Very-High-Speed Tests on the French Railway Track

The very-high-speed tests carried out by SNCF between the end of 1989 and May 1990, are an extension of the investigations which have been made for many years in order to acquire the control of high speeds. The high-speed run which ended the tests is well known [1], [2],[3].

In order to place the final test campaign in its context, we can recall progression made during the last decade.

In February 1981, the maximal speed of 380 km/h was reached with a TGV-PSE¹ train set, having the same configuration as the series, but only seven trailers instead of eight.

During the following years, until 1986, the pneumatic suspension and the new Y 231 carrying bogies designed for TGV-ATL train sets were developed, with numerous test runnings in the speed range from 300 to 350 km/h, in order to obtain certitudes as regards the stability of the bogies and the appropriate choice of anti-hunting devices for commercial speeds of 270 km/h (LGV-PSE) or 300 km/h (LGV-ATL).

These tests allowed the definition of the TGV equipment design principles, which are applied today as regards the critical speed of the bogies.

Between 1985 and 1988, the development of the prototype train set equiped with self-controlled synchronous motors (March 1988) led once more to numerous runnings at high speed, in December 1988 with the so-called “operation TGV 88”. During this operation, the speed range from 350 to 400 km/h was investigated (maximal speed 408,4 km/h on December 12th 1988).

Apart from the capability of the synchronous traction equipment to develop the required power and the performance consisting in the realization of such tests on a line kept in operation (LGV-PSE), the teachings gathered together during this test campaign were decisive for the pursuit of the operation.

On this occasion, we discovered that:

-with the single-phase GPU pantograph mounted on this train set, we could get the current collection under control without difficulties inside the studied speed range,

-the bogies presented a stability margin distinctly higher than that which had been estimated, according to the results of former experiences.

Consequently, the test campaign of the TGV 117 could be engaged with a great confidence in the capabilities of the TGV equipment to achieve markedly higher speeds with full safety. The preparation of this test campaign had begun in 1986 and was conducted in a parallel direction to the above mentioned experimentation.

The campaign was preceded by a preliminary test campaign with the train set TGV-ATL n° 308, with a reduced train composition, including eight trailers. The goal was the validation, until 390 km/ h, of the test field consisting in the TGV-ATL Aquitaine branch, as well for the track as for the overhead contact line, the achievement of which was just ended.

The operation TGV 117 was then carried out in two phases:

-in December 1989 the train set TGV-ATL 325 with a reduced train composition consisting in four trailers between two motor cars reached the maximal speed of 482,4 km/h on December 5th,

-in May 1990 the same train set, but with only three trailers, improved the performance unto the final record: the speed of 515,3 km/h was reached on May 18th.     

Coupler dynamic performance analysis of heavy haul locomotives

In this paper, a train dynamic model was developed to study the dynamic performance of heavy haul locomotives, taking into account the use of different coupler and buffer systems under conditions of severe longitudinal coupler compressive forces. The model consists of four locomotives each having 38 independent degrees of freedom and one dummy freight vehicle connected to each other by couplers and buffers. Simulation results showed that the longitudinal coupler compressive forces withstood by large rotation angle couplers with coupler shoulders were larger than those withstood by small rotation angle couplers. The results obtained for the large rotation angle coupler model showed that it had higher safety curve negotiation speeds. Due to the smaller static impedance, it was found that large capacity elastic clay (or cement) buffers cannot satisfy the requirement of heavy haul locomotives during cycle braking in long heavy downgraded tracks; the use of friction clay buffers can solve this problem.     

The stability and mechanical characteristics of heavy haul couplers with restoring bumpstop

To investigate the stability and mechanical characteristics of a type of heavy haul coupler with restoring bumpstop, the geometry and force states of couplers were analysed at different yaw angles and the longitudinal forces. The structural characteristics of this coupler were summarised. To aid in the investigation, a multi-body dynamics model with four heavy haul locomotives and three detailed couplers was established to simulate the process of emergency braking. In addition, the coupler yaw instability and lateral forces were tested in order to investigate the effect of relevant parameters on the locomotive's wheelset lateral forces. The results show that only when the bumpstop force exceeds half of the coupler longitudinal compression force, can the follower be rotated and the yaw angle of the coupler increase. The bumpstop preload is the most important stabilising factor. The coupler lateral force is constant when the coupler longitudinal force is smaller than the critical values of 2000, 1400 and 1150 kN at coupler free angles of 7°, 8° and 9°, respectively, for operation on straight track. The coupler free angle and the locomotive's lateral clearance of the secondary stopper are important in decreasing the wheelset lateral forces of the locomotive. It is advised that a smaller locomotive's secondary lateral suspension stiffness, a free clearance of 35 mm and an elastic clearance of 15 mm from the secondary lateral stopper be selected. If the coupler's free angle is less than the self-stabilising angle which is 5.5° for operation on straight track, the coupler is stable no matter how great the longitudinal force is. The wheelset lateral forces are allowed at the coupler longitudinal force of 2500 kN when the free angle is 6°. These studies establish meaningful improvements for the stability of couplers and match the heavy haul locomotive with its suspension parameters.     

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.     

Dynamic performances of an innovative coupler used in heavy haul trains

An innovative structure for a heavy haul coupler with an arc surface contact and restoring bumpstop is proposed. This coupler has a small lateral force at a small yaw angle and a limitable yaw angle to ensure an allowable coupler lateral force under intense compressive force. The main structural characteristic of the combined contact coupler is a lateral movable follower with an appropriate friction coefficient of 0.06–0.08 and a slide block with a single freedom of longitudinal movement. In order to verify and simulate the performances, a multi-body dynamics model with four heavy haul locomotives and three detailed couplers was established to simulate the process of emergency braking. In addition, the coupler yaw instability and wheel set lateral forces were tested in order to investigate the effect of relevant parameters on the coupler performances. The combined contact coupler is suitable for heavy haul train for a good dynamic performance.     

The stability mechanism and its application to heavy-haul couplers with arc surface contact

To investigate the stability mechanism of a type of heavy-haul coupler with arc surface contact, the force states of coupler were analysed at different yaw angles according to the friction circle theory and the structural characteristics of this coupler were summarised. A multi-body dynamics model with four heavy-haul locomotives and three detailed couplers was established to simulate the process of emergency braking. In addition, the coupler yaw instability was tested in order to investigate the effect of relevant parameters on the coupler stability. The results show that this coupler exhibits the self-stabilisation and less lateral force at a small yaw angle. The yaw angle of force line is less than the actual coupler yaw angle which reduces the lateral force and the critical instability. An increase in the friction coefficient of the arc contact surfaces can improve the stability of couplers. The friction coefficient needs to be increased with the increase in the maximum coupler longitudinal compressive force. The stability of couplers is significantly enhanced by increasing the secondary suspension stiffness and reducing the clearance of the lateral stopper of the locomotives. When the maximum coupler compressive force reaches 2500 kN, the required friction coefficient reduces from 0.6 to 0.35, which notably lowers the derailment risk caused by the coupler. The critical instability angle of the coupler mainly depends on the arc contact friction coefficient. When the friction coefficient is 0.3, the critical instability angle was 4–4.5°. The simulation results are consistent with the locomotive line tests. These studies establish meaningful improvements for the stability of couplers and match the heavy-haul locomotive with its suspension parameters.     

Coupler rotation behaviour and its effect on heavy haul trains

When a locomotive coupler rotates at an angle, the lateral component of the coupler force has an adverse effect on the locomotive's safety, particularly in heavy haul trains. In this paper, a model of a head-mid configuration, a 20,000-t heavy haul train is developed to analyse the rotation behaviour of the locomotive's coupler system and its effect on the dynamic behaviour of such a train's middle locomotive when operating on tangent and curved tracks. The train model includes detailed coupler and draft gear with which to consider the hysteretic characteristics of the rubber draft gear model, the friction characteristics of the coupler knuckles, and the alignment-control characteristics of the coupler shoulder. The results indicate that the coupler's rotation behaviour differs between the tangent and curved tracks, significantly affecting the locomotive's running performance under the braking condition. A larger coupler rotation angle generates a larger lateral component, which increases the wheelset's lateral force and the derailment coefficient. Decreasing the maximum coupler free angle can improve the locomotive's operational performance and safety. Based on these results, the recommended maximum coupler free angle is 4°.     

A Comparison of Tyre Representations in a Simple Wheel Shimmy Problem

A simple system capable of wheel shimmy is analysed in three different ways and the results are compared. The tyre in each case is taken to be representable by a “taut string”, and the three ways involve (a) developing a digital tyre simulation which operates sequentially with a digital simulation of the mechanical system, (b) representing the tyre responses by linear constant coefficient differential equations derived empirically to match the string responses, and (c) as in (b) but employing fundamentally derived equations which approximate the exact string responses. The approximations are shown to give good results at reduced frequencies typical of the wheel shimmy phenomenon.     

减振型双块式无砟轨道合理刚度匹配研究

为研究城际铁路减振型双块式无砟轨道的合理刚度匹配,基于轮轨系统耦合动力学理论,结合我国城际铁路的运营特点,建立了城际铁路车辆-减振型双块式无砟轨道耦合动力分析模型,分析了列车在时速200 km和160 km时的轮轨动力响应。结果表明:对列车最高运行速度为200 km/h的城际客运专线,建议钢轨允许垂向位移控制在2 mm以内,减振垫的垂向位移应控制在1 mm左右;支点反力、钢轨位移受扣件刚度的影响显著,减振垫刚度是决定底座板加速度及道床板位移的决定性因素。城际铁路“在大站停”列车时速200 km、“站站停”列车最高时速160 km时,扣件合理刚度可取为42~49 kN/mm,减振垫的合理刚度可取为0.036~0.044 N/mm3。     

Recent Research and Development on Advanced Technologies of High-Speed Railways in Japan

Summary This report outlines the rolling stock of “Shinkansen” and conventional “narrow-gauge” railways, and reviews the research and development to put railway vehicles into revenue service from the viewpoint of rolling stock dynamics in Japan.     

A 3D Brush-type Dynamic Tire Friction Model

The use of advanced dynamic friction models can improve the brush-type tire friction models. This paper presents a 3D dynamic brush model based on the LuGre friction model. The model describes the dynamics of longitudinal and lateral tire friction forces, as well as the self aligning torque dynamics. It has been originally derived in a distributed-parameter form, and then transformed to a simpler lumped-parameter form with only three internal states. Both uniform and non-uniform normal pressure distributions are considered. The model has analytical solution for steady-state conditions. The steady-state behavior is validated with respect to “magic” formula static model, which served as an “ideal” benchmark. The lumped model dynamic behavior is validated by comparing its time-responses with original distributed model responses. The model parameterization with respect to normal force and other tire/road parameters is considered as well.     

全封闭声屏障列车活塞风压研究

以某城际轨道交通工程为例,通过CFD模拟,计算全封闭声屏障内列车行驶产生的活塞风压,作为结构设计的依据。计算中考虑单车通过、两车在声屏障端部截面交会以及截面突变处交会的不同工况。计算结果表明,在全封闭声屏障顶部设置通长1 m宽通风排烟口、车速120 km/h的条件下,列车行驶产生的活塞风压范围为-192~392 Pa。     

A Radial-Spring Terrain-Enveloping Tire Model

A radial-spring tire model was developed to envelop irregular features of a rigid terrain and redefine the terrain as an “equivalent ground plane” reflecting both the elevation and slope characteristic of the original terrain contacting the tire. Three different methods were proposed for defining the maximum deflection of the tire, thereby locating the “equivalent ground plane” and defining the radial tire force. Errors in the maximum tire deflections resulting from approximations in the solution procedure could be maintained below 3 per cent of the actual tire deflections when the tire model was tested on a rigid planar surface.     

Achievable Dynamic Response for Automotive Active Suspensions *

A complete set of constraints is derived for the road disturbance transfer functions in a quarter car model of an automotive active suspension, for typical choices of measured outputs. It is shown that any road disturbance responses which are achievable using “full state feedback” can be achieved, to within an arbitrary small tolerance, using a dynamic compensator measuring suspension deflection only. Also considered are the disturbance responses to loads acting on the sprung mass, and a complete set of constraints is derived for these. It is shown that road disturbance and load disturbance responses can be determined independently if suspension deflection and sprung mass velocity are measured. Indeed, any responses achievable separately with “full measurements” can be approximated together to an arbitrary small tolerance. Certain integral relationships are shown to follow from the derived transfer function constraints. These relationships imply fundamental limitations for certain responses (e.g. tyre deflection) no matter what measurements are available for feedback.     

Optimal Performance of Variable Component Suspensions

Most vehicle suspension systems use fixed passive components that offer a compromise in performance between sprung mass isolation, suspension travel, and tireroad contact force. Recently, systems with discretely adjustable dampers and air springs been added to production vehicles. Active and semi-active damping concepts for vehicle suspensions have also been studied theoretically and with physical prototypes. This paper examines the optimal performance comparisons of variable component suspensions, including active damping and full-state feedback, for “quartercar” heave models. Two and three dimensional optimizations are computed using performance indicators to find the component parameters (control gains) that provide “optimal” performance for statistically described roadway inputs. The effects of performance weighting and feedback configuration are examined. Active damping is shown to be mainly important for vehicle isolation. A passive vehicle suspension can control suspension travel and tire contact force nearly as well as a full state feedback control strategy.     

Fault Diagnostics for GPS-based Lateral Vehicle Control

Summary This paper develops a fault diagnostic system to monitor the health of the lateral motion sensors on an instrumented highway vehicle. The fault diagnostic system utilizes observer design with the observer gains chosen so as to ensure that each sensor failure causes estimation errors to grow in an unique direction. The performance of the fault diagnostic system is verified through extensive experimental results obtained from an instrumented truck called the “Safetruck”. The fault diagnostic system is able to monitor the health of a GPS system, a gyroscope and an accelerometer on the Safetruck. It can correctly detect a failure in any one of the three sensors and accurately identify the source of the failure. A GPS-based geographic database containing information on road coordinates, curvature and bank angles plays a key role in ensuring accurate experimental performance of the observers.     

Improvements for the stability of heavy-haul couplers with arc surface contact

To investigate the stability mechanism of heavy-haul couplers with arc surface contact, the geometry and force analysis were conducted according to the friction circle theory. To improve the stability of the coupler, four improvements were proposed, which are increasing the secondary lateral stiffness of locomotives, adding a restoring bumpstop at the end of the coupler, increasing the arc surfaces radii and changing the clearance and stiffness of secondary lateral stopping block. A multi-body dynamics model with four heavy-haul locomotives and three detailed couplers were established to simulate the emergency braking. In addition, the coupler yaw instability was tested to investigate the effects of relevant parameters on the coupler stability. The results show that increasing the secondary lateral stiffness of locomotives, adding a bumpstop with a smaller bumpstop gap, increasing the arc surfaces radii, increasing the stiffness and decreasing the clearance of secondary lateral stopping block are conducive to improving the stability of the coupler with arc surface contact.     

Energy Flow in Active Attitude Control Suspensions: A Bond Graph Analysis

Fully active ground vehicle suspensions which completely replace the passive spring and damper elements with a force generating actuator have required a significant amount of power. Alternative systems which retain compliant elements to handle high frequency isolation but include active elements to control the vehicle body attitude have been developed to reduce the power requirements. These suspensions are called “low bandwidth” or “fast load leveler” systems and they often incorporate semi-active dampers which produce high frequency controllable forces with low power requirements. Here, two contrasting attitude control systems are studied to show that actuator power can be significantly reduced if the actuator is used to vary a lever ratio instead of being used to compress the suspension spring directly. Both types of systems have been successfully implemented in prototype form. Bond graphs for idealized versions of the suspensions show clearly the significant differences in actuator power and energy requirements even though the abstract mathematical structures of the two systems are remarkably similar. Computer simulations confirm the analytical results.     

Stationar- und Ubergangsverhalten von Sattel- und Lasttugen bei der Kreisfahrt: Lineare Berechnungen

ABSTRACT

Steady and Transient Turning of Tractor-Semitrailer and Truck-Trailer Combinations: A Linear Analysis

A simplified analysis is made of the yaw stability and control of the two types of the commercial vehicle combinations (tractor-semitrailer, truck-trailer) at a constant forward velocity during steady and transient turning. The combined vehicle is treated as a linear dynamic system (Fig. 2). The steer angle at the front wheels of the tractor (or truck) and the steady-state responses if the road verhicle train (yaw rate, articulation angles and sideslip angle) are calculated (Equations 18 to 25). Exploratory calculations are performed to determine the influence of the cornering stiffness of the tires for the two types of the vehicle combinations upon the steady-state responses (Figs. 7 to 10). For a linear simplified model of articulated vehicle the steady-state turning behaviour is stable also under conditions of rather high driving speed (70 km/h). A simplified analysis of the transient turning behaviour of the two types of road trains has shown the tractor-semitrailer to preserve stability even under driving speeds exceeding 70 km/h (Fig. 13), whereas the truck-trailer combinations appear to become oscillatory unstable if the driving speed rises above the 60 km/h margin (Fig. 14).