TRACK/TRAIN DYNAMICS & DESIGN
Chapter 1 Introduction1 References6 Chapter 2 Unpowered Rail Vehicle Design9 21 Introduction9 22 Types of Wagons9 23 Wagon Frames 11 24 Suspension Elements 13 25 Bogies 14 26 Wheelsets and Bearings 15 27 Wagon Bodies 17 28 Brake Systems 18 29 Coupling20 291 Coupling Mechanisms 21 292 Longitudinal Damping 21 210 Standards23 211 Acceptance Tests24 2111 Roll Test24 2112 Twist Test24 2113 Bounce Test25 2114 Critical Speed25 2115 Curving Test25 2116 Wind Overturning25 2117 Combination of Events25 212 Advances in Rail Vehicle Design26 Chapter 3 Design of Locomotives27 31 History of Locomotives27 311 Diesel Traction and Manufacturing of Diesel–Electric Locomotives28 312 Electrical Traction and Electrical Locomotives29 313 Magnetic Levitation Locomotives (Trains)30 32 Traction Rolling Stock30 321 Electric Locomotives 33 322 Electric Multiple Units36 323 Diesel Locomotives38 324 Diesel Multiple Units 42 325 Gas Turbine–Electric Locomotives 45 326 Hybrid Locomotives 45 327 Magnetic Levitation Trains49 33 Common Locomotive Components and Systems 51 331 Classification of Main Components 51 3311 Locomotive Frames and Bodies 51 3312 Bogies 52 3313 Locomotive Traction Drives 55 332 Suspension and Its Elements 57 3321 Leaf Spring Suspension 58 3322 Helical (or Coil) Spring Suspension 58 3323 Air Spring Suspension 58 3324 Hydraulic Suspension60 3325 Electro-Mechanical Suspension 61 3326 Dampers 61 3327 Combinations of Several Suspension Elements 62 3328 Active Suspension 62 333 Connection between a Locomotive Frame and Bogies64 3331 Centre Pivots64 3332 Side Bearers66 3333 Links and Linkages 67 3334 Traction Rods 67 334 Brake Systems and Their Devices 67 3341 Basic Components of Brake Systems68 3342 Dynamic Brake Systems69 3343 Electromagnetic Brakes69 3344 Rail Brakes 70 335 Classification of Locomotive Electric Traction 70 3351 DC Traction 71 3352 AC Traction 71 34 Locomotive Design: New Perspectives 72 Chapter 4 General Modelling Techniques 79 41 Dynamics of Bodies 79 411 Rail Vehicle 79 412 Train82 42 Wheel–Rail Contact Patch83 43 Brake Modelling84 431 Pneumatic Brakes85 432 Electronically Controlled Pneumatic Brakes87 433 Wheel Brakes87 434 Disc Brakes88 44 Aerodynamics88 45 Introduction to FEM88 46 FEM of Rail Vehicle Structure89 47 FEM of Rail90 48 Rail Track, Sub-Structure and Bridge Modelling 91 49 Pantograph Modelling93 410 Modelling Techniques93 4101 Dynamic Model Elements94 4102 Numerical Integrators95 References95 Chapter 5 Multibody Dynamics 101 51 Introduction to Multibody Dynamics 101 52 Kinematics 102 53 Dynamics 104 531 Newton–Euler Equations 104 532 D’Alembert’s Principle and Generalised Forces 104 533 Lagrange’s Equation 105 534 Dynamic Equations 106 54 Elements 108 541 Rail Vehicle Modelling Axis System 108 542 Inertia Elements 109 543 Suspension Elements 109 544 Constraint Elements 112 55 Rigid Body versus Flexible Body 112 56 Multibody Dynamics Software for Rail Vehicle Dynamics 113 561 NUCARS 114 562 GENSYS 116 563 VAMPIRE 118 564 ADAMS/Rail (Now VI-Rail) 120 565 SIMPACK 121 566 Universal Mechanism 122 567 In-House Packages 123 568 Benchmarks and Comparisons 126 References 126 Chapter 6 Longitudinal Train Dynamics 129 61 Introduction to Longitudinal Train Dynamics 129 62 Modelling Longitudinal Train Dynamics 130 621 Train Models 130 622 Modelling Vehicle Inputs 133 6221 Locomotive Traction and Dynamic Braking 134 6222 Propulsion Resistance 138 6223 Curving Resistance 140 6224 Gravitational Components 144 6225 Pneumatic Brake Models 144 623 Wagon Connection Models 150 6231 Conventional Auto-Couplers and Draft Gear Packages 153 6232 Slackless Packages 160 6233 Drawbars 160 624 Train Configurations 161 625 Train Dynamics Model Development and Simulation 162 63 Interaction of Longitudinal Train and Lateral/Vertical Wagon Dynamics 170 631 Wheel Unloading, Wheel Climb and Rollover on Curves Due to Lateral Components of Coupler Forces 175 632 Wagon Body and Bogie Pitch Due to Coupler Impact Forces 180 633 Wagon Liftoff Due to Vertical Components of Coupler Forces 186 64 Longitudinal Comfort 188 65 Energy Considerations 191 66 Train Control, Management and Driving Practices 192 67 Design Considerations 195 References 196 Chapter 7 Rail Vehicle–Track Interaction Dynamics 199 71 Introduction 199 72 Modelling of Rail Vehicles 199 73 Modelling of Tracks 201 74 Modelling of Wheel–Rail Contact204 75 Example of a Three-Dimensional Rail Wagon–Track System Dynamics Model 210 751 Wagon Subsystem 210 752 Track Subsystem 212 76 Numerical Integration Methods 216 761 Improved Fourth-Order Runge–Kutta Method 217 762 Modified Newmark-? Method 218 763 Comparison of the Two Solution Schemes220 77 Vehicle Dynamic Performances224 771 Derailments224 7711 Nadal Formula225 7712 Derailment Simulation Due to Train Collision226 772 Rail Ride Comfort226 773 Lateral Instability (Hunting) 231 774 Curving Performance236 78 Vehicle–Track Interactions238 781 Initiation and Growth of RCF Cracks238 782 Wear of the Rail and Wheel240 783 Shakedown Diagram242 79 Vehicle Acceptance Simulations242 References 243 Chapter 8 Co-Simulation and Its Application249 81 Introduction to Co-Simulation Process249 82 Co-Simulation between Multibody Software Packages and MATLAB®/Simulink®250 821 Simpack and Simulink® 251 822 VI-Rail (ADAMS/Rail) and Simulink 253 823 Vampire and Simulink254 824 Universal Mechanism and Simulink254 83 Design of the Co-Simulation Interface 255 831 Description of the Co-Simulation Interface in GENSYS256 832 Design of the Co-Simulation Interface in Simulink 257 833 Example of Co-Simulation Implementation between Gensys and Simulink269 References 275 Chapter 9 Advanced Simulation Methodologies277 91 Complex Tasks and Their Solutions277 92 Scenario A: On-Line Simulation and Existing Pre-Calculated Data 278 921 Step 1: Definition of Simulation Methodology 278 922 Step 2: Simulations 279 9221 Stage 1: Longitudinal Train Dynamics Simulation 279 9222 Stage 2: Creating and Verifying a Multibody Wagon Model280 9223 Stage 3: Wagon Dynamics Simulation286 93 Scenario B: On-Line Simulation and Experimental Data286 94 Scenario C: Real-Time Simulation300 References308 Chapter 10 Conclusion 311