Black-box modelling of nonlinear railway vehicle dynamics for track geometry assessment using neural networks

ABSTRACT

The use of vehicle dynamics simulation for the track geometry assessment gives rise to new demands. In order to analyse the responses of the vehicles to the measured track geometry defects, the integration of the simulation process in the measurement chain of the track geometry recording car is envisaged. Fast and reliable simulation results are required. This work studies the use of black-box modelling approaches as an alternative to multi-body simulation. The performances of different linear and nonlinear black-box models for the simulation of the vertical and lateral bogie accelerations are compared. While linear transfer function models give good results for the simulation of the vertical responses, their use is not suitable for the highly nonlinear lateral vehicle dynamics. The lateral accelerations are best represented by recurrent neural networks. For the training and validation on high-speed lines using measured vehicle responses, the performance of the black-box simulation outperforms the multi-body simulation. Due to the larger variability of track design and track quality conditions on conventional lines, the model performance degrades and depends significantly on the analysed vehicle type and the track characteristics.     

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.     

Meta-analysis of UK values of travel time: An update

Numerous travel demand studies have been carried out over the past five decades, many of which produce estimates of the value of travel time. This includes a rich body of largely unpublished evidence, which can provide valuable insights into the impact of variables such as GDP, travel distance, purpose and mode on this critical parameter for transport modelling and appraisal. The work reported in this paper updates and extends our previous meta-analyses of UK values of time ( [Wardman, 1998], [Wardman, 2001a] and [Wardman, 2004]) by adding recent studies and widening the range of explanatory variables included. Our current research covers 226 studies carried out between 1960 and 2008, yielding a total of 1749 valuations (a 50% increase relative to our previous work) and making this the largest data set of its kind to the best of our knowledge. This is also the most comprehensive study to date of parameters other than in-vehicle time and includes valuations of walk, wait, headway, congested, free flow, late, departure time shift and search time. Exploratory analysis of the data set provides interesting insights into methodological trends in travel demand modelling.For each valuation, over thirty quantitative and categorical variables were recorded and then included in a multivariate regression model to explain variations in the value of time. A large number of statistically significant effects were obtained from this meta-analysis, some of which are in marked contrast with, or not present in, our previous work. One finding that stands out is that the estimated elasticity of the value of time with respect to GDP per capita is 0.9 and highly significant, a much closer correspondence to the widely used convention of a unit income elasticity over time than we have previously obtained. The ratio between walk and wait time and in-vehicle time was found to be substantially lower than the commonly used value of two. We also found large and significant differences between the results from studies based on different types of Stated Preference survey presentation. Other important effects include variations by mode used, mode valued, travel purpose, attribute type and distance. It is envisaged that the results are of direct relevance in the British context, as inputs to appraisal or for benchmarking, whilst the methodological implications are of broader interest and the results, in terms of time equivalents and variations in values of time, can be transferred to other contexts.     

Volatility of car ownership, commuting mode and time in the UK

This paper has two objectives: to examine the volatility of travel behaviour over time and consider the factors explaining this volatility; and to estimate the factors determining car ownership and commuting by car. The analysis is based on observations of individuals and households over a period of up to 11 years obtained from the British Household Panel Survey (BHPS). Changes in car ownership, commuting mode and commuting time over a period of years for the same individuals/households are examined to determine the extent to which these change from year-to-year. This volatility of individual behaviour is a measure of the ease of change or adaptation. If behaviour changes easily, policy measures are likely to have a stronger and more rapid effect than if there is more resistance to change. The changes are “explained” in terms of factors such as moving house, changing job and employment status. The factors determining car ownership and commuting by car are analysed using a dynamic panel-data models.     

Transport deregulation and cross‐border trucking in North America

Internationally, recent years have seen a spread of deregulatory policies with respect to transport. Equally, transport movements across national boundaries have expanded as trade has grown. Despite these two quite noticeable trends comparatively little has been written on the problems that are created for cross‐border traffic as the result of differential changes in national regulatory policies. This paper is concerned with looking specifically at what has happened in the context of road freight transport movements across the U.S.‐Canadian border and the wider (especially for the formulation of a Common Transport Policy for the EEC) lessons which can be learned from it.     

Estimating origin‐destination matrices from link volume counts: a simple intercity auto travel demand model for Sri Lanka

The cost of nation wide travel surveys is high. Hence in many developing countries, planners have found it difficult to develop intercity transportation plans due to the non availability of origin‐destination trip matrices. This paper will describe a method for the intercity auto travel estimation for Sri Lanka with link traffic volume data.

The paper outlines the rationale of selecting the district capitals of Sri Lanka as its “cities,” the methodology for selecting the intercity road network, determination of link travel times from express bus schedules and the location of link volume counting positions.

Initially, the total auto travel demand model is formulated with various trip purpose sub‐models. This model is finally modified to a simple demand model with district urban population and travel times between city pairs as the exogenous variables, to overcome statistical estimation difficulties. The final demand model has statistics within the acceptable regions.

The advantages of a simple model are discussed and possible extensions are proposed.     

Heavy-duty vehicle modelling and longitudinal control

This paper addresses modelling, longitudinal control design and implementation for heavy-duty vehicles (HDVs). The challenging problems here are: (a) an HDV is mass dominant with low power to mass ratio; (b) They possess large actuator delay and actuator saturation. To reduce model mismatch, it is necessary to obtain a nonlinear model which is as simple as the control design method can handle and as complicated as necessary to capture the intrinsic vehicle dynamics. A second order nonlinear vehicle body dynamical model is adopted, which is feedback linearizable. Beside the vehicle dynamics, other main dynamical components along the power-train and drive-train are also modelled, which include turbocharged diesel engine, torque converter, transmission, transmission retarder, pneumatic brake and tyre. The braking system is the most challenging part for control design, which contains three parts: Jake (engine compression) brake, air brake and transmission retarder. The modelling for each is provided. The use of engine braking effect is new complementary to Jake (compression) brake for longitudinal control, which is united with Jake brake in modelling. The control structure can be divided into upper level and lower level. Upper level control uses sliding mode control to generate the desired torque from the desired vehicle acceleration. Lower level control is divided into two branches: (a) engine control: from positive desired torque to desired fuel rate (engine control) using a static engine mapping which basically captures the intrinsic dynamic performance of the turbo-charged diesel engine; (b) brake control: from desired negative torque to generate Jake brake cylinder number to be activated and ON/OFF time periods, applied pneumatic brake pressure and applied voltage of transmission retarder. Test results are also reported.     

An analytical mathematical method for calculation of the dynamic wheel–rail impact force caused by wheel flat

The simplified method to determine a vertical impact force of wheel with flat and rail interaction is presented in this article. The presented simplified method can be used to identify maximum contact force and its distribution in the contact length between the damaged wheel and the rail. The vertical impact force depends on geometrical parameters of the rail and wheel with flat, speed of vehicle and the angle of deviation of rail. This article demonstrates the influence of wheel with flat geometrical parameters, speed of vehicle to maximum contact force and its distribution in the contact zone. The obtained values of the simplified method for determination of a vertical contact force are compared with the results obtained from field measurements.     

High fidelity quasi steady-state aerodynamic model effects on race vehicle performance predictions using multi-body simulation

We described in this paper the development of a high fidelity vehicle aerodynamic model to fit wind tunnel test data over a wide range of vehicle orientations. We also present a comparison between the effects of this proposed model and a conventional quasi steady-state aerodynamic model on race vehicle simulation results. This is done by implementing both of these models independently in multi-body quasi steady-state simulations to determine the effects of the high fidelity aerodynamic model on race vehicle performance metrics. The quasi steady state vehicle simulation is developed with a multi-body NASCAR Truck vehicle model, and simulations are conducted for three different types of NASCAR race tracks, a short track, a one and a half mile intermediate track, and a higher speed, two mile intermediate race track. For each track simulation, the effects of the aerodynamic model on handling, maximum corner speed, and drive force metrics are analysed. The accuracy of the high-fidelity model is shown to reduce the aerodynamic model error relative to the conventional aerodynamic model, and the increased accuracy of the high fidelity aerodynamic model is found to have realisable effects on the performance metric predictions on the intermediate tracks resulting from the quasi steady-state simulation.     

Longitudinal train dynamics: an overview

This paper discusses the evolution of longitudinal train dynamics (LTD) simulations, which covers numerical solvers, vehicle connection systems, air brake systems, wagon dumper systems and locomotives, resistance forces and gravitational components, vehicle in-train instabilities, and computing schemes. A number of potential research topics are suggested, such as modelling of friction, polymer, and transition characteristics for vehicle connection simulations, studies of wagon dumping operations, proper modelling of vehicle in-train instabilities, and computing schemes for LTD simulations. Evidence shows that LTD simulations have evolved with computing capabilities. Currently, advanced component models that directly describe the working principles of the operation of air brake systems, vehicle connection systems, and traction systems are available. Parallel computing is a good solution to combine and simulate all these advanced models. Parallel computing can also be used to conduct three-dimensional long train dynamics simulations.