Railway Vehicle Dynamics

GraSMech course 2010-2011
Railway vehicle dynamics

Paul Fisette
(paul.fisette@uclouvain.be)
GraSMech Multibody 1
Contents
Part I : Wheel-rail contact in railway dynamics
Contact geometry
Contact forces
Wheelset dynamic behavior
Part II : Railway dynamics - multibody approach
Multibody representation
Wheel/rail contact independent wheel model
Flange contact model
Validations - Applications
Other topics
Contact geometry
Wheelset with conical wheel on knife-edge rails
Data : r0 , l0 , 0
Rolling radii :
( In practice : 0 ~ 1/20e 1/40e )
Equivalent conicity : = r / 2y =>

Rolling radii difference (left-right) :
Roll angle :
Contact geometry
Wheelset kinematic motion (~ first order kinematics)
Motion of a wheelset initially centered on the track
Given : V, ( = V / r0 )
Hypothesis : pure rolling motion (no slip)

Kinematic relations (first order)
Combined lateral-yaw motion of a wheelset
Constraints (in y and ) :

Lateral (y) :
Yaw ( ) :
Contact geometry
Wheelset kinematic motion (next)
2 d.o.f. kinematic equations (= constraints at velocity level )
Periodic Solution :
frequency :
Wave length :
(Klingel formula, 1883 !)
Wheelset kinematic yaw (under pure rolling assumption)
=> demo !
Contact geometry
Bogie : yaw kinematic motion (similar reasoning)
l : half wheelset base
Wave length :
l0 : half wheelset length
Wheel/rail with circular profiles (as a matter of interest)

More complex kinematics
Roll angle :
vertical disp.:
4 bar-mechanism
equiv. conicity :
Contact geometry
Wheel/rail contact : yaw angle influence on contact geometry
=> Longitudinal shift of the contact point ( shift angle ) due to wheelset yaw + wheel conicity
Insignificant for the tread contact point (angle ~ 0.05 rad)

Fundamental for the flange contact point (angle > 1 rad) : see latter on
Contact geometry
Real wheel profiles : numerical somution
Profile definition (analytical form or numerical measurements)
ex. UIC 60 rail (piecewise circular), S1002 wheel (piecewise polynomials)
Numerical determination of the contact(s) point(s) = f (y, )
Pre-computation (look-up tables => f (y, ) )
In-line computation (Newton-Raphson, dichotomic method, see Part II)
Computation of the left/right rolling radii r and contact angles :
r
Contact geometry
Double (flange) contact point
Tramway clear double contact (tread + flange)
Train
the contact point moves from tread to flange (with possible jump !!)
Always present
intermittent
Contact geometry
Double (flange) contact point
Tramway clear double contact (tread + flange)
Train
the contact point moves from tread to flange (with possible jump !!)
Always present
Contact geometry
Contact point jump
Exists on theoretical new profiles (ex. S1002 wheelset on UIC60 rail)
produces :
on
Exists also on worn profile (but their location change with wear !)
ROBOTRAN results
(IAVSD benchmark #1, 1991)
New rail :
Slightly worn rail :
Contents
Contact geometry
Contact forces
Other topics
Contact forces
Coulombs law :
No slip =>
Slip
=>
Creepage ( between slip and pure rolling )

Longitudinal creepage :
Lateral creepage :
Spin creepage :
with :
Vwheel
Point of contact assumption !!!!!
Contact forces
Creepage computation (not MBS approach !)
Lateral creepage :
Spin creepage :
Contact forces
Contact surface
Non uniform pressure distribution
Contact ellipse (a, b) Hertz (but + creepage)
A, B, m, n depend on
contact curvature radii
Contact forces
Kalkers theory*
Linear theory
with :
Heuristic modeling of saturation :
Non linear theories : Duvorol, Fastsim (Kalker), Contact (Kalker), full FEM (2009 )
Contents
Contact geometry
Contact forces
Other topics

Linear model
Hypotheses :
suspended wheelset
Linearized equations of motion :
Solution :
=> Linear Critical speed VLim:
Im ()
Hunting eigenmode
Eigenvalue versus speed :
or.: Jashinski thesis (Delft)
Real ()
=> demo !

Linear model : example
ROBOTRAN/MBsysLab model :
http://www.prm.ucl.ac.be/FDP/Tutorial/Medium/Bogie/Introduction.html
=> Comparison between linear non linear model

=> Behavior at low and high velocity

=> Evolution of the hunting mode versus velocity

(via successive modal analyses)
stable
unstable
Top view (Robotran)
Rear view (Robotran)

Non-linear model
Notion of limit cycle (ex. van der Pol differential equation
damping term
0 , > 0
small y => negative damping the system stores energy
large y => positive damping the system looses energy
=> Limit cycle : oscillatory solution in which the 2 energies compensate
Application : limit cycle of a suspended wheelset : .
yy
Lateral wheelset displacement y
ROBOTRAN results
ROBOTRAN results
Contact geometry
Critical speed Vcr
Limit cycle amplitudes versus system velocity (system = wheelset, amplitude = y)
y
speed
Numerical determination of the critical speed Vcr and VLim

Time simulation from high speed (with lateral safety bumps ) to low speed
y
ROBOTRAN results (IAVSD benchmark #2, 1991)
speed
Conclusions (part I)
Key points
Contact geometry : a difficult problem to solve
Contact forces : idem thanks ! Mr Kalker (et al.)
Dynamic behavior of a wheeset on a straight track : critical speeds
Other aspects
Curving dynamics : crab-wise bogie behavior
Derailment criteria (Y/Q wheel force ratio)
Wear
next lecture (N. Docquier)
Track irregularities => noise, comfort,

Full train : different morphologies, tilting trains, pneumatic suspensions,
Demonstration in the Lab
Contents

Contact geometry
Contact forces

Other topics
The BAS2000 bogie : a general case

The tram2000
Six 3D kinematic loops
Four independent wheel/rail contacts
=> No more wheelset, even artificial (left-right)

MBS : wheel or wheeset - doesnt matter!

In relative coordinates, a wheel is a leaf body to which forces apply
Independent wheels
Wheelset = (axle + 2 locked indep. wheels)
The BAS2000 bogie : a general case

A wheel = a leaf body which is constrained on a rail (inertial body)
The BAS2000 cannot be modeled as a bogie

but as a mechanism with wheels ! => relative coordinates approach suitable
Contents

Contact geometry
Contact forces

Other topics
The wheel/rail joint

=> 5 dof + 1 normal constraint
Recall : coordiante partitioning reduction

Coordinate partitioning :
ODE !
32
A Single Wheel on a Rail : 5 d.o.f.

w
G
(w)
i
2 Auxiliary variables :
(w)
x_
w : lateral position
Q
w
: Shift angle
...
3-D Contact Constraints :

1.
Point Q belongs to Rail Surface
2.
Wheel / Rail Surfaces Tangent at Point Q

=>
Lagrange Multipliers Technique
Wheel on rail: Constraints solution

Robust solution of contact constraints
rail profile
2 = 0 !!
3 = 0 !!
A dichotomic method
embeded into
the Newton-Raphson algorithm
Wheel on rail: Constraints solution
requires
= 0 when the constraints are satisfied

Wheel on rail: Constraints derivative
}
{X
}
{S
}
{Y
cos = _+ /2
1 = FN
Q
}
{T
I3
I2
{R}
I1
O
h(q) satisfied
P
Wheel on rail: Constraints 2d derivative

}
{X
}
{S
}
{Y
w
x
Q
}
{T
I
3
I
2
{R}
I1
O
P
Wheel on curved rail
Wheel on curved rail
Creepages : a real MBS computation

Lateral creepage :
}
{X
}
{S
}
{Y
w
x
Q
}
{T
I3
I2
{R}
Spin creepage :
I1
O
P
Wheel on rail: Kalkers model
}
{X
}
{S
}
{Y
w
x
Q
}
{T
I3
I2
{R}
I1
O
P
Kalker (linear) :
Wheel on rail: flange forces (tramways)
Wheel on rail: flange forces

Influence of the shift angle
No wheel yaw
With wheel yaw
For the flange contact force, in terms of tangent slip,

the tread contact ( creepage ) can be seen as a pure rolling motion (~ICR)
Contents
Contact geometry
Contact forces
Other topics : towards multiphysics
Geometrical validation
UCL
Delft
Wheelset limit cycle
UCL
Delft
Bogie : non linear critical speed
ROBOTRAN results
(IAVSD benchmark #2, 1991)
Deraillement
Cycle limite
stable
The BAS 2000 articulated bogie
BAS 2000 : straight track behavior

Ping-pong effect on a straigth track
Yaw deformation
time
The Tram 2000 tramway

The "Tram 2000"
Model :
Complete TRAM 2000 in Entry Curving :
- 4 Sub-Systems
- 74 Variables
- 32 Constraints
- 42 Degrees of Freedom
Carbody A
Carbody C
Carbody B
Front BAS 2000 Bogie
Conventionnal Bogie
Back BAS 2000 Bogie
Velocity : 25 km/h
Initial Conditions : Tramway Centered on the Straight Track
Tram 2000 tramway - results

Result :
Carbody A
Wheel / Rail Alignment in a Low Radius Curve (R = 50 m)
Carbody C
Carbody B
Front BAS 2000 Bogie
V
right rail
wheel
Conventionnal Bogie
Back BAS 2000 Bogie
Wheel / Rail Angle of Attack
Comparison of bogie behaviors

Bogies :
BA
BW
BW : Rigid bogie with wheeslets

BI : Rigid bogie with independent wheels
BA : BA2000 articulated bogie
BI
Situation : entry curving
Comparison of bogie behaviors

Steady state equilibrium : tread and flange lateral forces
- Crab-wise
behavior
- Crab-wise
behavior
BW
- Low longitudinal
tread forces
BI
BA
- Distorted, no crab-wise
- Dissipated power minimized
Contents
Contact geometry
Contact forces
Other topics : towards multiphysics
Multibody and railway electro dynamics

Railway bogies actuated by three
phase induction motors
Cm
Fz
Fz in the -motor to
chassis-joint
electromechanical
torque Cm
Problem:
Torque oscillations lead to
fatigue stress in the chassis
=> Next lecture
Fz
Cm
Multibody and railway pneumatic suspension

Multibody system
Hybrid system
Pneumatic system
=> Next lecture


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GraSMech course 2010-2011

Railway vehicle dynamics

( In practice : 0 ~ 1/20e 1/40e )

Equivalent conicity : = r / 2y =>

Motion of a wheelset initially centered on the track

Hypothesis : pure rolling motion (no slip)

Constraints (in y and ) :

(Klingel formula, 1883 !)

Wheelset kinematic yaw (under pure rolling assumption)

l0 : half wheelset length

Wheel/rail with circular profiles (as a matter of interest)

Insignificant for the tread contact point (angle ~ 0.05 rad)

Slightly worn rail :

Creepage ( between slip and pure rolling )

Point of contact assumption !!!!!

Contact ellipse (a, b) Hertz (but + creepage)

Wheelset dynamic behavior

=> Linear Critical speed VLim:

Wheelset dynamic behavior

=> Comparison between linear non linear model

Wheelset dynamic behavior

=> Behavior at low and high velocity

Wheelset dynamic behavior

=> Evolution of the hunting mode versus velocity

Top view (Robotran)

Rear view (Robotran)

Wheelset dynamic behavior

Application : limit cycle of a suspended wheelset : .

Lateral wheelset displacement y

Numerical determination of the critical speed Vcr and VLim

ROBOTRAN results (IAVSD benchmark #2, 1991)

next lecture (N. Docquier)

Track irregularities => noise, comfort,

Demonstration in the Lab

Part I : Wheel-rail contact in railway dynamics

Part II : Railway dynamics - multibody approach

The BAS2000 bogie : a general case

Six 3D kinematic loops

Four independent wheel/rail contacts

=> No more wheelset, even artificial (left-right)

MBS : wheel or wheeset - doesnt matter!

Wheelset = (axle + 2 locked indep. wheels)

The BAS2000 bogie : a general case

The BAS2000 cannot be modeled as a bogie

Part I : Wheel-rail contact in railway dynamics

Part II : Railway dynamics - multibody approach

The wheel/rail joint

Recall : coordiante partitioning reduction

A Single Wheel on a Rail : 5 d.o.f.

3-D Contact Constraints :

Point Q belongs to Rail Surface

Wheel / Rail Surfaces Tangent at Point Q

Lagrange Multipliers Technique

Wheel on rail: Constraints solution

the Newton-Raphson algorithm

Wheel on rail: Constraints solution

= 0 when the constraints are satisfied

Wheel on rail: Constraints derivative

Wheel on rail: Constraints 2d derivative

Wheel on curved rail

Wheel on curved rail

Creepages : a real MBS computation

Wheel on rail: Kalkers model

Wheel on rail: flange forces (tramways)