An Active Pantograph with Shaped Frequency Response Employing Linear Output Feedback Control

SUMMARY

In pantographs used for current collection on high speed electric trains it is desirable to minimise the fluctuations in the contact force between the collector head and the catenary. A simple two-mass linear model is employed for the pantograph and the design of the proposed control system is based on the input admittance at low frequencies. Frequency shaping is incorporated in the performance index, and a simple dynamic controller is employed to achieve optimality in an equivalent transformed system, while minimising the number of feedback quantities to be measured. A significant reduction in the average contact force appears possible.     

Impact Loads due to Wheel Flats and Shells

A Finite Element (FE) model of vehicle-track system is employed to duplicate the experiments carried out by British Rail and CP Rail System. The theoretical results of the wheel/rail contact forces, rail-pad forces and strains in the rail showed very good correlation to the experimental data. Extensive results are compared with experimental data in the time domain for through validation of the developed model. The characteristics of the impact loads due to wheel flats and shells are investigated based on the validated FE model. The study shows that the shape and size of flat or shell, axle load, vehicle speed and rail-pad stiffness mainly affect the impact loads. Adding elastomeric shear pads on the wheelset bearing does not reduce the wheel/rail dynamic contact force but it may reduce the dynamic force on the bearing. Reducing rail-pad stiffness to a certain level on a concrete-tie track may significantly reduce the dynamic load and the force transmitted to the concrete tie.     

A new method for wheel–rail contact force continuous measurement using instrumented wheelset

With the aim of improving the continuous measurement of wheel–rail contact force by instrumented wheelset, instead of solving the non-linear equations, we proposed a new method based on state space theory. With this new method, the wheel–rail contact force can be calculated by the recurrence relation and the signals from strain gauge bridges on wheel web. The implementation of continuous instrumented wheelset is quite general and simplified, due to the specific bridging scheme is not necessary. It means that continuous measurement of the contact force could be realised with a simple bridging scheme, even as simple as discrete instrumented scheme. In this work, we first demonstrated and discussed the effectiveness and accuracy of this new method by estimation results with the numerical simulations, and we also applied this new method to two field tests, including one was conducted in a loop test line using a high-speed train and the other one was conducted in an urban line with a light rail vehicle. In a word, this new method is proved to be an effective way to monitor the wheel–rail contact force of rail vehicle track system.     

A study on high-speed rolling contact between a wheel and a contaminated rail

A 3-D explicit finite element model is developed to investigate the transient wheel–rail rolling contact in the presence of rail contamination or short low adhesion zones (LAZs). A transient analysis is required because the wheel passes by a short LAZ very quickly, especially at high speeds. A surface-to-surface contact algorithm (by the penalty method) is employed to solve the frictional rolling contact between the wheel and the rail meshed by solid elements. The LAZ is simulated by a varying coefficient of friction along the rail. Different traction efforts and action of the traction control system triggered by the LAZ are simulated by applying a time-dependent driving torque to the wheel axle. Structural flexibilities of the vehicle–track system are considered properly. Analysis focuses on the contact forces, creepage, contact stresses and the derived frictional work and plastic deformation. It is found that the longitudinal contact force and the maximum surface shear stress in the contact patch become obviously lower in the LAZ and much higher as the wheel re-enters the dry rail section. Consequently, a higher wear rate and larger plastic flow are expected at the location where the dry contact starts to be rebuilt. In other words, contact surface damages such as wheel flats and rail burns may come into being because of the LAZ. Length of the LAZ, the traction level, etc. are varied. The results also show that local contact surface damages may still occur as the traction control system acts.     

Analysis of the evolvement of contact wire wear irregularity in railway catenary based on historical data

This paper studies the evolvement of the wear irregularity of contact wire using wire thickness data measured yearly from a section of railway catenary. The power spectral density and time–frequency representation based on the wavelet transform are employed for data analysis, with an emphasis on local wear irregularities that are crucial for contact wire condition assessment. To investigate the cause of wear irregularity evolvement and the mutual influence with the pantograph–catenary dynamic interaction, simulations considering the influence of wear irregularity are carried out based on the finite element method. Analyses of the actual wear irregularities and the dynamic contact force under singular and complex wear irregularities are performed. Although the wear irregularity has limited impact on the pantograph–catenary interaction, it can induce the vibration of pantograph and contact wire that will lead to a notable increase of contact force standard deviation. The evolvement of wear irregularity is closely associated with the span length and dropper distribution of catenary structure and the running direction of pantograph. In addition, it is found feasible to detect the wear irregularity based on contact force, on condition that the sampling frequency is high enough to reflect the indicative frequencies.     

Rail vehicle wheel wear prediction: a comparison between analytical and experimental approaches

There are a number of theoretical and practical techniques to compute rail vehicle wheel wear. For instance, the Archard equation is a well-known tool to determine the worn volume in sliding contact, as a function of normal load, sliding distance and the surface hardness. Of course, the wear coefficient (called K) used in this equation to differentiate the wear models implicitly comprises the conditions that govern the contact surface. Two situations can be taken into account when considering a sliding contact in a rail vehicle wheels, particularly along a curved track: (i) when the radial force prevails the lateral tangential force, which is mainly the frictional force but before flanging and (ii) during flange contact. Also, the Archard equation is employed within the tread and flange regions separately, both the regions being of interest in this paper. A number of approaches are then used to find the distance slid. The authors compare the field test results and the outcome of the analytical approaches. When the wheel wear results acquired from the two test bogies on Iranian Railways, all technical (rigid frame bogies with new assemblies and components) and operational items were identical, except for changing the bogie orientation in the second test trial for a short period. Good agreement was found between the analytical and practical investigations.     

High Speed Railway: Collecting Pantographs Active Control and Overhead Lines Diagnostic Solutions

The catenary-pantograph system and its dynamic behaviour play a decisive role for high speed trains from the power collecting point of view. The decisive criterion for assessing the contact quality is to reduce the contact force variability as far as possible. In this paper active pantograph elements are introduced in order to improve the system performance. The control strategy is based on Extended Kalman Filter technique, used to get a contact force estimation available for control feedback. The same estimation procedure based on the Extended Kalman Filter is also used to obtain some information useful to overhead line diagnostic purposes.     

High Speed Railway: Collecting Pantographs Active Control and Overhead Lines Diagnostic Solutions

SUMMARY

The catenary-pantograph system and its dynamic behaviour play a decisive role for high speed trains from the power collecting point of view. The decisive criterion for assessing the contact quality is to reduce the contact force variability as far as possible. In this paper active pantograph elements are introduced in order to improve the system performance. The control strategy is based on Extended Kalman Filter technique, used to get a contact force estimation available for control feedback. The same estimation procedure based on the Extended Kalman Filter is also used to obtain some information useful to overhead line diagnostic purposes.     

Variation in predicting pantograph–catenary interaction contact forces,numerical simulations and field measurements

The contact force between the pantograph and the contact wire ensures energy transfer between the two. Too small of a force leads to arching and unstable energy transfer, while too large of a force leads to unnecessary wear on both parts. Thus, obtaining the correct contact force is important for both field measurements and estimates using numerical analysis. The field contact force time series is derived from measurements performed by a self-propelled diagnostic vehicle containing overhead line recording equipment. The measurements are not sampled at the actual contact surface of the interaction but by force transducers beneath the collector strips. Methods exist for obtaining more realistic measurements by adding inertia and aerodynamic effects to the measurements. The variation in predicting the pantograph–catenary interaction contact force is studied in this paper by evaluating the effect of the force sampling location and the effects of signal processing such as filtering. A numerical model validated by field measurements is used to study these effects. First, this paper shows that the numerical model can reproduce a train passage with high accuracy. Second, this study introduces three different options for contact force predictions from numerical simulations. Third, this paper demonstrates that the standard deviation and the maximum and minimum values of the contact force are sensitive to a low-pass filter. For a specific case, an 80?Hz cut-off frequency is compared to a 20?Hz cut-off frequency, as required by EN 50317:2012; the results show an 11% increase in standard deviation, a 36% increase in the maximum value and a 19% decrease in the minimum value.     

近海T形梁桥上部结构极端波浪作用试验

飓风引起的极端波浪是影响近海桥梁结构安全的重要灾种之一，曾在美国墨西哥湾沿岸造成了大量已建低矮跨海桥梁损毁。探究台风波浪对桥梁上部结构的作用机理，发展波浪作用力计算方法，对保证中国近海地区桥梁结构安全具有重要意义。为准确考虑台风极端波浪的频谱特征，使用连续聚焦波作为入射波，开展了不同波幅、峰值频率和净空的模型试验。试验基于Froude准则采用1∶25缩尺比进行设计，研究对象为T形肋梁桥，试验过程中观测了聚焦波作用下T形梁桥受到的水平和竖向波浪作用力。研究结果表明：采用连续聚焦波作为入射波，通过设置合适的聚焦波周期可以避免二次反射波对入射波的污染，确保试验结果的可信性；波浪作用力中包含了低频准静力和高频砰击力，砰击力峰值一般出现在波浪与结构接触的初始阶段；一般情况下波浪作用力随波幅增大而增大，但存在明显的非单调特征；T形梁桥波浪力随净空增大有明显的先减小后增大的趋势，但峰值频率为0.4 Hz的大波幅聚焦波在净空为2.0～3.0 cm时波浪作用力最大；基于试验结果拟合出的波浪力简便估算方法能够有效计算波浪作用力，可为T形梁桥抗波浪设计提供参考。     

Innovative Solutions for Overhead Catenary-Pantograph System: Wire Actuated Control and Observed Contact Force

In this paper an innovative active pantograph for high-speed trains is proposed. The results presented are based on extensive simulation tests. The parameters used in the simulation are those of a real pantograph for high-speed trains: the pantograph model is modified by adding a wire actuation, in order to exert a constant contact force between the moving pantograph and the overhead contact wire. A wire-actuated control and contact force observers are proposed as effective solutions in the case of a possible implementation.     

Innovative Solutions for Overhead Catenary-Pantograph System: Wire Actuated Control and Observed Contact Force

In this paper an innovative active pantograph for high-speed trains is proposed. The results presented are based on extensive simulation tests. The parameters used in the simulation are those of a real pantograph for high-speed trains: the pantograph model is modified by adding a wire actuation, in order to exert a constant contact force between the moving pantograph and the overhead contact wire. A wire-actuated control and contact force observers are proposed as effective solutions in the case of a possible implementation.     

Force Control in Electrohydraulic Active Suspensjons

For a simple vehicle active suspension system complete optimality and zero steady state body displacements may be achieved if the axle and body accelerations, and other easily measured quantities, are included in the performance index. Apart from not requiring an observer, this also allows the optimal feedback gains to be determined for an arbitrary body spring rate. In a theoretical example, model parameters matching those of an experimental test rig are employed. The results of computer simulations, with and without an electrohydraulic servovalve and actuator, are compared to demonstrate the effects of inner loop gain on force control. Aspects of the system behaviour including lockup are commented upon.     

A method to determine the two-point contact zone and transfer of wheel–rail forces in a turnout

A practical method to determine the zone of two contact points and the transfer of wheel–rail forces between two rails in a turnout is presented in this paper. The method is based on a wheel–rail elastic penetration assumption and used to study a turnout system for a 200 km/h high-speed railway in China. Rail profiles in a number of key sections in the turnout are identified first, and profiles in other sections are then obtained by interpolation between key sections. The track is modelled as flexible with rails and sleepers represented by beams and the interaction between the vehicle and turnout is simulated for cases of the vehicle passing the turnout. Results are mainly presented for two-point contact positions and the characteristics of the wheel–rail forces transference. It is found that the heights of the switch and crossing rail top have significant effects on the wheel–rail contact forces. Finally, the optimised top height for the crossing rails is proposed to reduce the system dynamic force in the turnout system.     

Wheel/Rail Non-linear Interactions With Coupling Between Vertical and Lateral Directions

Summary A theoretical model is developed to explore the high frequency wheel/rail interaction with coupling between the vertical and lateral directions. This coupling is introduced through the track dynamics due to the offset of the wheel/rail contact point from the rail centre line. Equivalent models of the railway track in the time domain are developed according to the rail vibration receptances in the frequency domain. The wheel is represented by a mass in each direction with no vertical-lateral coupling. The vertical wheel/rail interaction is generated through a non-linear Hertzian contact stiffness, allowing for the possibility of loss of contact between the wheel and rail. The lateral interaction is represented by a contact spring and a creep force damper in series and their values depend on the vertical contact force. The vibration source is the roughness on the wheel and rail contact surfaces which forms a relative displacement excitation in the vertical direction. Using the combined interaction model with this relative displacement excitation, the wheel/rail interactions with coupling between the vertical and lateral vibrations are simulated. It is found that the lateral interaction force caused by the offset is usually less than thirty percent of the vertical dynamic force. The lateral vibration of the rail is significantly reduced due to the presence of the lateral coupling, whereas the vertical interaction is almost unaffected by the lateral force.     

盾构隧道内机械法施工竖井泵房封底试验与数值模拟研究

为验证在盾构隧道内机械化施工废水泵房施工工艺的可行性以及泵房封底混凝土的可靠性，首先设计室内试验，模拟验证封底混凝土板在高水压深层地层环境中施工的安全性，然后采用三维有限差分软件FLAC3D建立三维数值模型，模拟其封底情况，用FLAC3D内置接触面单元模拟封底混凝土与外盾体之间的接触面，探究考虑接触对模型计算结果的影响。结果表明： 1）仿真地层模拟系统设计合理，盾构主隧道内机械化施工泵房封底各试验结果均能符合预期要求，机械化封底注浆能够达到设计要求，能足以抵抗施工中的水压而不发生破坏，工艺具有可行性； 2）考虑接触面的影响后，对模型计算结果影响较大，能更准确地预测接触面的受力情况； 3）实际工程中的地下水压远低于试验设定水压，室内试验、数值模拟结果具有一定的安全储备，机械化施工泵房封底工艺应用于实际工程具有可行性。     

Sliding mode-based lateral vehicle dynamics control using tyre force measurements

In this work, a lateral vehicle dynamics control based on tyre force measurements is proposed. Most of the lateral vehicle dynamics control schemes are based on yaw rate whereas tyre forces are the most important variables in vehicle dynamics as tyres are the only contact points between the vehicle and road. In the proposed method, active front steering is employed to uniformly distribute the required lateral force among the front left and right tyres. The force distribution is quantified through the tyre utilisation coefficients. In order to address the nonlinearities and uncertainties of the vehicle model, a gain scheduling sliding-mode control technique is used. In addition to stabilising the lateral dynamics, the proposed controller is able to maintain maximum lateral acceleration. The proposed method is tested and validated on a multi-body vehicle simulator.     

基于间接拉伸模式的沥青混合料内部力链分布特征

为了表征沥青混合料在间接拉伸模式下的力链分布特征，成型3种骨架结构沥青混合料的马歇尔试件，以及旋转压实试件和相应3种类型的沥青砂浆静压试件。利用简单性能试验分别测试不同温度条件下沥青混合料和沥青砂浆的动态模量、相位角，在获取沥青混合料旋转压实试件和马歇尔试件截面图像的基础上，结合数字图像处理技术和MATLAB编程，借助离散元方法重构了3种类型沥青混合料的旋转压实和马歇尔数字试件。对旋转压实数字试件进行虚拟简单性能试验，运用反演算法计算数字试件的细观参数，校验细观模型的准确性和合理性。对马歇尔数字试件开展虚拟间接拉伸试验，提取颗粒间接触力力链信息，以力链概率分布和角度分布作为量化指标进行分布特征分析。研究结果表明：利用离散元方法重构的3种骨架结构沥青混合料黏弹性细观模型具有较高的预测精度，动态模量和相位角的实测与预测最大差异分别为9.64%、0.24°；间接拉伸荷载模式下，3种骨架结构沥青混合料的内部法向压力力链概率分布均随f(接触力与平均接触力的比值)的增大而衰减，强力链(f≥1)的概率分布较小，而弱力链(f＜1)的概率分布较大，随着温度的升高，力链的最大概率分布基本呈增大的趋势；不同温度的压力力链角度分布差异较大，呈沿0°-180°水平线和90°-270°垂直线的非对称分布，0°-180°水平线以上分布占主导，随着温度的升高，角度分布均向外延伸，但延伸幅度不大，最大仅为3.954%；不同截面的沥青混合料具有一致的法向力链概率分布和角度分布。研究结果为从细观角度认知沥青混合料的非均匀力学响应及荷载传递演化提供了理论依据。     

An optical tire contact pressure test bench

An optical tire contact pressure test bench developed by the IMMa group is described. The measurement system is based on the frustration of total internal reflection (FTIR) of light. The test bench allows performing normal pressure distribution and patch contact shape measurements on passenger car tires. The system is based on the use of a laterally illuminated glass on which the tire leans. Between them a plastic interphase is located that will cause the FTIR of light. A video camera catches the formed shining image through the glass. The brightness level in each pixel of the image can be related to the existing normal pressure. The study of the contact patch provided by the bench makes it possible to characterize tire behaviour under different loading states, inflation pressure, tire defects and toe and camber angles. The bench incorporates a computerized load and control system of the tire operation parameters, an image acquisition module and a data acquisition system that allow monitoring and acting on the experimental variables of interest in the tests such as load on the tire and environmental conditions. A supporting mechanical system incorporated to the bench allows providing the tire with variable toe and camber angles. From the images obtained with this system, the maximum normal pressure points, total force, size and shape of the patch can be determined, which are related to the tire-use conditions. As an application example, results that show the patch size and shape under different load and tire inflation pressures are presented. A further application, which is the use of the system for the detection and study of defective tires is also presented.     

An optical tire contact pressure test bench

An optical tire contact pressure test bench developed by the IMMa group is described. The measurement system is based on the frustration of total internal reflection (FTIR) of light. The test bench allows performing normal pressure distribution and patch contact shape measurements on passenger car tires. The system is based on the use of a laterally illuminated glass on which the tire leans. Between them a plastic interphase is located that will cause the FTIR of light. A video camera catches the formed shining image through the glass. The brightness level in each pixel of the image can be related to the existing normal pressure. The study of the contact patch provided by the bench makes it possible to characterize tire behaviour under different loading states, inflation pressure, tire defects and toe and camber angles. The bench incorporates a computerized load and control system of the tire operation parameters, an image acquisition module and a data acquisition system that allow monitoring and acting on the experimental variables of interest in the tests such as load on the tire and environmental conditions. A supporting mechanical system incorporated to the bench allows providing the tire with variable toe and camber angles. From the images obtained with this system, the maximum normal pressure points, total force, size and shape of the patch can be determined, which are related to the tire-use conditions. As an application example, results that show the patch size and shape under different load and tire inflation pressures are presented. A further application, which is the use of the system for the detection and study of defective tires is also presented.