Modelling,simulation and applications of longitudinal train dynamics

ABSTRACT

Significant developments in longitudinal train simulation and an overview of the approaches to train models and modelling vehicle force inputs are firstly presented. The most important modelling task, that of the wagon connection, consisting of energy absorption devices such as draft gears and buffers, draw gear stiffness, coupler slack and structural stiffness is then presented. Detailed attention is given to the modelling approaches for friction wedge damped and polymer draft gears. A significant issue in longitudinal train dynamics is the modelling and calculation of the input forces – the co-dimensional problem. The need to push traction performances higher has led to research and improvement in the accuracy of traction modelling which is discussed. A co-simulation method that combines longitudinal train simulation, locomotive traction control and locomotive vehicle dynamics is presented. The modelling of other forces, braking propulsion resistance, curve drag and grade forces are also discussed. As extensions to conventional longitudinal train dynamics, lateral forces and coupler impacts are examined in regards to interaction with wagon lateral and vertical dynamics. Various applications of longitudinal train dynamics are then presented. As an alternative to the tradition single wagon mass approach to longitudinal train dynamics, an example incorporating fully detailed wagon dynamics is presented for a crash analysis problem. Further applications of starting traction, air braking, distributed power, energy analysis and tippler operation are also presented.     

Locomotive dynamic performance under traction/braking conditions considering effect of gear transmissions

Traction or braking operations are usually applied to trains or locomotives for acceleration, speed adjustment, and stopping. During these operations, gear transmission equipment plays a very significant role in the delivery of traction or electrical braking power. Failures of the gear transmissions are likely to cause power loses and even threaten the operation safety of the train. Its dynamic performance is closely related to the normal operation and service safety of the entire train, especially under some emergency braking conditions. In this paper, a locomotive–track coupled vertical–longitudinal dynamics model is employed with considering the dynamic action from the gear transmissions. This dynamics model enables the detailed analysis and more practical simulation on the characteristics of power transmission path, namely motor–gear transmission–wheelset–longitudinal motion of locomotive, especially for traction or braking conditions. Multi-excitation sources, such as time-varying mesh stiffness and nonlinear wheel–rail contact excitations, are considered in this study. This dynamics model is then validated by comparing the simulated results with the experimental test results under braking conditions. The calculated results indicate that involvement of gear transmission could reveal the load reduction of the wheelset due to transmitted forces. Vibrations of the wheelset and the motor are dominated by variation of the gear dynamic mesh forces in the low speed range and by rail geometric irregularity in the higher speed range. Rail vertical geometric irregularity could also cause wheelset longitudinal vibrations, and do modulations to the gear dynamic mesh forces. Besides, the hauling weight has little effect on the locomotive vibrations and the dynamic mesh forces of the gear transmissions for both traction and braking conditions under the same running speed.     

Dynamics of railway wagons subjected to braking/traction torque

Braking or traction torque is regarded as an important source of wheelset skid and a potential source of derailment risk that adversely affects the safety levels of train operations; therefore, this research examines the effect of braking/traction torque to the longitudinal and lateral dynamics of wagons. This paper reports how train operations safety could be adversely affected due to various braking strategies. Sensitivity of wagon dynamics to braking severity is illustrated through numerical examples. The influence of wheel/rail interface friction coefficient and the effects of two types of track geometry defects on wheel unloading ratio and wagon pitch are also discussed in the paper.     

列车制动过程仿真计算系统研究与开发

在列车牵引计算理论方法的基础上,设计了基于等时间步长法的列车制动过程仿真算法,开发了列车制动过程仿真系统。系统根据给定列车管减压量可计算相应的制动距离,也可根据设定的停车目标位置反推出所需要的列车管减压量。系统还能够计算制动距离、时间、列车管减压量等技术指标,显示列车制动过程的速度一距离曲线。应用系统定量研究了线路条件、编组条件、停车位置对列车制动过程的影响。     

Vehicle dynamics integrated control for four-wheel-distributed steering and four-wheel-distributed traction/braking systems

In this article, vehicle dynamics integrated control algorithm using an on-line non-linear optimization method is proposed for 4-wheel-distributed steering and 4-wheel-distributed traction/braking systems. The proposed distribution algorithm minimizes work load of each tire, which is controlled to become the same value. The global optimality of the convergent solution of the recursive algorithm can be proved by extension to convex problems. This implies that theoretical limited performance of vehicle dynamics integrated control is clarified. Furthermore, the effect of this vehicle dynamics control for the 4-wheel-distributed steering and 4-wheel-distributed traction/braking systems is demonstrated by simulation to compare with the combination of the various actuators.     

Adaptive backstepping control of train systems with traction/braking dynamics and uncertain resistive forces

Although backstepping control design approach has been widely utilised in many practical systems, little effort has been made in applying this useful method to train systems. The main purpose of this paper is to apply this popular control design technique to speed and position tracking control of high-speed trains. By integrating adaptive control with backstepping control, we develop a control scheme that is able to address not only the traction and braking dynamics ignored in most existing methods, but also the uncertain friction and aerodynamic drag forces arisen from uncertain resistance coefficients. As such, the resultant control algorithms are able to achieve high precision train position and speed tracking under varying operation railway conditions, as validated by theoretical analysis and numerical simulations.     

Real-time implementation of a traction control algorithm on a scaled roller rig

Traction control is a very important aspect in railway vehicle dynamics. Its optimisation allows improvement of the performance of a locomotive by working close to the limit of adhesion. On the other hand, in case the adhesion limit is surpassed, the wheels are subjected to heavy wear and there is also a big risk that vibrations in the traction occur. Similar considerations can be made in the case of braking. The development and optimisation of a traction/braking control algorithm is a complex activity, because it is usually performed on a real vehicle on the track, where many uncertainties are present due to environmental conditions and vehicle characteristics. This work shows the use of a scaled roller rig to develop and optimise a traction control algorithm on a single wheelset. Measurements performed on the wheelset are used to estimate the optimal adhesion forces by means of a wheel/rail contact algorithm executed in real time. This allows application of the optimal adhesion force.     

Simulation of longitudinal dynamics of a freight train operating through a car dumper

A heavy haul train and car dumper model was created to analyse train longitudinal dynamics during dumping. Influence of such factors as performance curve of draft gears, total free slack in couplers, operating mode of train positioner and braking of last two cars of train on the in-train forces was considered.     

基于典型道路谱的汽车制动摩擦片寿命预测

文章基于能量磨损机理提出了一种汽车制动摩擦片磨损寿命预测的方法,对车辆制动安全性以及摩擦材料利用率的提升具有一定的现实意义。以车辆制动系统中的摩擦片为研究对象,在制动盘冷却试验基础上建立制动摩擦副热力学模型,旨在探明不同工况下摩擦副热力学特征的变化规律。根据能量磨损机理研究制动温度对材料磨损量的影响关系,结合温度分布特征与摩擦材料磨损率提出摩擦片磨损量的评价标准,建立制动摩擦片的磨损寿命预测模型。基于典型公路道路试验路谱的动力学参数进行摩擦片磨损寿命预测,与试验结果相比其磨损寿命预测具有较好的一致性,为汽车制动系统参数设计及制动摩擦材料寿命研究提供了指导依据。     

Combined control of a regenerative braking and antilock braking system for hybrid electric vehicles

Most parallel hybrid electric vehicles (HEV) employ both a hydraulic braking system and a regenerative braking system to provide enhanced braking performance and energy regeneration. A new design of a combined braking control strategy (CBCS) is presented in this paper. The design is based on a new method of HEV braking torque distribution that makes the hydraulic braking system work together with the regenerative braking system. The control system meets the requirements of a vehicle longitudinal braking performance and gets more regenerative energy charge back to the battery. In the described system, a logic threshold control strategy (LTCS) is developed to adjust the hydraulic braking torque dynamically, and a fuzzy logic control strategy (FCS) is applied to adjust the regenerative braking torque dynamically. With the control strategy, the hydraulic braking system and the regenerative braking system work synchronously to assure high regenerative efficiency and good braking performance, even on roads with a low adhesion coefficient when emergency braking is required. The proposed braking control strategy is steady and effective, as demonstrated by the experiment and the simulation.     

Longitudinal train dynamics: an overview

This paper discusses the evolution of longitudinal train dynamics (LTD) simulations, which covers numerical solvers, vehicle connection systems, air brake systems, wagon dumper systems and locomotives, resistance forces and gravitational components, vehicle in-train instabilities, and computing schemes. A number of potential research topics are suggested, such as modelling of friction, polymer, and transition characteristics for vehicle connection simulations, studies of wagon dumping operations, proper modelling of vehicle in-train instabilities, and computing schemes for LTD simulations. Evidence shows that LTD simulations have evolved with computing capabilities. Currently, advanced component models that directly describe the working principles of the operation of air brake systems, vehicle connection systems, and traction systems are available. Parallel computing is a good solution to combine and simulate all these advanced models. Parallel computing can also be used to conduct three-dimensional long train dynamics simulations.     

Simplified and advanced modelling of traction control systems of heavy-haul locomotives

Improving tractive effort is a very complex task in locomotive design. It requires the development of not only mechanical systems but also power systems, traction machines and traction algorithms. At the initial design stage, traction algorithms can be verified by means of a simulation approach. A simple single wheelset simulation approach is not sufficient because all locomotive dynamics are not fully taken into consideration. Given that many traction control strategies exist, the best solution is to use more advanced approaches for such studies. This paper describes the modelling of a locomotive with a bogie traction control strategy based on a co-simulation approach in order to deliver more accurate results. The simplified and advanced modelling approaches of a locomotive electric power system are compared in this paper in order to answer a fundamental question. What level of modelling complexity is necessary for the investigation of the dynamic behaviours of a heavy-haul locomotive running under traction? The simulation results obtained provide some recommendations on simulation processes and the further implementation of advanced and simplified modelling approaches.     

基于能量流分析的纯电动汽车电耗优化研究

能量流分析研究是了解车辆能量利用情况和优化车辆经济性的有效方式,针对于某款纯电动汽车电量消耗偏大的问题,设计了纯电动汽车能量流测试方案,完成了主要部件性能对标测试分析;通过理论分析建立了影响电量消耗的数学模型和基于价值因子的优化参数选取方法;基于CRUISE电耗仿真分析模型,分别从电驱动系统效率提升、滚阻优化、提升制动能量回收率以及优化附件控制策略等方面进行了定量的电耗优化分析。实车应用测试结果表明:优化后的整车能量流效率得到明显改善,DC/DC充电效率提升到90%,制动能量回收率提升到18%以上,NEDC工况下整车电耗降低了13.78%,进一步改善了纯电动汽车能量利用的经济性。     

新能源电机系统性能匹配优化研究

主要针对新能源电机系统在不同车型上的应用进行性能匹配优化研究。从平台化的车型参数出发进行电机系统参数匹配优化设计,同时进行闭环仿真计算保证车辆的动力性能。在电机系统的效率优化提升方面,基于乘用车常用NEDC工况,获取电机系统在工况下的运行数据,基于仿真数据一方面研究电机系统在对应工况下的高效区间分布;另一方面根据电机系统在驱动和发电状态下的电功率和机械功率计算平均效率,同时结合不同方案下的效率MAP差异,判断不同方案在整车经济性上的表现。通过本文提到的性能匹配优化研究方法,可以缩短开发产品周期,保证项目在前期的输入定位相对准确,从而保证产品开发完成后可以有较强的市场竞争力,可以满足绝大多数车型的需求。更加有利于后续的市场推广。     

汽车制动能量回收利用技术研究与发展前景

分析了目前汽车制动能量回收利用现状,在蓄电池储能方案的基础上,提出了利用制动能量驱动SR电机工作,将制动过程中的动能转化为电能给用电设备或给蓄电池充电;在汽车起步或加速过程中,SR电机既为传动系提供动力又带动压气机给发动机提供压缩空气改善燃烧。     

Energy recovery based on pedal situation for regenerative braking system of electric vehicle

ABSTRACT

Energy recovery is a key technology to improve energy efficiency and extend driving range of electric vehicle. It is still a challenging issue to maximise energy recovery. We present an energy recovery mode (mode A) which recovers braking energy under all situations that accelerator pedal (AP) is lifted, brake pedal (BP) is depressed, as well as AP and BP are released completely; and propose a control strategy of regenerative braking based on driver's intention identified by a fuzzy recognition method. Other two modes: (1) recovery braking energy only the BP is depressed (mode B), (2) no energy recovery, have been studied to compare with mode A. Simulations are carried out on different adhesion conditions. Recovered energy and driving range are also obtained under FTP75 driving cycle. Road test is implemented to validate simulation results. Results show that mode A can improve energy recovery by almost 15.8% compared with mode B, and extend driving range by almost 8.81% compared with mode B and 20.39% with the mode of no energy recovery; the control strategy of regenerative braking can balance energy recovery and braking stability. The proposed energy recovery mode provides a possibility to achieve a single-pedal design of the electric vehicle.     

燃料电池混合动力汽车能量控制策略仿真研究

燃料电池客车采用多动力源的动力系统结构，需对其能量流动进行有效的控制。文章探讨了动力系统驱动模式下的3种能量分配控制策略，以及在再生制动模式下的一种简单的能量回馈控制。在ADVISOR软件平台上建立了控制策略和整个系统的仿真模型，并基于性能评估函数对汽车性能进行了分析。仿真结果表明，再生制动可以提高整车燃油经济性达20％，与恒压和离线能量分配相比，在线能量分配下燃油经济性好、蓄电池SOC波动小，但要精确估计蓄电池SOC，可能使其性能比预期的低。     

Influence of train length on in-train longitudinal forces during brake application

It needs some seconds for a signal, which is created from brake application, to travel from the first part of the train system (locomotive) to the end part of it (last wagon). Delay in time of all parts of the system (train) brake is seen which might deteriorate the longitudinal dynamic interaction of the long trains. For instance, this results in running of the rear cars to the front ones and hence producing large in-train forces at the buffers and couplers. Major parts of the rolling stock in railway system repair are known for relative compression and tension forces, which are applied to the whole train system and cause huge expenses for the industry. For trains with long lengths, operating in safe area is another important relation with train forces along the system. By using MATLAB simulation in this study, we investigated the length's effect on train dynamic along the system mainly for freight trains. We did our research on the trains which are currently used in Railways of Islamic Republic of Iran, RIRI. Four diverse cases were under our simulation, in each of which, trains consist of 52, 32, 20 and 12 cars, respectively. Two different forces (tension and compression) are displayed here as of the outcome of the research. Simulations show different forms of interplays in dynamics along the system. Then we compared the graphs to each other to find out detailed influences of length of the whole system (train including different number of wagons and locomotive) on dynamics of system along it while braking is applied.     

Analysis of a regenerative braking system for Hybrid Electric Vehicles using an Electro-Mechanical Brake

The regenerative braking system of the Hybrid Electric Vehicle (HEV) is a key technology that can improve fuel efficiency by 20∼50%, depending on motor size. In the regenerative braking system, the electronically controlled brake subsystem that directs the braking forces into four wheels independently is indispensable. This technology is currently found in the Electronic Stability Program (ESP) and in Vehicle Dynamic Control (VDC). As braking technologies progress toward brake-by-wire systems, the development of Electro-Mechanical Brake (EMB) systems will be very important in the improvement of both fuel consumption and vehicle safety. This paper investigates the modeling and simulation of EMB systems for HEVs. The HEV powertrain was modeled to include the internal combustion engine, electric motor, battery and transmission. The performance simulation for the regenerative braking system of the HEV was performed using MATLAB/Simulink. The control performance of the EMB system was evaluated via the simulation of the regenerative braking of the HEV during various driving conditions.     

Coupled thermo-mechanical analysis and shape optimization for reducing uneven wear of brake pads

In vehicle braking systems, the non-uniform contact pressure distribution on the brake pad is a major cause of uneven wear. The experimental approach of the wear phenomenon is the time consuming and costly. For this reason, a threedimensional finite element (FE) model of a brake system is presented for numerical simulation in this paper. A coupled thermo-mechanical analysis is carried out to confirm the non-uniform contact pressure distribution. A correlation between the non-uniform contact pressure and uneven wear is confirmed by measuring the amount of wear in the brake pad. The shape optimization of the brake pad is performed to reduce the uneven wear. In addition, the simulation results, such as natural frequency and temperature, are compared to experimental results.