Active control strategy on a catenary–pantograph validated model

Dynamic simulation methods have become essential in the design process and control of the catenary–pantograph system, overall since high-speed trains and interoperability criteria are getting very trendy. This paper presents an original hardware-in-the-loop (HIL) strategy aimed at integrating a multicriteria active control within the catenary–pantograph dynamic interaction. The relevance of HIL control systems applied in the frame of the pantograph is undoubtedly increasing due to the recent and more demanding requirements for high-speed railway systems. Since the loss of contact between the catenary and the pantograph leads to arcing and electrical wear, and too high contact forces cause mechanical wear of both the catenary wires and the strips of the pantograph, not only prescribed but also economic and performance criteria ratify such a relevance. Different configurations of the proportional-integral-derivative (PID) controller are proposed and applied to two different plant systems. Since this paper is mainly focused on the control strategy, both plant systems are simulation models though the methodology is suitable for a laboratory bench. The strategy of control involves a multicriteria optimisation of the contact force and the consumption of the energy supplied by the control force, a genetic algorithm has been applied for this purpose. Thus, the PID controller is fitted according to these conflicting objectives and tested within a nonlinear lumped model and a nonlinear finite element model, being the last one validated against the European Standard EN 50318. Finally, certain tests have been accomplished in order to analyse the robustness of the control strategy. Particularly, the relevance or the plant simulation, the running speed and the instrumentation time delay are studied in this paper.     

Electronic stability control for electric vehicle with four in-wheel motors

The electric vehicle with four direct-driven in-wheel motors is an over actuated system. A three-level control strategy of electronic stability control (ESC) is proposed to achieve optimal torque distribution for four in-wheel motors. The first level is a gain-scheduled linear quadratic regulator which is designed to generate the desired yaw moment command for ESC. Control allocation is the second level which is used to distribute the desired longitudinal tire forces according to the yaw moment command while satisfying the driver’s intent for acceleration and deceleration. The associated weighting matrix is designed using the work load ratio at each wheel to prevent saturating the tire. The third level is slip ratio control (SRC) which is employed at each wheel to generate the desired longitudinal tire force based on a combined-slip tire model. Simulation results show that the proposed method can enhance the ESC performance for the test maneuvers. Since the tire model is often unknown for practical implementation, the effectiveness of the SRC is studied using the sine with dwell test. It is found that the SRC is not crucial for achieving performance similar to the proposed method with SRC, if the slip ratio can be maintained in the stable region using traction control system/anti-lock braking system.     

Effect of steady airflow field on drag and downforce

The purpose of this study is to examine the effect of the steady airflow field of a rear spoiler on the coefficients of drag (C_D) and downforce (C_DF). The type of spoiler is suggested as a two-jointed arm model that mimics the flapping flight mechanism of the Canada goose. Computational fluid dynamics (CFD) technique was used for the steady airflow analysis of a vehicle implemented with various spoiler topologies. We evaluated C_D and C_DF due to the three types of airfoils and the five phases of each airfoil. We obtained the following conclusions from the results: (1) We found that the best cases for C_D and C_DF were the case of Phase 5 and symmetry airfoil, and the case of Phase 1 and reverse airfoil, respectively. (2) It is clear that C_D becomes the largest at Phase 1 of the reverse airfoil, since the eddy magnitude at the rear of the vehicle is the largest, and C_DF also becomes the largest during that phase, since the pressure distribution on the upper surface of the spoiler is very large. (3) As Phase 1 moves to Phase 5 in the same type of airfoil, it is advantageous for C_D and disadvantageous for C_DF, respectively.     

Estimation of vehicle sideslip angle and tire-road friction coefficient based on magnetometer with GPS

This paper presents a method that estimates the vehicle sideslip angle and a tire-road friction coefficient by combining measurements of a magnetometer, a global positioning system (GPS), and an inertial measurement unit (IMU). The estimation algorithm is based on a cascade structure consisting of a sensor fusing framework based on Kalman filters. Several signal conditioning techniques are used to mitigate issues related to different signal characteristics, such as latency and disturbances. The estimated sideslip angle information and a brush tire model are fused in a Kalman filter framework to estimate the tire-road friction coefficient. The performance and practical feasibility of the proposed approach were evaluated through several tests.     

Cooperative control of the motor and the electric booster brake to improve the stability of an in-wheel electric vehicle

A cooperative control algorithm for an in-wheel motor and an electric booster brake is proposed to improve the stability of an in-wheel electric vehicle. The in-wheel system was modeled by dividing it into motor and mechanical parts, and the electric booster brake was modeled through tests. In addition, the response characteristics of the in-wheel system and the electric booster brake were compared through a frequency response analysis. In the cooperative control, the road friction coefficient was estimated using the wheel speed, motor torque, and braking torque of each wheel, and the torque limit of the wheel to the road was determined using the estimated road friction coefficient. Based on the estimated road friction coefficient and torque limit, a cooperative algorithm to control the motor and the electric booster brake was proposed to improve the stability of the in-wheel electric vehicle. The performance of the proposed cooperative control algorithm was evaluated through a hardware-in-the-loop simulation (HILS). Furthermore, to verify the performance of the proposed cooperative control algorithm, a test environment was constructed for the anti-lock braking system (ABS) hydraulic module hardware, and the performance of the cooperative control algorithm was compared with that of the ABS by means of a HILS test.     

Sensitivity of train stochastic dynamics to long-term evolution of track irregularities

The influence of the track geometry on the dynamic response of the train is of great concern for the railway companies, because they have to guarantee the safety of the train passengers in ensuring the stability of the train. In this paper, the long-term evolution of the dynamic response of the train on a stretch of the railway track is studied with respect to the long-term evolution of the track geometry. The characterisation of the long-term evolution of the train response allows the railway companies to start off maintenance operations of the track at the best moment. The study is performed using measurements of the track geometry, which are carried out very regularly by a measuring train. A stochastic model of the studied stretch of track is created in order to take into account the measurement uncertainties in the track geometry. The dynamic response of the train is simulated with a multibody software. A noise is added in output of the simulation to consider the uncertainties in the computational model of the train dynamics. Indicators on the dynamic response of the train are defined, allowing to visualize the long-term evolution of the stability and the comfort of the train, when the track geometry deteriorates.     

Numerical analysis of homogeneous mixture formation for a direct injection liquid LPG engine

A method to form a homogeneous mixture using low pressure direct injection of liquid phase LPG, pent-roof combustion chamber, flat-top piston and center-located injector layout is presented. To validate the method, the mixture formation processes in the cylinder were investigated using the CFD code. The effect of different injection timing and engine loads on the mixture formation processes were researched. The simulated results showed that, the intake tumble for high load conditions or the inclined intake swirl for part load conditions would break into small-scale vortex (turbulence) near the end of compression stroke, which enhanced the homogeneous mixture formation. The results also showed that if the liquid phase LPG was injected at 60–80°CA ATDC in intake stroke even at different loads, the homogeneous mixture would be formed under any engine load conditions.     

Design methodology of component design environment for PHEV

In this study, the design methodology for PHEV component design environment is proposed, which consists of power evaluation, component evaluation, component analysis and vehicle performance evaluation environments. First, PHEV simulators were developed based on the dynamic model of the target PHEV powertrain, and a PHEV control algorithm was designed based on the general power-split type PHEV using MATLAB/Simulink. Experimental results were used to validate the constructed PHEV simulators. The power evaluation environment provides the magnitude and direction of the power between components at the vehicle level at any selected time that the user wants to evaluate. The component evaluation environment is designed to evaluate the parameter behaviors of a component using the effort-flow causality relationship. The component analysis environment is designed to investigate component performance according to the variations of component parameters. The vehicle evaluation environment is designed to evaluate equivalent fuel economy at any selected time. It is expected that the design methodology of the PHEV component design environment proposed in this study can be extended to other x-EVs for evaluating and designing vehicle components.     

防撞轴承承受冲击

货车滚动轴承的开发和研究在很大程度上是由现场出现的各种轴承缺陷所驱使的.随着货车变得越来越重-车辆标准总重为286 000磅(110t),而315KGRL(即125t)的车辆刚面世-轴承供应商们正致力于解决这些大轴重所引起的轴承寿命短的问题,例如轴承疲劳、润滑和磨损(随之引起轴承在轴颈上失去夹持力).     

Measurement of the disc-pad friction coefficient for mechanical brakes using direct and indirect methods

It is necessary to guarantee the proper brake force to stop a train safely in a limited distance and o adjust its speed. Currently, most trains are run by electrical power and have a combined electrical and mechanical (friction) braking system. The mechanical brake force is determined by many parameters, such as the friction coefficient of the brake disc and pad, the pressure in the brake cylinder, the brake cylinder’s cross sectional area and the brake linkage ratio. In general, the friction coefficient data of the brake disc and pad have been taken through a dynamo-test in a laboratory, but these data might not be well matched with real data under operating conditions because of the difference in data acquisition conditions. The present study examined two methodologies that can measure the friction coefficient of the brake pad and disc based on a train’s real operating conditions. The first method was the direct method, which measured the brake force and clamping force applied on the mechanical brake by using strain gauges installed on the brake to calculate the friction coefficient. The second was an indirect method that obtained the friction coefficient by using the weight of the train and the equivalent brake force. Those variables were calculated from the longitudinal dynamic characteristics, such as resistance to motion, gradient resistance and curved resistance. These two methodologies were used to obtain the disc-pad friction coefficient for the mechanical brakes of a Korean high-speed train (HSR350x).