Investigating the influence of rail grinding on stability,vibration, and ride comfort of high-speed EMUs using multi-body dynamics modelling

ABSTRACT

High-speed electric multiple units (EMUs) have been popularised rapidly all around the world and have become a major transportation method. Increases in running velocity and wheel-rail deterioration lead to excessive vibration and reduced ride comfort, which are common issues encountered in the operation of high-speed EMUs. While built-in sensors on a car body are able to detect abnormal vibrations in the car body itself, they cannot effectively reflect the ride comfort of passengers. Wheel-rail profile matching can improve the wheel-rail interaction, and rail grinding has thus been introduced as a practical solution to alleviating the aforementioned problems. Nonetheless, the working mechanism of rail grinding has not been investigated theoretically. This study develops flexible car body and human body models based on the rigid-flexible coupled method to systematically study the effects of wheel-rail wear and rail grinding on passenger ride comfort. Case studies show that the proposed models can predict the ride comfort of passengers accurately. It is also demonstrated that rail grinding can significantly alleviate excessive vibration and improve passenger ride comfort in the long term. A long-term investigation reveals that rail grinding can improve the smoothness of the rail surface and reduce the damage to the rail.     

Modelling the fore-and-aft apparent mass of the human body and the transmissibility of seat backrests

A combined lumped-parameter and multi-body system dynamic model of the human body–seat system has been constructed with masses and moments of inertia and with linear translational and rotational springs and dampers. The model was developed in four steps by minimising the sum-of-least-squares error between laboratory measurements and model predictions of the fore-and-aft driving point apparent mass and the fore-and-aft transmissibility of a car backrest. Good agreement was achieved between model predictions and both the median measured driving-point apparent mass and the median measured backrest transmissibility with six subjects. The model was capable of representing the measured apparent masses and predicting the backrest transmissibility with the individual subjects. It was also capable of predicting the backrest transmissibilities of two different car seats. A sensitivity study was conducted and the effects of the model parameters on the peak moduli and corresponding frequencies of the apparent mass and the backrest transmissibility are presented.     

Re-adhesion control for a railway single wheelset test rig based on the behaviour of the traction motor

A method for detecting wheel slip/slide and re-adhesion control of AC traction motors in railway applications is presented in this paper. This enables a better utilisation of available adhesion and could also reduce wheel wear by reducing high creep values. With this method, the wheel–rail (roller) creepage, creep force and friction coefficient can be indirectly detected and estimated by measuring the voltage, current and speed of the AC traction motor and using an extended Kalman filter. The re-adhesion controller is designed to regulate the motor torque command according to the maximum available adhesion based on the estimated results. Simulations under different friction coefficients are carried out to test the proposed method.     

Dynamic model for automotive side impact crashes

A rigid body model to represent a side impact crash is constructed using five degrees-of-freedom (dof) for the vehicle and three dof for each occupant in the vehicle. Nonlinear stiffness and damping elements and the presence of physical gaps between several components make the model highly nonlinear. The model is validated using experimental crash test data from a National Highway Traffic Safety Administration (NHTSA) database. To simplify the parameter identification process and reduce the number of parameters to be identified at each stage, a two-step process is adopted in which the vehicle is first assumed to be unaffected by the presence of the occupants, and its model parameters are identified. Subsequently, the parameters in the occupant models are identified.

The active set method with a performance index that includes both the L₂ and L_∞ norms is used for parameter identification. A challenge is posed by the fact that the optimisation problem involved is non-convex. To overcome this challenge, a large set of random initial values of parameter estimates is generated and the optimisation method is applied with all these initial conditions. The values of parameters that provide the minimal performance index from the entire set of initial conditions are then chosen as the best parameter values. The optimal parameters values thus identified are shown to significantly improve the match between the model responses and the experimentally measured sensor signals from the NHTSA crash test.     

Three-dimensional override analysis of crashed railway multiple units

Override simulations of two train units in frontal collision have been carried out using multi-body dynamics. The aim of this paper is to investigate the possible factors influencing the overriding behaviour throughout frontal collisions. In addition to the initial vertical offset defined in the standard EN 15227, the pitching motion of vehicles has a great effect on the overriding phenomenon. It depends on several factors, such as collision mass, pitching frequency, height of the centre of mass above the rail level. In this paper, it has been shown that the overriding phenomenon is more sensitive to variations in pitching frequency and height of the centre of mass, compared with the factor of the collision mass. Moreover, it has been demonstrated from simulation results that a 200-kN vertical force is required for the combined anti-climber devices (100 kN for each side anti-climber) to constrain the vertical relative motion between crashed train units.     

A novel global sensitivity analysis on the observation accuracy of the coupled vehicle model

ABSTRACT

This paper proposes a novel 2-step global sensitivity analysis algorithm to provide an in-depth sensitivity analysis of the vehicle parameters on the system responses. A 9 degree-of-freedom nonlinear vertical–lateral coupled vehicle model is developed, and 12 parameters along with 7 system responses are selected for the sensitivity analysis. In order to reduce the computational effort, the proposed 2-step algorithm calculates the elementary effects and selects 7 influential parameters from these 12, and then uses the Sobol' method to obtain the global sensitivity indexes of these influential parameters. An unscented Kalman filter is finally designed to show the effect and importance of the selected sensitive parameters on the observation accuracy. Simulations with different vehicle types, velocities and tyre models have verified that the proposed algorithm can accurately describe the relationship between the vehicle parameters and system responses, which is of directive significance to improve vehicle controller and observer performances.     

An approach for the validation of railway vehicle models based on on-track measurements

This paper proposes an approach for the validation of railway vehicle models based on on-track measurements. The validation of simulation models has gained importance with the introduction of new applications of multi-body simulation in railway vehicle dynamics as the assessment of track geometry defects, the investigation of derailments and the analysis of gauging. These applications are not only interested in qualitative predictions of the vehicle behaviour but also in precise quantitative results of the safety and comfort relevant vehicle responses. The validation process aims at guaranteeing that the simulation model represents the dynamic behaviour of the real vehicle with a sufficient good precision. A misfit function is defined which quantifies the distance between the simulated and the measured vehicle response allowing to evaluate different models at different running conditions. The obtained modelling errors are compared to the measurement uncertainty estimated for one vehicle using repeatability analysis.     

Vehicle motion simulators,a key step towards road vehicle dynamics improvement

Real road vehicle tests are time consuming, laborious, and costly, and involve several safety concerns. Road vehicle motion simulators (RVMS) could assist with vehicle testing, and eliminate or reduce the difficulties traditionally associated with conducting vehicle tests. However, such simulators must exhibit a high level of fidelity and accuracy in order to provide realistic and reliable outcomes. In this paper, we review existing RVMS and discuss each of the major RVMS subsystems related to the research and development of vehicle dynamics. The possibility of utilising motion simulators to conduct ride and handling test scenarios is also investigated.     

Extended study of railway vehicle lateral stability in a curved track

This article presents results of the studies aimed at more accurate stability analysis of railway vehicles in a curved track. More accurate analysis means extended study of the stability as compared with the method used by the authors so far. New measures undertaken by the authors in order to achieve the goal are explained. Besides, differences between results obtained with the earlier and extended approaches are presented and discussed. Results that are expected on the basis of the theory are confronted with practical capabilities to generate them through simulations at the same time. The issues of interest are precise determination of nonlinear critical velocity, determination of linear system critical velocity, determination of unstable periodic and unstable stationary solutions, existence of multiple solutions and correct determination of velocity at which unbounded growth of the solutions (lateral dynamics coordinates) happens during calculations resulting in their stop.     

Material transport from the nearshore to the basinal environment in the southern Baltic Sea: I. Processes and mass estimates

Processes involved in erosion, transport and deposition of cohesive materials are studied in a transect from shallow (16 m) to deep (47 m) water of the SW Baltic Sea. The wave- and current-induced energy input to the seabed in shallow water is high with strong variability and suspended matter concentrations may double within a few hours. Primary settling fluxes (from sedimentation traps) are less than 10 g m⁻² day⁻¹, whereas resuspension fluxes (evaluated from sedimentation flux gradients) are 15–20 times higher and the residence time for suspended matter in the water column is 1–2 days. Settling velocities of aggregates are on average six times higher than for individual particles resulting in an enhanced downward transport of organic matter. Wave-induced resuspension (four to six times per month) takes place with higher shear stresses on the bottom than current-induced resuspension (three to five times per month). The short residence time in the water column and the frequent resuspension events provide a fast operating benthic–pelagic coupling. Due to the high-energy input, the shallow water areas are nondepositional on time scales longer than 1–2 weeks. The sediment is sand partly covered by a thin fluff layer during low-energy periods. The presence of the fluff layer keeps the resuspension threshold very low (<0.023 N m⁻²) throughout the year. Evaluated from 3-D sediment transport modeling, transport from shallow to deep water is episodic. The net main directions are towards the Arkona Basin (5.5×10⁵ t per year) and the Bornholm Basin (3.7×10⁵ t per year). Energy input to the bottom in deep water is low and takes place much less frequently. Wave-induced resuspension occurs on average once per month. Residence time of particles (based on radioactive isotopes) in the water column is half a year and the sediment accumulation rate is 2.2 mm year⁻¹ in the Arkona Basin.