Kinematic and dynamic analysis of the McPherson suspension with a planar quarter-car model

McPherson suspension modelling poses a challenging problem due to its nonlinear asymmetric behaviour. The paper proposes a planar quarter-car analytical model that not only considers vertical motion of the sprung mass (chassis) but also: (i) rotation and translation for the unsprung mass (wheel assembly), (ii) wheel mass and its inertia moment about the longitudinal axis, and (iii) tyre damping and lateral deflection. This kinematic–dynamic model offers a solution to two important shortcomings of the conventional quarter-car model: it accounts for geometry and for tyre modelling. The paper offers a systematic development of the planar model as well as the complete set of mathematical equations. This analytical model can be suitable for fast computation in hardware-in-the-loop applications. Furthermore, a reproducible Simulink implementation is given. The model has been compared with a realistic Adams/View simulation to analyse dynamic behaviour for the jounce and rebound motion of the wheel and two relevant kinematic parameters: camber angle and track width variation.     

对呼和浩特市新增客运出租汽车的经验分析

根据呼和浩特市的具体情况,分析了市区出租汽车市场现状,对2007年新增客运出租汽车的背景进行阐述,并总结了成功经验。     

农村牧区推行客运公交化运营模式的探索与思考

农村牧区客运需求逐年增加,客运量增大,客运市场结构发生变化,因此,农村牧区客运运营模式要适应客运市场的发展变化。文章以内蒙古赤峰市阿鲁科尔沁旗农村牧区客运运营模式的转变为例,探索、阐述了农村牧区客运公交化运营的可行性及必要性。     

Stability and performance analysis of a full-train system with inerters

This paper discusses the use of inerters to improve the stability and performance of a full-train system. First, we construct a 28 degree-of-freedom train model in AutoSim, and obtain a linearised model for analysis in Matlab. Then, the benefits of inerters are investigated by the critical speed, settling time and passenger comfort. In addition, we apply a new mechatronic network for further performance improvement, and synthesise the optimal electrical circuit for experimental verification. From the results, inerters are shown to be effective in improving the stability and performance of train systems.     

Modelling and validation of coupled high-speed maglev train-and-viaduct systems considering support flexibility

This study presents a more realistic modelling of the maglev-based high-speed railway line in Shanghai, China. Focus is placed on an accurate simulation of the two subsystems: the train subsystem including the magnets and the viaduct subsystem including the modular function units of the rails. The electromagnet force–air gap model with a proportional-derivative (PD) controller is adopted to simulate the interaction between the maglev train via its electromagnets and the viaduct via its modular function units. The flexibilities of the rails, girders, piers and associated elastic bearings are all considered in the modelling of the viaduct subsystem to investigate their effects on an interaction between the two subsystems. By applying the proposed model to the Shanghai maglev line, the essential characteristics of the coupled system can be duly captured. The accuracy and effectiveness of the proposed approach are then validated by comparing the computed dynamic responses and frequencies with the measurement results. It is confirmed that the proposed modelling with a detailed simulation of the magnets and modular function units can duly account for the dynamic interaction between the train and viaduct systems. Moreover, the effects of the inclusion of the flexibilities of the rails, girders and elastic supports to the response of the coupled system are respectively investigated, the results of which prove that their involvements are essential to the accurate prediction of the response of the coupled maglev train–viaduct system.     

对加快农村汽车客运站建设及运营管理的分析

农村汽车客运站是农村道路运输的重要公益性基础设施,是整个道路运输市场体系的重要组成部分。农村汽车客运站的建设对改善农民群众出行条件、提升乡镇公共服务水平、推动农村经济发展、服务“三农”、建设社会主义新农村具有重要意义。文章针对当前农村汽车客运站建设及运营管理存在的问题,提出整改思路。     

Influence of long-wavelength track irregularities on the motion of a high-speed train

Vertical track irregularities over viaducts in high-speed rail systems could be possibly caused by concrete creep if pre-stressed concrete bridges are used. For bridge spans that are almost uniformly distributed, track irregularity exhibits a near-regular wave profile that excites car bodies as a high-speed train moves over the bridge system. A long-wavelength irregularity induces low-frequency excitation that may be close to the natural frequencies of the train suspension system, thereby causing significant vibration of the car body. This paper investigates the relationship between the levels of car vibration, bridge vibration, track irregularity, and the train speed. First, this study investigates the vibration levels of a high-speed train and bridge system using 3D finite-element (FE) transient dynamic analysis, before and after adjustment of vertical track irregularities by means of installing shimming plates under rail pads. The analysis models are validated by in situ measurements and on-board measurement. Parametric studies of car body vibration and bridge vibration under three different levels of track irregularity at five train speeds and over two bridge span lengths are conducted using the FE model. Finally, a discontinuous shimming pattern is proposed to avoid vehicle suspension resonance.     

A study on a dynamic model of a vehicle simulator with 6 DOF for the Korean tilting train

This article presents a dynamic model of a railway vehicle for the development of a 6-DOF (degrees of freedom) tilting-train simulator. It will be used to verify the tilting-electronics and tilting-control algorithm that are to be applied to the Korean tilting train. It is composed of 6 electrically driven actuators, a track generation system, a graphic user interface, and a visualization system with a 1600-mm-diameter dome screen. Each system shares the data by means of Ethernet network in real time. In this study, a train model of 9-DOF with a force generation system to tilt the train body has been used. Dynamic analysis for the straight track running and curve negotiation of a railway vehicle can be performed in the model. A verification study for the application of the model to the simulator has been conducted on curving tracks with different radii.     

Modeling and simulation of a dual-mode electrohydraulic fully variable valve train for four-stroke engines

In modern four-stroke automotive engine technology, variable valve timing and lift control offer potential benefits for making a high-performance engine. In this paper, a novel design named dual-mode electrohydraulic fully variable valve train (EHFVVT) for both engine intake and exhaust valves is introduced. The system is mainly controlled by either proportional flow control valves or proportional pressure relief valves, and hence two different families of valve displacement patterns can be achieved. The construction of the mathematical model of the valve train system and its dynamic analysis are also presented in this paper. Experimental and simulation results show that the dual-mode electrohydraulic variable valve train can achieve fully variable valve timing and lift control, and has the potential to eliminate the traditional throttle valve in the gasoline engines. With the proposed system, the engine performance at various speeds and loads will be significantly improved.     

Development of a new time domain-based algorithm for train detection and axle counting

This paper presents an innovative train detection algorithm, able to perform the train localisation and, at the same time, to estimate its speed, the crossing times on a fixed point of the track and the axle number. The proposed solution uses the same approach to evaluate all these quantities, starting from the knowledge of generic track inputs directly measured on the track (for example, the vertical forces on the sleepers, the rail deformation and the rail stress). More particularly, all the inputs are processed through cross-correlation operations to extract the required information in terms of speed, crossing time instants and axle counter. This approach has the advantage to be simple and less invasive than the standard ones (it requires less equipment) and represents a more reliable and robust solution against numerical noise because it exploits the whole shape of the input signal and not only the peak values. A suitable and accurate multibody model of railway vehicle and flexible track has also been developed by the authors to test the algorithm when experimental data are not available and in general, under any operating conditions (fundamental to verify the algorithm accuracy and robustness). The railway vehicle chosen as benchmark is the Manchester Wagon, modelled in the Adams VI-Rail environment. The physical model of the flexible track has been implemented in the Matlab and Comsol Multiphysics environments. A simulation campaign has been performed to verify the performance and the robustness of the proposed algorithm, and the results are quite promising. The research has been carried out in cooperation with Ansaldo STS and ECM Spa.     

包头市城乡客运一体化规划研究

城乡客运一体化是城乡一体化的重要支撑、保障与体现。文章分析了城乡客运一体化的内涵,重点辨析了城乡旅客运输的不同形式及特点,并在深入挖掘包头市城乡社会经济及旅客运输特点和发展需求的基础上,提出城乡客运一体化规划目标和实施方案,以及规划实施的保障措施。     

An investigation into the mechanism of the out-of-round wheels of metro train and its mitigation measures

This paper presents an investigation into the mechanism of polygonal wear of metro train wheels through experiments conducted at field sites. The experiments comprise dynamic behaviour test of vehicle and track system, the wheel transverse wear and polygonal wear measurements, rail corrugation and rail weld joint irregularities’ measurements. Moreover, the numerical modal analysis of the wheelset is also performed. The wheel measurement results show that most wheels exhibit obvious eccentricity and polygonal wear with 5–8 harmonics. The investigation results indicate that the wavelength-fixing mechanism of the wheel out-of-roundness with 5–8 harmonics is the P2 resonance. Four measures have been proposed to mitigate the formation of wheel polygonal wear based on the field measurement results.     

Modelling and analysis of a gyrostat elastically attached to a vehicle

In recent studies, the dynamic response of a passenger car to a gyrostat was investigated for a series of driving manoeuvres, but the gyrostat was assumed to be rigidly supported, thus neglecting the effect of rotor precession. The aim of the present study is the modelling and investigation of the gyrostat-vehicle interaction for elastically mounted gyrostats. For this purpose, a general model describing the motion of a gyrostat elastically supported by a moving platform is derived. Emphasis is placed on the mathematical derivation, where all considerations that are necessary to arrive at the final result are included. Thus, the presented considerations and results can be easily adopted and are suitable to serve beyond their actual purpose as a reference work for other applications. The derived model is tested with the aid of vehicle dynamics simulations and the simulation results prove to be consistent with the results of the rigid attachment model, provided that the elastic approach is subjected to high-bearing stiffnesses. However, it is shown that at lower bearing stiffnesses the solutions are progressively different, since low-bearing stiffnesses enable the gyrostat to move, due to the compliance of the bearings itself, relative to the vehicle chassis with high-angular velocities.     

Simulation analysis on the coupler behaviour and its influence on the braking safety of locomotive

In order to simulate the runtime behaviour of coupler and buffer systems accurately, the dynamic model was improved by adopting the polygonal contact model. And the reliability of the friction phenomenon in flat-pin coupler’s tail and the connecting constraint between coupler heads were verified. Then the detailed model which fully considered the dynamic characteristics of middle locomotive and its adjacent wagons was incorporated into the simplified longitudinal dynamic model of combined heavy-haul train. The dynamic response of coupler and its influence on the running safety of locomotive under flat straight line emergency braking condition and long steep grade cycle braking condition were simulated respectively. According to the simulation results, the following suggestions were proposed: flat-pin coupler is more suitable for heavy-haul locomotive, but the inspection work on the friction surface of coupler tail needs to be strengthened; and the vertical anti-off stopping device should be added to avoid the occurrence of decoupling accidents.     

某重型货车空调系统对乘员舱热舒适性影响的分析与改进

应用计算流体力学软件Fluent对某重型货车空调系统和乘员舱中的气流进行数值仿真,其结果与试验对比,相差在5%以内.采用当量温度Teq,i作为评价指标,对乘员舱的热舒适性进行分析.结果表明,由于各风道风量分配不均匀,乘员舱内部气流组织不合理,致使热舒适性较差.对空调系统进行改进,增加前吹面风道风量比例后,乘员舱的热舒适...     

On the objective assessment and quantification of the transient-handling response of a vehicle

This article suggests a new methodology for the objective assessment and quantification of the response of a vehicle subjected to transient-handling manoeuvres. For this purpose, a non-dimensional measure is defined, namely the normalized yaw impulse. This measure appears in two variations. In its general or dynamic form, it represents the difference between the yaw moment due to the front-tyre forces and the yaw moment due to the rear-tyre forces, divided by the sum of the aforementioned yaw moments. By employing a linear, two-degree-of-freedom bicycle model, it is shown that the general form of the normalized yaw impulse can be written as a function of the steer angle and the forward, lateral and yaw velocities of the vehicle. This form is referred to as the kinematic yaw impulse. It is demonstrated that the combined application of the dynamic and kinematic expressions of the yaw impulse not only facilitates the explicit assessment and quantification of the transient behaviour of a vehicle, but also reveals the influence of parameters such as the yaw moment of inertia, which traditionally leave the steady-state behaviour unaffected.     

Development of a model for an air brake system with leaks and a scheme for the estimation of the steady-state pushrod stroke

Brake systems in trucks are crucial for ensuring the safety of vehicles and passengers on the roadways. Most trucks in the USA are equipped with S-cam drum brake systems and they are sensitive to maintenance. Brake deficiencies such as leaks and out-of-adjustment of the pushrod are a major cause of accidents involving trucks. Leaks in the air brake systems drastically affect braking performance by decreasing the maximum attainable braking pressure and also increasing the time required to attain the same, thereby resulting in longer stopping distances. Out-of-adjustment of the pushrod leads to loss of braking torque even if no leaks are present in the air brake system. In this paper, we present a mathematical model for an air brake system in the presence of leaks, with a view towards developing a diagnostic system for the air brake system based on the models. Additionally, we present a scheme that estimates the severity of leak in terms of the mass flow rate of air leaking from the air brake system to the atmosphere. This scheme can be implemented using a simple look-up table. We also present a steady-state pushrod stroke estimation scheme, based on brake chamber pressure measurements in the absence of any leaks in the air brake system.     

An investigation into the mechanism of the polygonal wear of metro train wheels and its effect on the dynamic behaviour of a wheel/rail system

This paper presents a detailed investigation conducted into the mechanism of the polygonal wear of metro train wheels through extensive experiments conducted at the sites. The purpose of the experimental investigation is to determine from where the resonant frequency that causes the polygonal wear of the metro train wheels originates. The experiments include the model tests of a vehicle and its parts and the tracks, the dynamic behaviour test of the vehicle in operation and the observation test of the polygonal wear development of the wheels. The tracks tested include the viaducts and the tunnel tracks. The structure model tests show that the average passing frequency of a polygonal wheel is approximately close to the first bending resonant frequency of the wheelset that is found by the wheelset model test and verified by the finite element analysis of the wheelset. Also, the dynamic behaviour test of the vehicle in operation indicates the main frequencies of the vertical acceleration vibration of the axle boxes, which are dominant in the vertical acceleration vibration of the axle boxes and close to the passing frequency of a polygonal wheel, which shows that the first bending resonant frequency of the wheelset is very exciting in the wheelset operation. The observation test of the polygonal wear development of the wheels indicates an increase in the rate of the polygonal wear of the wheels after their re-profiling. This paper also describes the dynamic models used for the metro vehicle coupled with the ballasted track and the slab track to analyse the effect of the polygonal wear of the wheels on the wheel/rail normal forces.     

Development and validation of a wear model for the analysis of the wheel profile evolution in railway vehicles

The numerical wheel wear prediction in railway applications is of great importance for different aspects, such as the safety against vehicle instability and derailment, the planning of wheelset maintenance interventions and the design of an optimal wheel profile from the wear point of view. For these reasons, this paper presents a complete model aimed at the evaluation of the wheel wear and the wheel profile evolution by means of dynamic simulations, organised in two parts which interact with each other mutually: a vehicle's dynamic model and a model for the wear estimation. The first is a 3D multibody model of a railway vehicle implemented in SIMPACK?, a commercial software for the analysis of mechanical systems, where the wheel–rail interaction is entrusted to a C/C++user routine external to SIMPACK, in which the global contact model is implemented. In this regard, the research on the contact points between the wheel and the rail is based on an innovative algorithm developed by the authors in previous works, while normal and tangential forces in the contact patches are calculated according to Hertz's theory and Kalker's global theory, respectively. Due to the numerical efficiency of the global contact model, the multibody vehicle and the contact model interact directly online during the dynamic simulations.

The second is the wear model, written in the MATLAB® environment, mainly based on an experimental relationship between the frictional power developed at the wheel–rail interface and the amount of material removed by wear. Starting from a few outputs of the multibody simulations (position of contact points, contact forces and rigid creepages), it evaluates the local variables, such as the contact pressures and local creepages, using a local contact model (Kalker's FASTSIM algorithm). These data are then passed to another subsystem which evaluates, by means of the considered experimental relationship, both the material to be removed and its distribution along the wheel profile, obtaining the correspondent worn wheel geometry.

The wheel wear evolution is reproduced by dividing the overall chosen mileage to be simulated in discrete spatial steps: at each step, the dynamic simulations are performed by means of the 3D multibody model keeping the wheel profile constant, while the wheel geometry is updated through the wear model only at the end of the discrete step. Thus, the two parts of the whole model work alternately until the completion of the whole established mileage. Clearly, the choice of an appropriate step length is one of the most important aspects of the procedure and it directly affects the result accuracy and the required computational time to complete the analysis.

The whole model has been validated using experimental data relative to tests performed with the ALn 501 ‘Minuetto’ vehicle in service on the Aosta–Pre Saint Didier track; this work has been carried out thanks to a collaboration with Trenitalia S.p.A and Rete Ferroviaria Italiana, which have provided the necessary technical data and experimental results.