Yaw damper modelling and its influence on railway dynamic stability

This paper deals with the modelling of yaw dampers and determining the influence of the modelling of this component on the results obtained when predicting the dynamic stability of a vehicle. The first part of the work analyses the influence of the yaw damper characteristics on railway dynamic stability. Following this, a physical model of the damper is developed which allows its performance to be reproduced accurately in the whole range of operating conditions the damper is envisaged to operate in. Once obtained, it was found that the computational cost of the model was relatively high. Therefore, a simplified model has been developed. The simplified model allows obtaining accurate results without excessively increasing the time required to perform the simulations. Analysing the results obtained with this model, it has been concluded that with respect to previous model based on conventional approaches, it improves the accuracy of dynamic calculation for the stability assessment. Also, it has been found that the accurate modelling of the yaw damper is critical when dealing with the vehicle's dynamic performance. In the last part of the paper, a special type of yaw damper was studied as well as its effect on the dynamic behaviour of the vehicle.     

土-承台动力相互作用对砂土场地桩基桥梁地震反应的影响

在桩基桥梁的地震反应分析中,桩-土动力相互作用是个重要的问题,而对于采用低桩承台基础的桥梁,承台埋在土面以下,还存在土与承台之间的动力相互作用。目前,地震反应分析中一般不考虑土-承台动力相互作用的影响,相关研究也很少。为此,利用OpenSees有限元分析程序,基于p-y曲线建立了土-结构一体化桩基单墩模型,选择40条实际岩石场地地震记录作为输入,开展了考虑土-承台动力相互作用的桩基桥梁地震反应分析。结果表明,考虑土-承台动力相互作用后,结构的基本周期会减小,墩底曲率会明显增大,桩顶曲率会大幅减小,但墩顶位移的减小可以忽略。     

Nonlinearity in the vertical transmissibility of seating: the role of the human body apparent mass and seat dynamic stiffness

The efficiency of a seat in reducing vibration depends on the characteristics of the vibration, the dynamic characteristics of the seat, and the dynamic characteristics of the person sitting on the seat. However, it is not known whether seat cushions influence the dynamic response of the human body, whether the human body influences the dynamic response of seat cushions, or the relative importance of human body nonlinearity and seat nonlinearity in causing nonlinearity in measures of seat transmissibility. This study was designed to investigate the nonlinearity of the coupled seat and human body systems and to compare the apparent mass of the human body supported on rigid and foam seats. A frequency domain model was used to identify the dynamic parameters of seat foams and investigate their dependence on the subject-sitting weight and hip breadth. With 15 subjects, the force and acceleration at the seat base and acceleration at the subject interface were measured during random vertical vibration excitation (0.25–25 Hz) at each of five vibration magnitudes, (0.25–1.6 ms^?2 r.m.s.) with four seating conditions (rigid flat seat and three foam cushions). The measurements are presented in terms of the subject's apparent mass on the rigid and foam seat surfaces, and the transmissibility and dynamic stiffness of each of the foam cushions. Both the human body and the foams showed nonlinear softening behaviour, which resulted in nonlinear cushion transmissibility. The apparent masses of subjects sitting on the rigid seat and on foam cushions were similar, but with an apparent increase in damping when sitting on the foams. The foam dynamic stiffness showed complex correlations with characteristics of the human body, which differed between foams. The nonlinearities in cushion transmissibilities, expressed in terms of changes in resonance frequencies and moduli, were more dependent on human body nonlinearity than on cushion nonlinearity.     

Sensitivity analysis to assess the influence of the inertial properties of railway vehicle bodies on the vehicle's dynamic behaviour

A sensitivity analysis has been performed to assess the influence of the inertial properties of railway vehicles on their dynamic behaviour. To do this, 216 dynamic simulations were performed modifying, one at a time, the masses, moments of inertia and heights of the centre of gravity of the carbody, the bogie and the wheelset. Three values were assigned to each parameter, corresponding to the percentiles 10, 50 and 90 of a data set stored in a database of railway vehicles. After processing the results of these simulations, the analysed parameters were sorted by increasing influence. It was also found which of these parameters could be estimated with a lesser degree of accuracy for future simulations without appreciably affecting the simulation results. In general terms, it was concluded that the most sensitive inertial properties are the mass and the vertical moment of inertia, and the least sensitive ones the longitudinal and lateral moments of inertia.     

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.     

Modelling and handling dynamics of a wind-driven vehicle

This paper presents a study on the dynamic modelling of a land-yacht, i.e. a ground vehicle that is propelled by wind energy through the use of a vertical airfoil. First, a non-linear dynamic model of the land-yacht motion is derived using a compact matrix notation. Then, an introduction to the study of the performance and handling characteristics is presented. It is considered the vehicle response to input commands, i.e. steering to follow the desired course and adjusting the sail angle according to environmental conditions, that is, wind intensity and direction. The model demonstrates the performance in terms of maximum longitudinal speed and the effects on handling behaviour of the major vehicle design and operational parameters, including location of the centre of gravity and centre of effort, and forward speed, and it leads to conclusions of practical significance concerning directional control and stability.     

Nonlinearity-induced time-varying harmonic dynamic axle load and its impact on dynamic stability of car–trailer combinations

A nonlinearity-induced time-varying harmonic dynamic axle load is found in the road test of a car–trailer combination. To understand its influence on system dynamic stability, a corresponding linear single-track model (STM) is proposed. System dynamic stability is described and sensitivity analysis for the system parameters is achieved. The contribution of the harmonic force is quantified by a derived effective axle load. Because the harmonic effect might be time varying in practice, a time–frequency analysis-based parameter identification method is introduced. Experimental study shows that a time-varying harmonic effect really exists. A yaw-rate-based simulation method is designed to simulate this behaviour. The sensitivity analysis of the influence of the harmonic amplitude or phase on dynamic stability is performed with a simulation study. With appropriate modification of the harmonic amplitude and phase shift applied in selected time windows, the time-varying system characteristics in the road test can be simulated very well.     

A study on the role of powertrain system dynamics on vehicle driveability

Vehicle driveability describes the complex interactions between the driver and the vehicle, mainly related to longitudinal vibrations. Today, a relevant part of the driveability process optimisation is realised by means of track tests, which require a considerable effort due to the number of parameters (such as stiffness and damping components) affecting this behaviour. The drawback of this approach is that it is carried on at a stage when a design iteration becomes very expensive in terms of time and cost. The objective of this work is to propose a light and accurate tool to represent the relevant quantities involved in the driveability analysis, and to understand which are the main vehicle parameters that influence the torsional vibrations transmitted to the driver. Particular attention is devoted to the role of the tyre, the engine mount, the dual mass flywheel and their possible interactions. The presented nonlinear dynamic model has been validated in time and frequency domain and, through linearisation of its nonlinear components, allows to exploit modal and energy analysis. Objective indexes regarding the driving comfort are additionally considered in order to evaluate possible driveability improvements related to the sensitivity of powertrain parameters.     

Identification of the technical state of suspension elements in railway systems

The running safety and passenger comfort levels in a vehicle are tightly related to the technical state of the suspension elements. The technical state of the suspension depends of the service life time as its components become old and wear out. In this paper, a study on the dynamic behaviour of a railway vehicle is established in relation to the damping elements in one of its suspension stages. An experimental measurement model is developed, obtaining a set of useful signals for the identification of the dynamic parameters of the vehicle and developing a test through the application of the operational modal analysis technique, using least-squares complex exponential method as a basis to validate the numerical model of the multi-body system. Then, the study focuses on developing numerical simulations for the identification of the technical state of the dampers by the registration of dynamic variables under commercial service conditions and on estimating the state of the suspension elements.     

Dynamic behaviour of a high-speed train hydraulic yaw damper

This paper focuses on revealing the dynamic behaviour of a hydraulic yaw damper under very small excitation conditions. First, the measured yaw damper movement is presented when a train experiences unstable motions. It shows that the yaw damper is characterized by very small harmonic movement between 0.5 and 2?mm. Following this, a simplified physical model of the yaw damper is developed which has the ability to reproduce its dynamic performance in the range of operating conditions, and then suitably validated with experimental results. At last, the dynamic behaviour of the yaw damper under very small amplitudes is investigated by comparing with its static behaviour, and the dynamic stiffness and damping in terms of key parameters are studied. It is concluded that there is a great difference in the damper performance between dynamic and static conditions which is caused by the internal damper flexibility under small amplitudes. The percentage of entrapped air in oil, rubber attachment stiffness, and leakage flow have a great effect on the dynamic behaviour of the yaw damper related to the dynamic stiffness and damping. The effect is even more remarkable for smaller amplitudes regarding the dissolved air in oil. Oil leakage has a greater impact on dynamic damping than dynamic stiffness. The series stiffness of the yaw damper is mainly provided by the spring effect of the oil when the rubber attachment stiffness reached a certain limit, and an additional increase in rubber attachment stiffness becomes useless to further enhance the overall stiffness of the damper.     

基于随机加权自适应容积卡尔曼的电池SOC估计

准确估计锂离子电池荷电状态（SOC）对于突破电动汽车发展瓶颈，推动电动汽车商业化至关重要。针对动力电池模型参数辨识问题，提出基于遗忘因子的递推最小二乘法（FRLS）的模型参数在线识别方法。实时测量动力电池电流和电压数据，在线辨识模型参数并实时更新，实时反映电池内部参数的变化过程，对电池动态特性进行实时模拟。针对容积卡尔曼（CKF）滤波过程中对噪声敏感的问题，提出一种基于随机加权思想的自适应容积卡尔曼滤波（ARWCKF）方法。相比于常规CKF容积点权值始终不变，通过引入随机加权因子，自适应调整容积点权值并对系统噪声、状态向量及观测向量进行预测，抑制系统噪声对状态估计的干扰，避免因容积点权重值固定所带来的误差。针对CKF算法在容积点计算过程中由于状态方差矩阵失去正定性导致的平方根分解无法使用的问题，提出基于奇异值分解的容积点计算方法，克服由于先验协方差矩阵负定性变化而导致的滤波精度下降等问题，并进行多种工况、温度下不同SOC初值的对比验证。结果表明：所提出的基于遗忘因子的递推最小二乘法的在线参数辨识及ARWCKF滤波方法具备良好的估计精度及收敛能力，最大电压估计误差不超过40 mV，SOC估计误差不超过1%。     

基于元胞自动机的动态路段走行时间计算模型

为建立合理的动态交通网络中路段走行时间模型,分析了动态路段走行时间函数的一般形式,对比国内外常用的几种离散型动态路段走行时间函数,基于元胞自动机交通流模型,建立了动态路段走行时间模型。模型可以根据实际路段驶入率、驶出率,推算出任意时刻进入路段车辆的走行时间,并利用M atlab对模型进行求解和数值分析。结果表明,车辆进入路段后的交通状态是动态路段走行时间的主要影响因素;根据累积驶入驶出车辆数曲线可以直接求出动态路段走行时间,能够为动态交通网络中路径走行时间求解奠定基础。      

Levenberg-Marquardt法与Gauss-Newton法相结合在桥梁结构静力参数识别中的应用

目前用于服役桥梁结构静力参数识别的算法主要有Gauss-Newton(G-N)法和Levenberg-Marquardt(L-M)法,但是两种方法各有缺点,G-N法不能有效地处理奇异和非正定矩阵以及对初始点要求苛刻,L-M法虽然能克服G-N法迭代矩阵奇异的缺点,但由于阻尼因子的存在使得识别结果精度较为粗糙。结合二者的优缺点提出:先采用L-M法进行初步识别,再由L-M法初步识别结果作为G-N法的初始值进行再识别的方法,通过MATLAB自编程序实现对实际结构参数的优化求解,从而提高参数识别精度。文中最后以一连续粱的数值模拟试验验证了该法的有效性,比较结果表明,本文方法的识别精度要达到L-M法的2倍之多,能大大地提高识别结果的精度,从而保证了识别参数的可靠性,为服役桥梁结构的进一步状态评估提供了结构模型可靠的量化信息。     

Analysis Method of Head-on Vehicle Collision

In this paper a method of analysis of vehicle head-on collision, based on the concept of dispersion of stress waves in rods upon axial impact has been presented. The mathematical model of collision studied here described the vehicle behaviour in collision in terms of a one-dimensional, nonhomo-geneous, nonlinear partial differential equation. A procedure of model identification and some remarks concerning experimental data have been discussed. Results of computer simulation of a tested vehicle have been given.     

Dynamic Friction Models for Road/Tire Longitudinal Interaction

Summary In this paper we derive a new dynamic friction force model for the longitudinal road/tire interaction for wheeled ground vehicles. The model is based on a dynamic friction model developed previously for contact-point friction problems, called the LuGre model. By assuming a contact patch between the tire and the ground we develop a partial differential equation for the distribution of the friction force along the patch. An ordinary differential equation (the lumped model) for the friction force is developed, based on the patch boundary conditions and the normal force distribution along the contact patch. This lumped model is derived to approximate closely the distributed friction model. Contrary to common static friction/slip maps, it is shown that this new dynamic friction model is able to capture accurately the transient behaviour of the friction force observed during transitions between braking and acceleration. A velocity-dependent, steady-state expression of the friction force versus the slip coefficient is also developed that allows easy tuning of the model parameters by comparison with steady-state experimental data. Experimental results validate the accuracy of the new tire friction model in predicting the friction force during transient vehicle motion. It is expected that this new model will be very helpful for tire friction modeling as well as for anti-lock braking (ABS) and traction control design.     

Dynamic Friction Models for Road/Tire Longitudinal Interaction

Summary In this paper we derive a new dynamic friction force model for the longitudinal road/tire interaction for wheeled ground vehicles. The model is based on a dynamic friction model developed previously for contact-point friction problems, called the LuGre model. By assuming a contact patch between the tire and the ground we develop a partial differential equation for the distribution of the friction force along the patch. An ordinary differential equation (the lumped model) for the friction force is developed, based on the patch boundary conditions and the normal force distribution along the contact patch. This lumped model is derived to approximate closely the distributed friction model. Contrary to common static friction/slip maps, it is shown that this new dynamic friction model is able to capture accurately the transient behaviour of the friction force observed during transitions between braking and acceleration. A velocity-dependent, steady-state expression of the friction force versus the slip coefficient is also developed that allows easy tuning of the model parameters by comparison with steady-state experimental data. Experimental results validate the accuracy of the new tire friction model in predicting the friction force during transient vehicle motion. It is expected that this new model will be very helpful for tire friction modeling as well as for anti-lock braking (ABS) and traction control design.     

Study on the derailment behaviour of a railway wheelset with solid axles in a railway turnout

ABSTRACT

Dynamic wheel–rail interaction in railway turnouts is more complicated than on ordinary track. In order to evaluate the derailment behaviour of railway wheelsets in railway turnouts, this paper presents a study of dynamic wheel–rail interaction during a wheel flange climbs on the turnout rails, by applying the elasticity positioning wheelset model. A numerical model is established based on a coupled finite element method and multi-body dynamics, and applied to study the derailment behaviour of a railway wheelset in both the facing and trailing directions in a railway turnout, as well as dynamic wheel–turnout rail interaction during the wheel flange climbing on the turnout rails. The influence of the wheel–rail attack angle and the friction coefficient on the dynamic derailment behaviour is investigated through the proposed model. The results show that the derailment safety for a wheelset passing the railway turnout in facing direction is significantly lower than that for the trailing direction and the ordinary track. The possibility of derailment for the wheelset passing the railway turnout in facing and trailing directions at positive wheel–rail attack angles will increase with an increase in the attack angles, and the possibility of derailment can be reduced by decreasing the friction coefficient.     

一种基于灵敏度矩阵进行桥梁损伤识别的方法

重点研究了一种基于灵敏度矩阵对桥梁进行损伤识别的方法。基于振动分析的矩阵摄动理论,首先讨论了求取模态参数对结构物理参数灵敏度矩阵的方法,形成灵敏度矩阵的过程中避免了偏微分计算;基于灵敏度矩阵,建立了桥梁的损伤识别模型,并给出了此模型具体的求解方法;然后利用Guyan缩减的方法来缩减结构的模态自由度,保证了在进行损伤识别的过程中利用较少的模态参数,进而提高了方法的实用性;最后把所述方法应用于三跨预应力混凝土连续箱梁桥的实际损伤诊断工程。结果表明,利用所述方法进行预应力混凝土连续梁桥的损伤识别是有效的。