Rail Vehicle Mechatronics
- Length: 440 pages
- Edition: 1
- Language: English
- Publisher: CRC Press
- Publication Date: 2021-12-09
- ISBN-10: 036746473X
- ISBN-13: 9780367464738
- Sales Rank: #0 (See Top 100 Books)
This unique and up-to-date work surveys the use of mechatronics in rail vehicles, notably traction, braking, communications, data sharing, and control. The results include improved safety, comfort, and fuel efficiency.
Mechatronic systems are a key element in modern rail vehicle design and operation. Starting with an overview of mechatronic theory, the book goes on to cover topics including modeling of mechanical and electrical systems for rail vehicles, open and closed loop control systems, sensors, actuators and microprocessors. Modern simulation techniques and examples are included throughout, and numerical experiments and developed models for railway application are presented and explained. Case studies are used, alongside practical examples, to ensure that the reader can apply mechatronic theory to real world conditions. These case studies include modeling of a hybrid locomotive and simplified models of railway vehicle lateral dynamics for suspension control studies.
Rail Vehicle Mechatronics provides current and in-depth content for design engineers, operations managers, systems engineers and technical consultants world-wide, working with freight, passenger, and urban transit railway systems.
Cover Half Title Series Page Title Page Copyright Page Contents Preface Acknowledgments Authors Chapter 1: Introduction to Rail Vehicle Mechatronics 1.1. Historical Review 1.2. Theoretical Aspects for the Application of Mechatronic System 1.2.1. Stability and Curving 1.2.1.1. Running Stability of a Railway Vehicle 1.2.1.2. Curving Behavior of a Railway Vehicle 1.2.2. Damage and Wear of Wheels and Rails 1.2.2.1. Wear of Wheels and Rails 1.2.2.2. Rolling Contact Fatigue 1.2.2.3. Metal Fatigue in Wheels, Axles, Rails, and Other Types of Damage 1.2.3. Ride Comfort 1.3. Structure of this Book References Chapter 2: Modeling of Mechanical Systems for Rail Vehicles 2.1. Introduction 2.2. Classification for Theoretical and Experimental-Based Modeling Approaches 2.2.1. Physical-Based Models 2.2.2. Black-Box Models 2.3. Model of Wheel/Rail Contact 2.3.1. Geometric Analysis of Wheel/Rail Contact, Equivalent Conicity 2.3.2. The Normal Contact Analysis: Normal Force, Contact Patch, and Normal Stresses 2.3.3. The Tangential Contact Analysis: Creepage versus Creep Force Relationship 2.3.3.1. Kalker’s Linear Theory 2.3.3.2. Heuristic Saturation Laws 2.3.3.3. The Fastsim Method 2.3.3.4. Kalker’s CONTACT Algorithm 2.3.3.5. Use of Lookup Tables 2.3.4. Wheel/Rail Creep Force Models for Traction and Brake Studies 2.3.4.1. Polach Model 2.3.4.2. Modified Fastsim 2.3.4.3. Example of Identification of Creep Force Model Parameters from Measured Data 2.4. Modeling of Track and Track Irregularities 2.4.1. The Track System 2.4.2. Nominal Track Geometry 2.4.3. Track Irregularity 2.4.4. Track Models for Vehicle Dynamics Simulation 2.4.4.1. Rigid Track Model 2.4.4.2. Co-Following Sectional Models 2.4.4.3. Finite Element Models 2.4.4.4. Model of Switches and Crossings 2.5. Model of Suspension Components 2.5.1. Primary and Secondary Suspensions in Railway Vehicles 2.5.2. Coil Springs, Rubber Springs, and Bushings 2.5.3. Friction-Based Suspension Components 2.5.4. Hydraulic Dampers 2.5.5. Air Spring Suspension 2.6. Pantograph-Catenary Interaction 2.7. Traction and Braking Dynamics, Control and Modeling 2.7.1. Principles of Traction Braking Dynamics 2.7.2. Design Principles of Traction and Braking Control 2.7.3. Modeling of the Traction Systems 2.8. Train Dynamics 2.8.1. Train Dynamics for a Single Vehicle 2.8.2. Longitudinal Train Dynamics 2.9. Pneumatic Brake Models 2.10. Modeling of Inter-Car Forces References Chapter 3: Modeling of Electrical Systems for Rail Vehicles 3.1. Electrical Topologies 3.1.1. Diesel Electric Locomotives 3.1.2. Electric Locomotives 3.1.3. Hybrids 3.1.3.1. Principles of Hybridization for Rail Vehicles 3.1.3.2. Hybrid Topologies 3.2. Traction Power Supplies 3.2.1. Alternators and Generators 3.2.2. Rectifiers 3.2.2.1. Thyristor Rectifiers 3.2.2.2. PWM Rectifiers 3.2.3. Energy Storage 3.2.3.1. Batteries 3.2.3.2. Flywheels 3.2.3.3. Super Capacitors 3.2.4. Dynamic Braking Energy Management 3.3. Traction Motors and Power Electronics 3.3.1. DC Motors 3.3.1.1. Machine Models 3.3.1.2. Case Studies 3.3.2. Induction Machines 3.3.2.1. Machine Models 3.3.2.2. Field-Oriented Control 3.3.2.3. Direct Torque Control 3.3.2.4. Case Studies 3.3.3. Synchronous Machines 3.3.3.1. Machine Models 3.3.3.2. Machine-Commutated Converters 3.3.3.3. Field-Oriented Control 3.3.3.4. Case Studies 3.3.4. Brushless DC 3.3.4.1. Machine Models 3.3.4.2. Field-Oriented Control 3.3.4.3. Case Studies 3.3.5. Slip Control 3.3.5.1. Case Studies References Chapter 4: Control Systems 4.1. Introduction 4.2. Open-Loop and Closed-Loop Control Systems 4.3. Classical Control 4.3.1. Closed-Loop Transfer Function 4.3.2. PID Feedback Control 4.4. Modern Control Approach 4.4.1. State Space Representation 4.4.2. Pole Placement Method 4.4.3. Observer Design Technique 4.4.4. Optimal Control 4.4.4.1. Linear–Quadratic Regulator 4.4.4.2. Kalman Filter 4.4.4.3. Linear.Quadratic.Gaussian Control 4.4.4.4 H2 and H∞ Methods 4.4.4.5. Model Predictive Control 4.5. Non-Classical Control Methods 4.5.1. Fuzzy Control 4.5.2. Neural Network-Based Control References Chapter 5: Actuators 5.1. Introduction 5.2. Electro-Mechanical Actuators 5.2.1. Direct Current Motors 5.2.2. Alternating Current Motors 5.2.2.1. Induction Motors 5.2.2.2. Synchronous Motors 5.2.3. Mechanical Transmission 5.2.3.1. Gear Trains 5.2.3.2. Ball Screw Transmission 5.2.4. Model of an Electromechanical Actuator with Brushless AC Motor 5.3. Hydraulic Actuators 5.3.1. Fluid Power System Basics 5.3.2. Hydraulic Fluids Properties 5.3.3. Managing Hydraulic Fluids 5.3.4. Hydraulic Cylinders 5.3.5. Hydraulic Motors 5.3.6. Modeling Control Valves 5.3.7. Closed-Loop Circuits 5.3.8. Dynamic Performance Modeling of Actuator Systems 5.3.9. Applications 5.3.10. Overall Summary 5.4. Pneumatic Actuators 5.4.1. Pneumatic Power System Basics 5.4.2. Air Properties 5.4.3. Pneumatic Cylinders 5.4.4. Air Motors 5.4.5. Control Valves 5.4.6. Restrictions and Chokes 5.4.7. Applications 5.4.7.1. Railway Air Braking 5.4.7.2. Railway Air Suspensions 5.4.8. Overall Summary References Chapter 6: Sensors 6.1. Introduction 6.2. Displacement Sensors 6.2.1. Resistive Sensors 6.2.2. Capacitive Sensors 6.2.3. Linear Variable Differential Transformers 6.3. Encoders 6.4. Speed Sensors 6.5. Accelerometers 6.5.1. Piezoelectric Accelerometers 6.5.2. Capacitive Accelerometers 6.6. Pressure Sensors 6.7. Measurement of Force and Torque in Mechatronic Railway Vehicles References Chapter 7: Modeling of Complex Systems 7.1. Basic Principle of Complex System Design 7.2. Introduction of Co-simulation 7.3. Co-simulation Techniques 7.4. Review of the Existing Multi-Body Software Packages and Their Co-simulation Functionalities 7.4.1. Gensys and Matlab®/Simulink 7.4.2. Simpack and Simulink 7.4.3. VI-Rail (ADAMS/Rail) and Simulink 7.4.4. Vampire and Simulink 7.4.5. Universal Mechanism and Simulink 7.5. Design of Co-simulation Interfaces 7.5.1. Design of the Simple Simulink Model and Generation of the Shared Library 7.5.2. Shared Library Integration in the Code 7.5.3. Compilation and Execution of the Code 7.6. Case Studies 7.6.1. Co-simulation for a Locomotive Traction Control Study 7.6.1.1. Multi-body Model of a Heavy Haul Locomotive in Gensys 7.6.1.2. Model of a Locomotive Simplified Traction System 7.6.1.3. Dynamic Response Test to Variations of Adhesion Conditions at the Wheel-Rail Interface 7.6.2. Co-simulation for an Advanced Longitudinal Train Dynamics Study 7.6.2.1. Uni-directional Data Exchange Co-simulation Approach 7.6.2.2. Bi-directional Data Exchange Co-simulation Approach 7.6.2.3. Comparison of Results Obtained with Two Data Exchange Co-simulation Approaches References Chapter 8: Microprocessor Computers and Electronics 8.1. Introduction 8.2. Microprocessors versus Microcontrollers 8.2.1. Microprocessors 8.2.2. Microcontrollers 8.3. Control Computers 8.3.1. Programmable Logic Controllers 8.3.2. Field Programmable Gate Arrays 8.4. Multi-Module Structures for Microprocessor-Based Control Systems 8.5. Case Study: Microcontroller in Monitoring System 8.5.1. Design 8.5.2. Problem Formulation 8.5.3. Solution References Chapter 9: Communications, Networks, and Data Exchange Protocols 9.1. Introduction 9.1.1. Intra-Car Communication Architecture 9.1.2. Inter-Car Communication Architecture 9.1.3. Train-to-Ground Communication Architecture 9.2. Common Types of Networks 9.2.1. Wired Networks 9.2.2. Wireless Networks 9.2.3. Mixed Networks 9.3. Common Communication Protocols 9.4. Case Study: Electronically Controlled Pneumatic Brakes Communication Network 9.4.1. Inception of Electronically Controlled Pneumatic Brakes 9.4.2. Network Communication 9.4.3. Device Types 9.4.4. Problem Formulation 9.4.5. Solution – Drawback 1 9.4.6. Solution – Drawback 2 References Chapter 10: Data Acquisition and Data Processing Techniques 10.1. Introduction 10.2. General Layout of a Data Acquisition and Data Processing System 10.3. Signal Conditioning 10.4. Analog-To-Digital Conversion 10.4.1. Quantization and Quantization Error 10.4.2. Sampling Frequency and Aliasing 10.4.3. Anti-Aliasing Filters and Oversampling 10.5. Digital-To-Analog Conversion 10.6. Digital Filters 10.7. Frequency Analysis for Discrete Signals References Chapter 11: Mechatronic Suspensions 11.1. Introduction 11.2. Active Primary Suspensions 11.2.1. Active Primary Suspension Functions 11.2.1.1. Active Steering 11.2.1.2. Active Running Gear Stabilization 11.2.1.3. Active Guidance 11.2.2. Active Primary Suspension Configurations 11.2.2.1. Actuated Solid Wheelset 11.2.2.2. Actuated Independently Rotating Wheels 11.2.2.3. Driven Independently Rotating Wheels 11.2.3. Control Strategies for Active Primary Suspensions 11.2.3.1. Strategies for Active Steering 11.2.3.2. Strategies for Active Stabilization 11.2.3.3. Strategies for Active Guidance 11.3. Active and Semi-Active Secondary Suspensions 11.3.1. Active and Semi-Active Secondary Suspension Functions 11.3.1.1. Improvement of Ride Comfort 11.3.1.2. Improvement of Running Behavior (Stability and Curving) 11.3.2. Configurations and Hardware 11.3.2.1. Active/Semi-Active Lateral Suspensions 11.3.2.2. Active/Semi-Active Vertical Suspensions 11.3.2.3. Active/Semi-Active Secondary Yaw Control 11.3.3. Control Strategies for Active and Semi-Active Secondary Suspensions 11.3.3.1. Low-Bandwidth Control for Ride Comfort 11.3.3.2. Skyhook Control 11.3.3.3. Local versus Modal Control 11.3.3.4. Control Strategies for Secondary Yaw Actuation 11.3.3.5. Modern Control 11.4. Car Body Tilting Systems 11.5. Active Suspensions for Non-Conventional Vehicle Architectures References Chapter 12: Real-Time Systems and Simulation 12.1. Introduction: Aims of Real-Time Studies 12.2. What is a Real-Time System? 12.3. Requirements for the Development of Programming Code for a Real-Time Application 12.4. Requirements for the Development of Real-Time Multi-Body Models 12.5. Real-Time Prototyping and Testing 12.5.1. Software-in-the-Loop Approach 12.5.2. Hardware-in-the-Loop Approach 12.6. Case Study: Development of a Real-Time Multi-Body Model References Chapter 13: System Integration 13.1. Interpretation of System Integration 13.2. Inter-Disciplinary Approach for Design and Evaluation Processes 13.3. Systems Integration Activities 13.4. Rail Vehicle Specific Standards and Guidelines References Chapter 14: Practical Examples and Case Studies 14.1. Case A: Simplified Models of Railway Vehicle Lateral Dynamics for Suspension Control Studies 14.1.1. The 2 Degrees of Freedom Wheelset Model 14.1.2. The 6 Degrees of Freedom Bogie Model 14.2. Case B: Modeling of a Bogie with Active Steering System 14.2.1. Basic Principle of Active Steering System for Solid-Axle Wheelset 14.2.2. Vehicle Model Built in Simpack 14.2.3. Controller and Actuator Model in Simulink 14.2.4. Simulation Scenarios and Results 14.3. Case C: Modeling of a Heavy Haul Diesel-Electric Locomotive Traction Power System 14.3.1. Modeling Concept 14.3.1.1. Modeling of the Power System 14.3.1.2. Modeling of the Adhesion Control 14.3.2. Implementation in Simulink 14.3.3. Simulation Scenarios and Results 14.4. Case D: Modeling of a Heavy Haul Hybrid Locomotive 14.4.1. Locomotive Design Modification 14.4.2. Modeling of ESS Traction System for the Hybrid Locomotive 14.4.3. Implementation in Simulink 14.4.4. Simulation Scenarios and Results References Index
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