A railway vehicle multibody model for real-time applications

Hardware in the loop (HIL) techniques are widely used for fast prototyping of control systems, electronic and mechatronic devices. In the railway field, several mechatronic on board subsystems are often tested and calibrated following the HIL approach. The accuracy of HIL tests depends on how the simulated virtual environment approximates the physical conditions. As the computational power available on real-time hardware grows, the demand for more complex and realistic models of railway vehicles for real-time application increases. In past research activities, the authors worked on the implementation of simplified real-time models for several applications and in particular for an HIL test rig devoted to the type approval of wheel slide protection systems. The activity has then been focused on the development of a three-dimensional model of the dynamics of a railway vehicle for more complex applications. The paper summarises the features and the results of the study.

[1]  Monica Malvezzi,et al.  A Multipurpose Platform for HIL Testing of Safe Relevant Railway Subsystem , 2005, AIM 2005.

[2]  Simon Iwnicki.  The Manchester Benchmarks for rail simulators - an introduction , 1998 .

[3]  Monica Malvezzi,et al.  HIL simulation of WSP systems on MI-6 test rig , 2006 .

[4]  Simon Iwnicki,et al.  The Manchester Benchmarks for Rail Vehicle Simulation , 1998 .

[5]  Ahmed A. Shabana,et al.  A Technique for Validating a Multibody Wheel/Rail Contact Algorithm , 2003 .

[6]  Wolfgang Rulka,et al.  MBS Approach to Generate Equations of Motions for HiL-Simulations in Vehicle Dynamics , 2005 .

[7]  Tamara G. Kolda,et al.  Optimization by Direct Search: New Perspectives on Some Classical and Modern Methods , 2003, SIAM Rev..

[8]  Ahmed A. Shabana,et al.  Development of elastic force model for wheel/rail contact problems , 2004 .

[9]  Hiroyuki Sugiyama,et al.  On the Computer Formulations of the Wheel/Rail Contact Problem , 2005 .

[10]  K. Johnson,et al.  Contact of Nonspherical Elastic Bodies Transmitting Tangential Forces , 1964 .

[11]  Jorge Ambrósio,et al.  Dynamic analysis of a railway vehicle in real operation conditions using a new wheel-rail contact detection model , 2005 .

[12]  A. D. de Pater.  THE GEOMETRICAL CONTACT BETWEEN TRACK AND WHEELSET , 1988 .

[13]  DIFFERENTIAL GEOMETRY OF CURVES AND SURFACES 5. The Second Fundamental Form of a Surface , 2009 .

[14]  Manfredo P. do Carmo,et al.  Differential geometry of curves and surfaces , 1976 .

[15]  K. L. Johnson,et al.  Wheel-rail dynamics with closely conformal contact Part 1: Dynamic modelling and stability analysis , 1997 .

[16]  Luis Baeza,et al.  Railway Train-Track Dynamics for Wheelflats with Improved Contact Models , 2006 .

[17]  Ahmed A. Shabana,et al.  Numerical Procedure for the Simulation of Wheel/Rail Contact Dynamics , 2001 .

[18]  Jerzy Piotrowski,et al.  Wheel–rail contact models for vehicle system dynamics including multi-point contact , 2005 .

[19]  J. Barbera,et al.  Contact mechanics , 1999 .

[20]  Sung-Soo Kim,et al.  Subsystem synthesis method with approximate function approach for a real-time multibody vehicle model , 2007 .

[21]  Rao V. Dukkipati,et al.  Computer-aided Simulation in Railway Dynamics , 1987 .

[22]  Jeffrey C. Lagarias,et al.  Convergence Properties of the Nelder-Mead Simplex Method in Low Dimensions , 1998, SIAM J. Optim..

[23]  K. Johnson,et al.  Three-Dimensional Elastic Bodies in Rolling Contact , 1990 .