拟、现场试验与测试3个方面系统梳理国内外公路、城市和铁路桥梁工程领域冲击系数（或动力系数）的研究进展,并探讨其不足和发展趋势。计算方法方面,从桥梁冲击系数的定义出发,详细阐述典型国家最新规范冲击系数表达式;理论与数值模拟方面,分析了车辆参数、桥梁参数、桥面不平整度（或轨道不平顺）等对桥梁冲击系数的影响;现场试验与测试方面,分别综述了冲击系数的测试方法、数据处理手段及相关试验研究成果。研究表明：各国公路与铁路桥梁规范的冲击系数（动力系数）多由试验统计回归得到,但计算公式各不相同,公路桥梁冲击系数表达式较为简洁,铁路桥梁冲击系数计算公式较为复杂;有限元技术以及车-桥耦合振动理论的发展使得结构动力响应的数值模拟和求解更加精确化和高效化;中小跨径桥梁的整体冲击系数及大跨径桥梁中吊杆、拉索等局部构件的冲击系数是研究重点;影响冲击系数的各因素之间存在交叉影响,需要对不同结构、不同效应及不同截面的冲击系数进行现场试验测试和概率统计分析;设计规范中的冲击系数值不宜作为实际桥梁动力使用性能的直接评价指标;需要建立冲击系数试验分析技术的标准;非接触、抗干扰、高精度是今后冲击系数测试技术的发展方向。     

汽车ESP硬件与驾驶员在回路仿真试验台的开发与应用

利用汽车驾驶模拟器技术和硬件在回路仿真技术,建立了汽车电子稳定性系统(ESP)硬件与驾驶员在回路仿真试验台。利用该试验台进行了包含ESP执行硬件和驾驶员的“人车环境”闭环仿真,验证了试验台的基本功能。该试验台为汽车ESP的开发提供了一个功能比较完备的快速开发平台。     

The Application of Roller Rigs to Railway Vehicle Dynamics

Roller rigs have been built world-wide to research into the dynamics of railway vehicles and they have particularly been applied to the development of high-speed trains. This survey takes into consideration both full scale as well as small scale model roller rigs. Besides performance, most important experimental work and the emphasis of application, the scaling strategies of model test rigs and the differences involved in roller rig experiments are treated. Suggestions for potential future uses and developments are also given for this tool which is useful for demonstration and analysis of railway vehicle dynamic behaviour.     

The Application of Roller Rigs to Railway Vehicle Dynamics

Roller rigs have been built world-wide to research into the dynamics of railway vehicles and they have particularly been applied to the development of high-speed trains. This survey takes into consideration both full scale as well as small scale model roller rigs. Besides performance, most important experimental work and the emphasis of application, the scaling strategies of model test rigs and the differences involved in roller rig experiments are treated. Suggestions for potential future uses and developments are also given for this tool which is useful for demonstration and analysis of railway vehicle dynamic behaviour.