Computer-aided analysis of
multibody dynamics (part 2)
Railway vehicle dynamics
Paul Fisette
(paul.fisette@uclouvain.be)
GraSMech – Multibody – Part II
Contents
Part I : Wheel-rail contact in railway dynamics
¾ Contact geometry
¾ Contact forces
¾ Wheelset dynamic behavior
Part II : Railway dynamics - multibody approach
¾ Multibody representation pter
9
Cha
Kluwer Academic Publishers, 2003
¾ Wheel/rail contact – independent wheel model
¾ Flange contact model
¾ Validations - Applications
¾ Other topics
GraSMech – Multibody – Part II
1
Contents
Part I : Wheel-rail contact in railway dynamics
¾ Contact geometry
¾ Contact forces
¾ Wheelset dynamic behavior
Part II : Railway dynamics - multibody approach
¾ Multibody representation
¾ Wheel/rail contact – independent wheel model
¾ Flange contact model
¾ Validations - Applications
¾ Other topics
GraSMech – Multibody – Part II
Contact geometry
Wheelset with conical wheel on « knife-edge » rails
Rolling radii :
( In practice : δ0 ~ 1/20e … 1/40e )
Equivalent conicity :
Rolling radii difference (left-right) :
Roll angle :
GraSMech – Multibody – Part II
2
Contact geometry
Wheelset kinematic motion (~ first order kinematics)
Motion of a wheelset initially centered on the track
Hypothesis : pure rolling motion (no slip)
¾ Kinematic relations (first order)
Combined lateral-yaw motion of a wheelset
¾ Constraints (in y and ψ) :
Lateral (y) :
Yaw (ψ) :
GraSMech – Multibody – Part II
Contact geometry
Wheelset kinematic motion (next)
2 d.o.f. kinematic equations (= constraints at « velocity level »)
Periodic Solution :
¾ frequency : ¾ Wave length :
(Klingel formula, 1883 !)
Wheelset kinematic yaw (under pure rolling assumption)
GraSMech – Multibody – Part II
3
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
¾ Roll angle :
¾ vertical disp.:
4 bar-mechanism
¾ equiv. conicity :
GraSMech – Multibody – Part II
Contact geometry
Wheel/rail contact : yaw angle influence on contact geometry
=> Longitudinal shift of the contact point (Ù « shift angle » θ) 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
GraSMech – Multibody – Part II
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Contact geometry
Real wheel profiles : numerical somution
Profile definition (analytical form or numerical measurements)
¾ ex. UIC 60 rail (piecewise circular), S1002 wheel (piecewise polynomials)
Numerical determination of the contact(s) point(s) = f (y, ψ)
¾ Pre-computation (look-up tables => f (y, ψ) )
¾ In-line computation (Newton-Raphson, dichotomic method, … see Part II)
Computation of the left/right rolling radii r and contact angles δ :
∆r ∆δ
y y
GraSMech – Multibody – Part II
Contact geometry
Double (flange) contact point
Tramway Ù « clear » double contact (tread + flange)
Train Ù the contact point « moves » from tread to flange (with possible jump !!)
Always present
intermittent
GraSMech – Multibody – Part II
5
Contact geometry
Double (flange) contact point
Tramway Ù « clear » double contact (tread + flange)
Train Ù the contact point « moves » from tread to flange (with possible jump !!)
Always present
GraSMech – Multibody – Part II
Contact geometry
Contact point « jump »
Exists on theoretical « new » profiles (ex. S1002 wheelset on UIC60 rail)
on produces :
ROBOTRAN results
Exists also on worn profile (but their location change with wear !) (IAVSD benchmark #1, 1991)
¾ New rail :
¾ Slightly worn rail :
GraSMech – Multibody – Part II
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Contents
Part I : Wheel-rail contact in railway dynamics
¾ Contact geometry
¾ Contact forces
¾ Wheelset dynamic behavior
Part II : Railway dynamics - multibody approach
¾ Multibody representation
¾ Wheel/rail contact – independent wheel model
¾ Flange contact model
¾ Validations - Applications
¾ Other topics
GraSMech – Multibody – Part II
Contact forces
Coulomb’s law :
No slip =>
Slip =>
Creepage (« between slip and pure rolling »)
Longitudinal creepage :
Lateral creepage :
Spin creepage :
¾ with : Point of contact assumption !!!!!
GraSMech – Multibody – Part II
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Contact forces
Creepage computation (not MBS approach !)
Longitudinal creepage :
Lateral creepage :
Spin creepage :
GraSMech – Multibody – Part II
Contact forces
Contact surface
Non uniform pressure distribution
Contact ellipse (a, b) ÙHertz (but + creepage)
A, B, m, n depend on
contact curvature radii
GraSMech – Multibody – Part II
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Contact forces
Kalker’s theory*
Linear theory
with :
Heuristic modeling of saturation :
Non linear theories : Duvorol, Fastsim (Kalker), Contact (Kalker)
GraSMech – Multibody – Part II
Contents
Part I : Wheel-rail contact in railway dynamics
¾ Contact geometry
¾ Contact forces
¾ Wheelset dynamic behavior
Part II : Railway dynamics - multibody approach
¾ Multibody representation
¾ Wheel/rail contact – independent wheel model
¾ Flange contact model
¾ Validations - Applications
¾ Other topics
GraSMech – Multibody – Part II
9
Wheelset dynamic behavior
Linear model
Hypotheses :
¾ « suspended » wheelset
¾ Linearized equations of motion :
Solution :
Im (λ)
=> « Linear » Critical speed VLim:
« Hunting » eigenmode
¾ Eigenvalue λ versus speed :
or.: Jashinski thesis (Delft)
Real (λ)
GraSMech – Multibody – Part II
Wheelset dynamic behavior
Linear model : example
ROBOTRAN/MBsysLab model :
http://www.prm.ucl.ac.be/FDP/Tutorial/Medium/Bogie/Introduction.html
=> Comparison between linear – non linear model
GraSMech – Multibody – Part II
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Wheelset dynamic behavior
Linear model : example
ROBOTRAN/MBsysLab model :
http://www.prm.ucl.ac.be/FDP/Tutorial/Medium/Bogie/Introduction.html
=> Behavior at low and high velocity
y ψ
GraSMech – Multibody – Part II
Wheelset dynamic behavior
Linear model : example
ROBOTRAN/MBsysLab model :
http://www.prm.ucl.ac.be/FDP/Tutorial/Medium/Bogie/Introduction.html
=> Evolution of the hunting mode versus velocity
(via successive modal analyses)
stable
unstable Top view (Robotran)
Rear view (Robotran)
GraSMech – Multibody – Part II
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Wheelset dynamic behavior
Non-linear model
Notion of limit cycle (ex. van der Pol differential equation
« damping term »
ω0 , ξ > 0
• small y => negative damping Ù the system stores energy
• large y => positive damping Ù the system looses energy
=> Limit cycle : oscillatory solution in which the 2 energies compensate
Application : limit cycle of a « suspended » wheelset : .
Lateral wheelset displacement y yÙy
ROBOTRAN results ROBOTRAN results
GraSMech – Multibody – Part II
Contact geometry
Critical speed Vcr
Limit cycle amplitudes versus system velocity (system = wheelset, amplitude = y)
speed
Numerical determination of the critical speed Vcr and VLim
¾ Time simulation from high speed (with lateral « safety bumps ») to low speed
y
speed ROBOTRAN results (IAVSD benchmark #2, 1991)
GraSMech – Multibody – Part II
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Conclusions (part I)
Key points
Contact geometry : a difficult problem to solve
Contact forces : idem Ù 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, …
GraSMech – Multibody – Part II
Contents
Part I : Wheel-rail contact in railway dynamics
¾ Contact geometry
¾ Contact forces
¾ Wheelset dynamic behavior
Part II : Railway dynamics - multibody approach
¾ Multibody representation
¾ Wheel/rail contact – independent wheel model
¾ Flange contact model
¾ Validations - Applications
¾ Other topics
GraSMech – Multibody – Part II
13
The « BAS2000 » bogie : a general case
The « tram2000 »
Six « 3D » kinematic loops
Four independent wheel/rail contacts
=> No more wheelset, even artificial (left-right)
GraSMech – Multibody – Part II
MBS : wheel or wheeset - does’nt matter!
In relative coordinates, a wheel is a leaf body to which forces apply
Independent wheels Wheelset = (axle + 2 « locked » indep. wheels)
GraSMech – Multibody – Part II
14
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
GraSMech – Multibody – Part II
Contents
Part I : Wheel-rail contact in railway dynamics
¾ Contact geometry
¾ Contact forces
¾ Wheelset dynamic behavior
Part II : Railway dynamics - multibody approach
¾ Multibody representation
¾ Wheel/rail contact – independent wheel model
¾ Flange contact model
¾ Validations - Applications
¾ Other topics
GraSMech – Multibody – Part II
15
The « wheel/rail » joint »
=> 5 dof + 1 « normal » constraint
GraSMech – Multibody – Part II
Recall : coordiante partitioning reduction
Coordinate partitioning :
ODE !
32 GraSMech – Multibody – Part II
16
A Single Wheel on a Rail : 5 d.o.f.
w j j
G
k
i
β(w) ρ (w) 2 Auxiliary variables :
h
x_
j ¾ w : lateral position
θQ
w
θ
¾ θ : Shift angle
...
3-D Contact Constraints :
1. Point Q belongs to Rail Surface
2. Wheel / Rail Surfaces Tangent at Point Q
=> Lagrange Multipliers Technique
GraSMech – Multibody – Part II
Wheel on rail: Constraints solution
Robust solution of contact constraints
rail profile
λ2 = 0 !!
λ3 = 0 !!
A dichotomic method “embeded into” the Newton-Raphson algorithm
GraSMech – Multibody – Part II
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Wheel on rail: Constraints solution
requires
= 0 when the constraints are satisfied
GraSMech – Multibody – Part II
Wheel on rail: Constraints derivative
{X̂}
{ Ŝ}
G {Ŷ}
w
cos α = _+ π/2 λ1 = FN
x
Q
{T̂}
Î 3
u α P
{R̂}
Î 1
Î 2 O
h(q) satisfied
P
GraSMech – Multibody – Part II
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Wheel on rail: Constraints 2d derivative
{X̂}
{ Ŝ}
G {Ŷ}
w
x
Q
{T̂}
u {R̂}
Î 3 P
Î 1
Î 2 O
P
GraSMech – Multibody – Part II
Wheel on curved rail
GraSMech – Multibody – Part II
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Wheel on curved rail
GraSMech – Multibody – Part II
Creepages : a « real » MBS computation
Longitudinal creepage :
{ Ŝ}
{X̂} Lateral creepage :
G {Ŷ}
w
x
Q
{T̂}
Î 3
u
P
{R̂}
Spin creepage :
Î 1
Î 2 O
P
GraSMech – Multibody – Part II
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Wheel on rail: Kalker’s model
{X̂}
{ Ŝ}
G {Ŷ}
w
x
Q
{T̂}
u {R̂}
Î 3 P
Î 1
Î 2 O
P
Kalker (linear) :
GraSMech – Multibody – Part II
Wheel on rail: flange forces (tramways)
GraSMech – Multibody – Part II
21
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)
GraSMech – Multibody – Part II
Contents
Part I : Wheel-rail contact in railway dynamics
¾ Contact geometry
¾ Contact forces
¾ Wheelset dynamic behavior
Part II : Railway dynamics - multibody approach
¾ Multibody representation
¾ Wheel/rail contact – independent wheel model
¾ Flange contact model
¾ Validations - Applications
¾ Other topics : « towards » multiphysics
GraSMech – Multibody – Part II
22
Geometrical validation
UCL
Delft
GraSMech – Multibody – Part II
Wheelset limit cycle
x x
UCL Delft
GraSMech – Multibody – Part II
23
Bogie : « non linear » critical speed
ROBOTRAN results
(IAVSD benchmark #2, 1991)
Deraillement Cycle limite stable
GraSMech – Multibody – Part II
The “BAS 2000” articulated bogie
GraSMech – Multibody – Part II
24
“BAS 2000” : straight track behavior
« Ping-pong » effect on a straigth track
Yaw deformation
time
GraSMech – Multibody – Part II
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
V
Velocity : 25 km/h
Initial Conditions : Tramway Centered on the Straight Track
GraSMech – Multibody – Part II
25
“Tram 2000” tramway - results
Result :
Carbody A Carbody C Carbody B
Wheel / Rail Alignment in a Low Radius Curve (R = 50 m)
Front BAS 2000 Bogie
α
V
right rail
wheel Conventionnal Bogie Back BAS 2000 Bogie
V
Wheel / Rail Angle of Attack
GraSMech – Multibody – Part II
Comparison of bogie behaviors
Bogies : BW BA
BW : Rigid bogie with wheeslets
BI : Rigid bogie with independent wheels
BA : BA2000 articulated « bogie »
BI
Situation : entry curving
GraSMech – Multibody – Part II
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Comparison of bogie behaviors
Steady state equilibrium : tread and flange lateral forces
- « Crab-wise »
- « Crab-wise » BW behavior
behavior
- Low longitudinal
tread forces
BI
BA
- Distorted, no crab-wise
- Dissipated power minimized
GraSMech – Multibody – Part II
Contents
Part I : Wheel-rail contact in railway dynamics
¾ Contact geometry
¾ Contact forces
¾ Wheelset dynamic behavior
Part II : Railway dynamics - multibody approach
¾ Multibody representation
¾ Wheel/rail contact – independent wheel model
¾ Flange contact model
¾ Validations - Applications
¾ Other topics : « towards » multiphysics
GraSMech – Multibody – Part II
27
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
GraSMech – Multibody – Part II
Multibody and railway pneumatic suspension
Multibody system
Hybrid system
Pneumatic system
=> Next lecture
GraSMech – Multibody – Part II
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