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EN
This paper investigates the effect of employing an inerter on the performance of active suspension systems. A quarter-car model with cubic-nonlinear spring is considered. The inerter is installed in parallel with the primary suspension spring and damper. First, feedback linearization (FBL) is used to linearize the mathematical model. Then the linear quadratic regulator (LQR) is adopted to control the suspension system. The proposed design is ride comfort-oriented and considers structural constraints. Numerical simulations are executed for passive systems with different values of inertance. Results show that employing an inerter to the passive suspension can improve the ride comfort performance by more than 32%. Employing an inerter to active suspension systems can also improve the ride comfort and reduce actuator force significantly. The actuator force can be reduced by 25%. However, the results also show that the uncaring selection of the inerter can dramatically degrade the performance of the suspension system.
2
Content available remote Analysis of ride comfort in selected types of rail vehicles
EN
The subject of the article is the analysis of ride comfort for a passenger of selected types of rail vehicles on the basis of the main factor determining its level - mechanical vibrations. The research was based on measurements of vibration accelerations and the RMS values in one-third octave bands which were calculated from the measured accelerations. The tested objects were four types of rail vehicles. This article presents the results of the analysis carried out for each vehicle, using two methods of assessing the impact of vibrations on the human body.
PL
Przedmiotem artykułu jest analiza komfortu jazdy pasażera wybranych typów pojazdów szynowych na podstawie podstawowego czynnika determinującego jego poziom – drgań mechanicznych. Badania zostały oparte na pomiarach przyspieszeń drgań oraz obliczonych na ich podstawie wartości skutecznych w pasmach tercjowych. Obiektami badanymi były cztery typy pojazdów szynowych. W niniejszym artykule zamieszczono wyniki analizy przeprowadzonej dla każdego z pojazdów, z wykorzystaniem dwóch metod oceny wpływu drgań na organizm człowieka.
EN
Traditional rigid vehicle model cannot reflect structural local vibration and flexible deformation, which may affect the accuracy in evaluating ride comfort of metro vehicle. Aiming at this issue, this paper proposes a research method of flexible dynamic behavior based on flexible multi-body dynamics (FMBD), considering the structural flexibilities of key parts of metro vehicle in detail, to study the ride comfort of metro vehicle. First, finite element models of carbody and frame are established, which are then reduced by substructure theory and Guyan reduction method. On this basis, the flexible vehicle-track coupled dynamic model is established. After investigating the difference between the flexible model and traditional rigid model, the ride comfort of metro vehicle on straight line and curve line is then evaluated subjected to rail random irregularity, short-wave excitation and long-wave excitation, respectively. Finally, correlations of carbody vibrations at different locations are deeply investigated. Results show that carbody accelerations calculated by flexible model are larger than those obtained by rigid model. The sensitive frequency band of human is obviously reflected and calculated by flexible model, indicating that the ride comfort of metro vehicle can be more accurately evaluated with the flexible vehicle model. Flexible modes and local vibrations are obviously reflected in carbody vibrations. Vibration at PR (point on roof) location is largest, and vibration at PC (point on floor center) location is smallest. Ride comfort is very sensitive to long-wave excitation while is not sensitive to short-wave excitation. It is not accurate enough to evaluate ride comfort of metro vehicle only according to vibration at floor center, and more data at different locations should be concerned, especially vibrations at air spring locations.
EN
To analyze the variation rule of the critical instability time-delay of the semi-active ISD suspension, a general solution was proposed and applied into two three-element-structure ISD suspensions. The dynamical response and the performance of the semi-active ISD suspension in various time-delays indicated that different structures had different suspension performance. The time-delay deteriorated the performance of all of the suspensions which were analyzed. The stability of the semi-active ISD suspension would seriously weaken with the critical time-delay. This paper provided a general solution for parameters selection in semi-active ISD suspension design to avoid the negative effect of the time-delay.
5
Content available Research on ride comfort performance of a metal tire
EN
A new type of non-inflatable metal tire is designed to prevent the flat tire caused by puncture and shrapnel penetration, and it can be used on star rovers and military or civilian wheeled vehicles. In order to study vibration damping characteristics of the new wheel, a specimen with the same size as the pneumatic tire (235/70 R16) is made for contrast tests. A filtering method is proposed to reduce impulse and random interference noise collected vibration signal. Comparative analysis of ride comfort performance is conducted by solving weighted acceleration root mean square (RMS) values. The results show that the filtering method has a good effect, and ride comfort of the metal tire is slightly worse, while it has a better grasping ability. Therefore, some extended structures have been recommended to improve the vibration damping performance.
EN
To study the impact of suspended equipment on the ride comfort in a railway vehicle, a rigid flexible general model of such a vehicle is required. The numerical simulations is based on two different models, derived from the general model of the vehicle, namely a reference model of a vehicle with no equipment, and another model with six suspended elements of equipment mounted in various positions along the carbody. The objective of this paper arises from the observation that the literature does not contain any study that highlights the change in the ride comfort resulting exclusively due to the influence of equipment. The influence of the suspended equipment on the ride comfort is determined by comparing the ride comfort indices calculated in the carbody reference points, at the centre and above the two bogies, for a model with six elements of equipment and a model of the vehicle with no equipment.
EN
An N1 vehicle model is created, which allows for changing suspension parameters and conditions of experimental performance. A methodology of computer testing performance for vehicle ride comfort and stability service properties’ characterization in a virtual environment is proposed. Vehicle suspension system modelling and simulation are performed. The results of the N1 vehicle suspension system from full-scale laboratory and road tests are given.
PL
W artykule przedstawiono problem z dziedziny transportu osób niepełnosprawnych – analiza komfortu jazdy wózkiem inwalidzkim pokonującym schody. Badania te były prowadzone w środowisku symulacyjnym oraz na prototypie w laboratorium. Badanie zostało przeprowadzone na konstrukcji będącej częścią rozprawy doktorskiej autora oraz na wózku inwalidzkim, który jest dostępny w ofercie handlowej. W treści artykułu opisano proces oceny wybranych oddziaływań w aspekcie komfortu jazdy wózkiem inwalidzkim na etapie opracowania prototypowej koncepcji konstrukcji.
EN
The paper presents an issue from the field of disabled people transport - analysis of ride comfort on the stairs climbing wheelchair. These studies were carried out in a simulation environment, and on a model prototype in the laboratory. The study was conducted for the author's design of a stairs climbing wheelchair and a wheelchair which is available in the commercial offer.
EN
The article investigates the influence of the carbody vertical flexibility on the ride comfort of the railway vehicles. The ride comfort is evaluated via the comfort index calculated in three reference points of the carbody. The results of the numerical simulations bring attention to the importance of the carbody symmetrical vertical bending upon the dynamic response of the vehicle, mainly at high velocities. Another conclusion is that the ride comfort can be significantly affected as a function of the symmetrical bending frequency of the carbody. Similarly, there are improvement possibilities for the ride comfort when the best selection of the stiffness in the longitudinal traction system between the carbody and bogie and the vertical suspension damping is made.
Logistyka
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2015
|
nr 4
972--981, CD1
PL
W artykule przedstawiono wyniki badań symulacyjnych dynamiki tramwaju niskopodłogowego. Drgania układu wywołane były zaburzeniami geometrii toru o różnej jakości. Ocenę dynamicznego zachowanie się pojazdu przeprowadzono za pomocą szeregu symulacji na długich (ok. 500 m) odcinkach toru w zakresie prędkości spotykanych w warunkach miejskich. W badaniach symulacyjnych wzięto pod uwagę uprzednio zmierzone nierówności toru. Przeprowadzono analizę statystyczną i częstotliwościową (częstotliwość spacjalna) nierówności toru. Uzyskane wyniki badań symulacyjnych, takie jak przemieszczenia, przyspieszenia i zryw (jerk) nadwozia tramwaju zanalizowano w dziedzinie czasu i częstotliwości. Analiza ta pozwala na wyciągniecie wniosków związanych z wpływem nierówności toru na dynamikę tramwaju. Jest też przyczynkiem do zbadania komfortu jazdy pasażerów w tramwajach wyposażonych w niezależnie obracające się koła.
EN
The article presents the results of simulation studies of the dynamics of low-floor tram. The vibrations were effects of irregularities of the track geometry of varying quality. The evaluation of the dynamic behavior of the vehicle were performed using a series of simulations on track sections (approx. 500 m length) in the speed range encountered in urban environments. Previously measured track irregularities were taken into account in these studies. For track irregularities measurements were performed statistical and frequency analysis. The results of simulations, such as displacement, acceleration and a jerk of tram body were analyzed in the time and frequency domains. This analysis allows drawing conclusions related to the impact of track irregularities on the dynamics of the tram. The article is also a contribution to studies of the passenger comfort of trams equipped with independently rotating wheels.
EN
This paper deals with the simulation of car suspension parameter impact on the contact between the tyre and an uneven road. The simulation was based on the quarter car vehicle model used for the analysis of vertical vibrations of sprung and unsprung mass under the influence of discrete road unevenness. The parameters of the model relate to the front axle of a VW Passat B5. Suspension and damping characteristics were described by non-linear functions. The results included in the paper cover the influence of changing the rebound damping force, main spring stiffness coefficient and the unsprung mass on active safety and ride comfort.
PL
W artykule przeprowadzono symulacyjną analizę wpływu parametrów masowych, sztywnościowych oraz tłumiennych zawieszenia koła samochodu na bezpieczeństwo czynne i komfort jazdy. Wykorzystano tzw. ćwiartkowy model pojazdu do analizy drgań pionowych masy nieresorowanej i resorowanej pod wpływem dyskretnych nierówności drogi. Parametry modelu dotyczą przedniej osi samochodu VW Passat B5. Charakterystyki resorowania i tłumienia opisano nieliniowymi funkcjami. W artykule zamieszczono wybrane wyniki analizy symulacyjnej dotyczące wpływu zmiany siły tłumienia amortyzatora w fazie odbicia, sztywności resorowania sprężyny głównej oraz masy nieresorowanej na wskaźniki bezpieczeństwa i komfortu jazdy.
PL
Praca dotyczy zagadnień związanych z dynamiką pojazdów szynowych oraz metod ich badania. Głównym przedmiotem przeprowadzonych badań są właściwości dynamiczne pojazdu szynowego związane z bezpieczeństwem i komfortem jazdy, w szczególności siły występujące między zestawami kołowymi i torem oraz przyspieszenia nadwozia. Odpowiedzi dynamiczne pojazdu na nierówności toru otrzymano za pomocą symulacji numerycznych, korzystając z modelu matematycznego układu mechanicznego pojazd szynowy - tor. Zastosowany model uwzględnia stan utrzymania toru opisany przez jego nierówności geometryczne o losowym charakterze. Badania symulacyjne zostały przeprowadzone dla różnych wartości parametrów liniowego zawieszenia pojazdu, profili kół i szyn o różnym stopniu zużycia, szerokiego zakresu prędkości jazdy oraz odcinków toru o różnym stanie utrzymania. W analizie odpowiedzi dynamicznych układu wykorzystano wskaźniki komfortu jazdy i bezpieczeństwa przeciw wykolejeniu oraz własne metody dostosowane do specyfiki badanych zagadnień. Opracowane metody probabilistyczne wykorzystują matematyczny aparat analizy widmowej i statystycznej do badania związku między nierównościami geometrycznymi toru jako wymuszeniami kinematycznymi a odpowiedziami dynamiczny- mi układu, głównie w postaci współczynnika bezpieczeństwa przeciw wykolejeniu Y/Q. Wykazano, że gęstość widmowa mocy współczynnika Y/Q ma charakterystyczną strukturę, będącą rezultatem wężykowania zestawów kołowych oraz nieliniowości geometrycznych funkcji opisujących kontakt profili kół i szyn. Zastosowanie opracowanej metody statystycznej umożliwiło ustalenie zależności między lokalnymi oscylacjami nierówności toru o częstotliwości spacjalnej równej częstotliwości wężykowania zestawu kołowego a lokalnym wzrostem współczynnika Y/Q. Zaproponowane metody stanowią innowacyjne na- rzędzie badawcze w analizie bezpieczeństwa jazdy pojazdu szynowego.
EN
The present work concerns problems related to dynamics of a railway vehicle and the meth- ods of their investigation. The main subject of the reported research is the dynamical properties of a railway vehicle related to running safety and ride comfort, in particular forces acting be- tween the wheelsets and track, as well as vehicle body accelerations. The dynamic responses to track irregularities have been obtained with numerical simulations based on a mathematical model of the railway vehicle - track system. The applied model accounts for the track quality described by the track geometrical irregularities of random character. The simulation studies were performed for various values of parameters describing the linear vehicle suspension, wheel and rail profiles with different degree of wear, wide range of ride velocities, and track sections of various quality. The dynamic responses are analyzed with chosen criteria used for assessment of running safety and ride comfort, as well as the methods worked out by the au- thor which are suitable for the specific investigated problems. The developed probabilistic methods use the mathematical formalism of the spectral and statistical analysis in order to in- vestigate the relation between the track geometrical irregularities acting as kinematic excita- tions and the resulting dynamic responses, mainly, the derailment coefficient Y/Q. It is shown that the power spectral density of the coefficient Y/Q has characteristic structure which is the result of the wheelset hunting and the non-linear geometry of the wheel/rail contact. The application of the developed statistical method has allowed for the determination of the relation between local oscillations of track irregularities with the spatial frequency equal to the hunting frequency and local increase of the coefficient Y/Q. The proposed methods are an innovative research tool in analysis of running safety of railway vehicles.
EN
The biggest dangers that may result from human exposure to vibrations caused by vehicle movement occur in automotive transport [6]. The vibrations experienced during vehicle ride may cause a variety of pathological symptoms arising in people. The adverse health effects may also include reduced motion control, blurred vision, or impairment of the ability of free communication, memory processes, or perception [6]. The paper covers the impact of vertical vibrations on a baby riding in a safety seat in a car, with addressing in particular the dangers caused by mechanical vibrations to children in transport facilities. Two options were considered, with the safety seat being installed on either the front or rear car seat. Experimental road tests were carried out with using a dummy representing the baby. The lack of research work on this issue has been emphasised. For the sake of maximum safety, babies should be transported in safety seats. The type approval tests of child safety seats are chiefly focused on the evaluation of protection from harmful collision effects, according to UN ECE Regulation No. 44 [S13]. Regrettably, they do not include tests to determine the influence of vibrations, especially those occurring during “normal” ride, on the child’s body.
EN
In this work, three types of vehicle suspensions were considered and modeled as follows: oil damper mounted in parallel with a compression helical spring, for which a Kelvin-Voigt model, consisted of a dashpot and an elastic element connected in parallel is considered; colloidal damper without attached compression helical spring, for which a Maxwell model, consisted of a dashpot and an elastic element connected in series is considered; and colloidal damper mounted in parallel with a compression helical spring, for which a standard linear model, consisted of a Maxwell unit connected in parallel with an elastic element is considered. Firstly, the vibration transmissibility from the rough road to the vehicle's body for all these suspensions was determined under the constraint that damping varies versus the excitation frequency. Then, the optimal damping and stiffness ratios were decided in order to minimize the transmissibility of vibration from the rough pavement to the vehicle's body.
EN
The problem of control by a semi-active suspension for increase a ride comfort of a vehicle is considered. On an example of multidimensional mathematical model of the bus, an efficiency of a semi-active suspension with controllable shock absorbers and pneumatic springs is analyzed. Results of computer simulation of movement of the bus with a semi-active suspension on road with a stochastic profile are presented. Calculations have been executed in the program of modelling of dynamics of systems solid and elastic bodies - FRUND. As conclusions it is possible to notice that the semiactive suspension with controlled under offered laws elastic and damper elements allows to depress considerably dynamic ability to loading spring vehicle parts, thereby, raising its stroke ride comfort, without deterioration of parameters influencing stability and movement roadability. Results of numerical experiment and offered laws of controlling can form a basis for creation structurally concerning simple semiactive suspension systems a not demanding for work of a significant amount of power. The semiactive suspension with controlled under offered laws elastic and damper elements allows depressing considerably dynamic ability to loading spring vehicle parts, thereby, raising its stroke ride comfort, without deterioration of parameters influencing stability and movement roadability.
EN
The article is devoted to research of a vehicle ride comfort, equipped the suspension system with combined control of springing and damping elements. The spatial mathematical model of a vehicle which meets the requirements of adequacy to real object was developed. The results of the computer simulation of movement of the vehicle with controllable and passive suspension systems on stochastic microprofile are presented. It can be concluded that the spatial multi-mass model is satisfactory close to a real object and can be used for further calculations. Having analyzed simulation results we can state significant increase of ride comfort of a vehicle equipped with a controlled suspension system. Decrease of vertical acceleration of a cabin in a place where a driver sits amounted to 40% in average that can be considered as a limit value for this type of controlled suspension systems. It can be noted that a suspension system with combined control of springing and damping elements can be considered as rather effective in terms of decreasing load of vehicle spring-mounted parts that along with low power consumption makes it rather competitive. The shown research results and control laws for springing and damping elements can be used as a basis for development of relatively simple controlled suspension systems.
EN
This paper presents the design of a neural network based feedback linearization (NNFBL) controller for a two degree-offreedom (DOF), quarter-car, servo-hydraulic vehicle suspension system. The main objective of the direct adaptive NNFBL controller is to improve the system's ride comfort and handling quality. A feedforward, multi-layer perceptron (MLP) neural network (NN) model that is well suited for control by discrete input-output linearization (NNIOL) is developed using input-output data sets obtained from mathematical model simulation. The NN model is trained using the Levenberg- Marquardt optimization algorithm. The proposed controller is compared with a constant-gain PID controller (based on the Ziegler-Nichols tuning method) during suspension travel setpoint tracking in the presence of deterministic road disturbance. Simulation results demonstrate the superior performance of the proposed direct adaptive NNFBL controller over the generic PID controller in rejecting the deterministic road disturbance. This superior performance is achieved at a much lower control cost within the stipulated constraints.
PL
W niniejszym artykule rozwiązano przykłady optymalizacji charakterystyk tłumienia pasywnego amortyzatora stosowanego w zawieszeniach kół samochodu. Rozważano drgania układu koło-nadwozie wymuszane przejazdem po pojedynczych nierównościach drogi typu garb i dołek. Sformułowano tzw. ćwiartkowy, nieliniowy model przedniej osi samochodu VW Passat. Jako zmienne decyzyjne zdefiniowano sześć niezależnych parametrów funkcjonalnego modelu opisującego charakterystyki tłumienia amortyzatora. Jako kryteria optymalizacji zdefiniowano wskaźniki dotyczące komfortu drganiowego i bezpieczeństwa czynnego. Zadanie polioptymalizacji z ograniczeniami rozwiązywano, stosując algorytm genetyczny. Wśród otrzymanych rozwiązań Pareto-optmalnych projektant ma możliwość wyboru najlepszego rozwiązania w zależności od swoich preferencji.
EN
Optimization of damping characteristics of a passive shock absorber in car wheel suspension is solved in the paper. Vibrations of the wheel-car body system due to passing over a single road unevenness, like bump and pothole, are considered. Nonlinear quarter model of a front axis of VW Passat is formulated. Six independent parameters of the damping characteristics are chosen as design variables. Criteria of ride comfort and car active safety are defined as a vector goal function. Constrained multi-criteria problem is solved by using genetic algorithm. Obtained Pareto-optimal solutions enable to choose the best one according to the designer preferences.
PL
W pracy przedstawiono analizę komfortu jazdy pojazdu szynowego na podstawie wyników symulacji numerycznych dla modelu wagonu pasażerskiego poruszającego po torze prostym i sztywnym o losowych nierównościach geometrycznych. Wyznaczono poprzeczne i pionowe przyspieszenia skuteczne w pasmach tercjowych oraz odpowiadające im przyspieszenia ważone dla różnych położeń pasażera i dwu odcinków toru o różnym stanie utrzymania oraz różnych prędkości jazdy. Otrzymane przyspieszenia porównano z wartościami granicznymi określonymi w normach ISO 2631-1 i PN-91/S-04100.
EN
The paper presents the analysis of ride comfort of a railway vehicle based on the results of numerical simulations for a model of a passenger car moving along a tangent track with random geometric irregularities. The lateral and vertical rms accelerations in 1/3 octave frequency bands as well as the weighted rms accelerations are calculated at several positions within the car body for two track sections with different track condition and for various vehicle velocities. The obtained accelerations are compared with the comfort and decreased fatigue boundaries according to the ISO 2631-1 and PN-91/S-04100 standards.
EN
The paper presents the analysis of ride comfort of a railway vehicle based on the results of numerical simulations for a model of a passenger car moving along a tangent track with random geometrie irregularities. The lateral and vertical rms accelerations in 1/3 octave frequency bands as wen as the weighted rms accelerations are calculated at several positions within the car body for two track sections with different track condition and for various vehicle velocities. The obtained accelerations are compared with the comfort and decreased fatigue boundaries according to the ISO 2631-1 and PN-91/S-04100 standards.
PL
W pracy przedstawiono analizę komfortu jazdy pasażera pojazdu szynowego na podstawie wyników symulacji numerycznych dla modelu wagonu pasażerskiego poruszającego po torze prostym i sztywnym o losowych nierównościach geometrycznych. Wyznaczono poprzeczne i pionowe przyspieszenia skuteczne w pasmach tercjowych oraz odpowiadające im przyspieszenia ważone dla różnych położeń pasażera wewnątrz nadwozia pojazdu. Badania przeprowadzono dla dwóch odcinków toru o różnym stanie utrzymania oraz dla różnych prędkości jazdy. Otrzymane przyspieszenia porównano z wartościami granicznymi określonymi w normach ISO 2631-1 i PN-91/S-04100.
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