Identification of safety hazards and operating conditions of the low-floor tram with independently rotating wheels with various drive control algorithms

• Autorzy: Konowrocki Robert , Kalinowski Dariusz , Szolc Tomasz , Marczewski Artur

Identyfikatory

DOI

10.17531/ein.2021.1.3

• Języki publikacji: EN

Abstrakty

EN

The aim of the article is to develop a method for the analysis of tram dynamics related to safety during operation. To achieve this, a mathematical model of the vehicle represented by a multibody simulation MBS system is used. Models of tram with a classic and innovative drive, based on a system of independently rotating wheels on crank axles are analyzed. A new configuration of an innovative drive control of the considered vehicle with the use of braking of independent wheels is proposed. A new geometry of test track is presented. During numerical investigation the values of ‘Y’ leading forces of tram wheels with the considered innovative drive proved to be lower than in the corresponding vehicle with standard wheelsets. It has been demonstrated that the active control systems are of key importance and should be applied in such innovative tram drives.

Słowa kluczowe

EN

maintenance of safety; reliability of trams; derailment of tramcar; numerical tests; drive with independently rotating wheel; SIMPACK Rail

• Wydawca: Polskie Naukowo-Techniczne Towarzystwo Eksploatacyjne
• Czasopismo: Eksploatacja i Niezawodność
• Rocznik: 2021
• Tom: Vol. 23, no. 1
• Strony: 21--33
• Opis fizyczny: Bibliogr. 50 poz., rys., tab.

Twórcy

autor

Konowrocki Robert

• Institute of Fundamental Technological Research, Polish Academy of Sciences, ul. Pawińskiego 5b, 02-106 Warsaw, Poland

autor

Kalinowski Dariusz

• Institute of Fundamental Technological Research, Polish Academy of Sciences, ul. Pawińskiego 5b, 02-106 Warsaw, Poland
• PESA Bydgoszcz SA, ul. Zygmunta Augusta 11, 85-082 Bydgoszcz, Poland

autor

Szolc Tomasz

• Institute of Fundamental Technological Research, Polish Academy of Sciences, ul. Pawińskiego 5b, 02-106 Warsaw, Poland

autor

Marczewski Artur

• PESA Bydgoszcz SA, ul. Zygmunta Augusta 11, 85-082 Bydgoszcz, Poland

Bibliografia

• 1. Bogacz R, Konowrocki R. On new effects of wheel-rail interaction. Archive of Applied Mechanics 2012; 82: 1313-1323, https://doi.org/10.1007/s00419-012-0677-6.
• 2. Cho Y. Verification of control algorithm for improving the lateral restoration performance of an independently rotating wheel type railway vehicle. International Journal of Precision Engineering and Manufacturing 2020; 21: 247-1258, https://doi.org/10.1007/s12541-020-00346-4.
• 3. Chudzikiewicz A, Firlik B. Light rail vehicle dynamics from a running safety perspective Archives of Transport 2009; 21: 39-49.
• 4. Chudzikiewicz A, Sowińska M, Krzyżyński T, Maciejewski I. Modeling of wheel set movement with independently rotating wheels including the wheel control system. Logistyka 2015; 4: 32-139.
• 5. Chudzikiewicz A, Sowiński B. Modelling and simulation of trams bogies with fully independently rotating wheels. Dynamics of vehicles on roads and tracks 2016; 1427-1434, https://doi.org/10.1201/b21185-151.
• 6. Chudzikiewicz A, Korzeb J. Simulation study of wheels wear in low-floor tram with independently rotating wheels. Archive of Applied Mechanics 2018; 88: 75-192, https://doi.org/10.1007/s00419-017-1301-6.
• 7. Chudzikiewicz A, Sowińska M. Modelling and simulations of dynamics of the low-floor tramcar with independently rotating wheels. Communications - Scientific Letters of the University of Zilina 2017; 17 (4): 45-52.
• 8. Goodall RM and Mei TX. Mechatronic strategies for controlling railway wheelsets with independently rotating wheels, in Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2005; 1: 225-230, https://doi.org/10.1109/AIM.2001.936458.
• 9. Guerrieri M. Tramways in urban areas an overview on safety at road intersections. Urban Rail Transit 2018; 4: 223-233, https://doi.org/10.1007/s40864-018-0093-5.
• 10. EN 14363:2016 - Railway applications - Testing and Simulation for the acceptance of running characteristics of railway vehicles - Running behaviour and stationary tests.
• 11. Firlik B, Staśkiewicz T, Jaśkowski W, Wittenbeck L. Optimisation of a tram wheel profile using a biologically inspired algorithm Wear, 2019; 430-431: 12-24, https://doi.org/10.1016/j.wear.2019.04.012.
• 12. Hauser V, Nozhenko O, Kravchenko K, Loulová M, Gerlici J, Lack T. Proposal of a steering mechanism for tram bogie with three axle boxes. Procedia Engineering 2017; 192 (41): 289-294, https://doi.org/10.1016/j.proeng.2017.06.050.
• 13. Gill A, Firlik B, Kobaszynska-Twardowska A. Analysis of the Distribution of Passengers inside a Tram, in J. Pombo, (Editor), Proceedings of the Third International Conference on Railway Technology: Research, Development and Maintenance", Civil-Comp Press, Stirlingshire, UK, Paper 303, 2016.
• 14. Grether G, Looye G, Heckmann A. Lateral guidance of independently rotating wheel pairs using feedback linearization, Proceedings of the Fourth International Conference on Railway Technology: Research, Development and Maintenance, Spain, 2018.
• 15. Hoshi M, Ookubo Y, Murakami N, Arai T, Kono H, Aruga H. Development of bogie for user friendly, extra low floor, light rail vehicle (LRV) using independent wheel system and next generation LRV, Mitsubishi Heavy Industries Ltd., Technical Review 2007; 44 (2): 1-4.
• 16. https://lucchinirs.com/wp-content/uploads/2017/05/limoset-1.jpg (access on 07.07.2020).
• 17. Iwnicki S. Handbook of railway vehicle dynamics. CRC Press. 2006, https://doi.org/10.1201/9781420004892.
• 18. Ji Y, Ren L, Zhou J. Boundary conditions of active steering control of independent rotating wheelset based on hub motor and wheel rotating speed difference feedback. Vehicle System Dynamics 2018; 56 (12): 1883-1898, https://doi.org/10.1080/00423114.2018.1437273.
• 19. Kalinowski D, Szolc T, Konowrocki R. The new simulation approach of tramway safety against derailment evaluation in term of vehicle dynamics. Transbaltica XI: Transportation Science and Technology, Vilnius (LT), 2020: 245-254, https://doi.org/10.1007/978-3-030-38666-5_26.
• 20. Kalker JJ. Review of wheel - rail rolling contact theories. The general problem of rolling contact. Eds. A.L. Browne and N.T. Tsai. Vol. 40. New York: American Society of Mechanical Engineers, 1980.
• 21. Kalker JJ. A strip theory for rolling contact of two elastic bodies in presence of dry friction. Ph. D. dissertation, Delft University of Technology, 1976.
• 22. Klamka J, Grzesiak R. Drive bogie for low-floor rail vehicle (Wózek napędowy do niskopodłogowego pojazdu szynowego), Patent PL225456, 28.04.2017 WUP 04/17.
• 23. Kolar J. Modern trends in the drive wheelsets of rail vehicles. In: Dynybyl V., Berka O., Petr K., Lopot F., Dub M. (eds) The Latest Methods of Construction Design. Springer, Cham, 2016: 27-35, https://doi.org/10.1007/978-3-319-22762-7_5.
• 24. Konowrocki R, Bajer Cz. Friction rolling with lateral slip in rail vehicles. Journal of Theoretical and Applied Mechanics 2009; 47 (2): 275-293.
• 25. Konowrocki R, Bogacz R. Tram vehicles with independently rotating wheels, chapter: Overview of light rail vehicle solutions used in operation, Book Warsaw University of Technology Publishing House 2019: 148-164, ISBN: 978-83-8156-010-8 (in Polish).
• 26. Konowrocki R, Chojnacki A. Analysis of rail vehicles' operational reliability in the aspect of safety against derailment based on various methods of determining the assessment criterion Eksploatacja i Niezawodnosc - Maintenance and Reliability 2020; 22 (1): 73-85, https://doi.org/10.17531/ein.2020.1.9.
• 27. Konowrocki R. Tram vehicles with independently rotating wheels, chapter: Simulations of tram vehicle dynamics with respect to different operating conditions, Warsaw University of Technology Publishing House 2019: 297-328, ISBN: 978-83-8156-010-8 (in Polish).
• 28. Liang B, Iwnicki S D. An experimental study of independently rotating wheels for railway vehicles. International Conference on Mechatronics and Automation, Harbin, 2007: 2282-2286, https://doi.org/10.1109/ICMA.2007.4303908.
• 29. Liang B, Iwnicki S D. Independently rotating wheels with induction motors for high-speed trains. Journal of Control Science and Engineering 2011: 1-7, https://doi.org/10.1155/2011/968286.
• 30 Li H, Chi M, Liang S, Wu X. Curve-passing performance of independent rotating wheels based on differential feedback. Journal of Vibration and Shock 2018; 37 (23): 126-132, https://doi.org/10.13465/j.cnki.jvs.2018.23.018.
• 31. Lindblom J. Trackbound vehicle with steering of wheel axles, Patent EP0939717A1, 1999.
• 32. Lu ZG, Sun XJ, Yang JQ. Integrated active control of independently rotating wheels on rail vehicles via observers. Journal of Rail and Rapid Transit 2017; 231 (3): 295-305, https://doi.org/10.1177/0954409716629705.
• 33. Macián V, Tormos B, Herrero J. Maintenance management balanced scorecard approach for urban transport fleets. Eksploatacja i Niezawodnosc - Maintenance and Reliability, 2019, 21 (2): 226-236, https://doi.org/10.17531/ein.2019.2.6.
• 34. Matej J, Seńko J, Awrejcewicz J. Dynamic properties of two-axle freight wagon with uic double-link suspension as a non-smooth system with dry friction. In: Awrejcewicz J. (eds) Applied Non-Linear Dynamical Systems. Springer Proceedings in Mathematics & Statistics 2014; 93: 255-268, https://doi.org/10.1007/978-3-319-08266-0_18.
• 35. Mei T X, Goodall R M. Practical strategies for controlling railway wheelsets independently rotating wheels. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, 2003; 125 (3): 354-360, https://doi.org/10.1115/1.1592191.
• 36. Michajłow M, Jankowski Ł, Szolc T, Konowrocki R. Semi-active reduction of vibrations in the mechanical system driven by an electric motor. Optimal Control Applications & Methods 2017; 38 (6): 922-933, https://doi.org/10.1002/oca.2297.
• 37. Myamlin S, Kirilchuk O, Metyzhenko V. Mathematical model of wheelset oscillations with independent wheel rotation in the horizontal plane. Science and Transport Progress 2016; 4 (64): 134-141, https://doi.org/10.15802/stp2016/77999.
• 38. Opala M. Study of the derailment safety index Y/Q of the low-floor tram bogies with different types of guidance of independently rotating wheels. Archives of Transport 2016; 38 (2): 39-47, https://doi.org/10.5604/08669546.1218792.
• 39. Opala M. Evaluation of bogie centre bowl friction models in the context of safety against derailment simulation predictions. Archive of Applied Mechanics 2018; 88 (6): 943-953, https://doi.org/10.1007/s00419-018-1351-4.
• 40. PN-K-92016:1997 - Tram wheel sets, flexible - Surfaced tyres - Requirements and testings.
• 41. Polach O. A fast wheel-rail forces calculation computer code. Vehicle System Dynamics 1999; 33: 728-739, https://doi.org/10.1080/00423114.1999.12063125.
• 42. Shabana AA, Zaazaa KE, Sugiyama H. Railroad vehicle dynamics : a computational approach. CRC Press 2008, https://doi.org/10.1201/9781420045857.
• 43. Staśkiewicz T, Firlik B.Verification of a tram wheel new profile dynamic behavior. Journal of Mechanical and Transport Engineering 2017; 69 (1): 49-60, https://doi.org/10.21008/j.2449-920X.2017.69.1.05.
• 44. Suda Y, Wang W, Nishina M, Lin S, Michitsuji Y. Self-steering ability of the proposed new concept of independently rotating wheels using inverse tread conicity. Vehicle System Dynamics 2012; 50: 291-302, https://doi.org/10.1080/00423114.2012.672749.
• 45. Tabaszewski M, Firlik B. Assessment of the track condition using the Gray Relational Analysis method. Eksploatacja i Niezawodnosc - Maintenance and Reliability 2018; 20 (1): 147-152, https://doi.org/10.17531/ein.2018.1.19.
• 46. Technical guidelines for the design and maintenance of tram tracks, Ministry of Administration, Local Economy and Environmental Protection, Department of Public Transport and Roads, Warsaw 1983.
• 47. Transport in the European Union - current trends and issues, Report European Commission, Directorate-General Mobility and Transport, B-1049 Brussels, March 2019.
• 48. UIC 518, Testing and approval of railway vehicles from the point of view of their dynamic behaviour - Safety - Track fatigue - Ride quality 2009.
• 49. Wijata X, Awrejcewicz A, Matej J, Makowski M. Mathematical model for two-dimensional dry friction modified by dither. Mathematics and Mechanics of Solids 2017; 2 (10): 1936-1949, https://doi.org/10.1177/1081286516650483.
• 50. Zirek A, Voltr P, Lata M. Validation of an anti-slip control method based on the angular acceleration of a wheel on a roller rig. Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit 2020; 234 (9): 1029-1040, https://doi.org/10.1177/0954409719881085.

Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).