System Dynamics and Long-Term Behaviour of Railway Vehicles, Track and Subgrade

by Karl Popp; ?Werner Schiehlen

ISBN13: 9783540454762

ISBN10: 3540454764

Format: Nonspecific Binding

Pub. Date: 2013-06-06

Publisher(s): Springer Nature

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Summary

During the last decades completely new technologies for high speed railway vehicles have been developed. The primary goals have been to increase traction, axle load, and travelling speed, and to guarantee the safety of the passengers. However, new developments have revealed new limitations: settlement and destruction of the ballast and the subgrade lead to deterioration of the track; irregular wear of the wheels causes an increase in overall load and deterioration in passenger comfort; and damage of the running surfaces of the rail and the wheel is becoming more frequent. These problems have been investigated in the Priority Programme SPP 1015 supported by the Deutsche Forschungsgemeinschaft (DFG), with the goal of better understanding of the dynamic interaction of vehicle and track, and the long-term behavior of the components of the system. The book contains the scientific results of the programme as presented at the concluding colloquium held at University of Stuttgart, Germany, 2002.

The DFG Priority Programme `System Dynamics and Long-Term Behaviour of Vehicle, Track and Subgrade'	p. 1
Introduction	p. 1
Where did we start from?	p. 2
Preliminary Comments	p. 2
Limits of the Wheel/Rail System (1975-1985)	p. 2
New Problems (1985-1994)	p. 5
Explanation and Counter-Measures	p. 6
What has been achieved?	p. 7
The Project Idea of the DFG Priority Programme	p. 7
About Structure and Management of the DFG Priority Programme	p. 9
What has been achieved?	p. 10
What still needs to be done?	p. 12
References	p. 13
INVITED LECTURES	p. 15
Vehicle/Track Interaction Optimisation within Spoornet	p. 17
Introduction	p. 17
Wagon Bogie Development	p. 17
Developments on the Heavy Haul Export Lines	p. 20
Iron Ore Export Line	p. 21
Coal Export Line	p. 23
Wheel Profile Development	p. 24
Measurement and Monitoring	p. 26
Wheel Profiles	p. 27
Sinusoidal Gauge Corner Wear	p. 27
Pummeling	p. 27
Flat Wheel Detection	p. 28
Lateral Wheel/Rail Forces	p. 30
Differential Track Settlement	p. 30
Future Projects	p. 31
Conclusion	p. 32
References	p. 32
Active Suspension Technology and its Effect upon Vehicle-Track Interaction	p. 35
Introduction	p. 35
Active Railway Suspension Principles	p. 35
The Basics of Wheelset Control	p. 38
Ideal Curving	p. 38
Control Strategies	p. 41
Solid-Axle vs. IRW Wheelsets	p. 43
Performance of Active-Steered Rail Vehicles	p. 43
Research Challenges	p. 45
Impact of Active Suspensions	p. 46
Benefits of Active Wheelset Control	p. 46
Vehicle-Track Cost Tradeoff	p. 48
Conclusions	p. 49
References	p. 49
Rolling-Contact-Fatigue and Wear of Rails: Economic and Tech-nical Aspects	p. 51
Introduction	p. 51
Our Environment	p. 52
Rolling-Contact-Fatigue (RCF)	p. 52
Wear	p. 56
The Wear - Crack-Length - Diagramm	p. 57
Fields of Research and the Link to the System Costs	p. 59
The Chain from Research to the Customer	p. 61
References	p. 61
VEHICLE DYNAMICS	p. 63
System Dynamics of Railcars with Radial- and Lateralelastic Wheels	p. 65
Motivation	p. 65
Flexible Multibody Systems	p. 66
Kinematics and Kinetics	p. 67
Dynamic Stresses	p. 67
Stability of Motion	p. 68
Optimization and Parallel Computing	p. 69
Excitation of Wheelsets	p. 70
Strength of Conventional Wheelsets	p. 72
Speeds with Resonance Phenomena	p. 74
Dynamic Stresses of Wheelset	p. 74
Feasibility of Radial- and Lateralelastic Wheels	p. 75
Vertical Dynamics	p. 77
Stability of Motion	p. 79
Summary	p. 82
References	p. 83
Distributed Numerical Calculations of Wear in the Wheel-Rail Contact	p. 85
Introduction	p. 85
Components	p. 87
Nonlinear Dynamics	p. 87
Rolling Contact and Dry Friction	p. 87
Geometry	p. 88
Wear Laws	p. 90
Models	p. 91
Numerics	p. 92
Discretization	p. 93
Distributed Calculations	p. 94
Testing the Speed Function	p. 95
Results	p. 96
Randomized Control	p. 98
Conclusions	p. 98
Acknowledgements	p. 99
References	p. 99
Modeling and Simulation of the Mid-Frequency Behaviour of an Elastic Bogie	p. 101
Introduction	p. 101
Modeling	p. 102
Modeling of the Vehicle	p. 102
Finite Element Model of the Wheelset	p. 105
Modeling of the Contact	p. 106
Modeling of the Track	p. 108
Simulation Results	p. 109
Frequency Response of the Vehicle	p. 109
Stationary Behaviour of the Vehicle-Track System	p. 112
Limit Cycle Behaviour of the Vehicle-Track System	p. 114
Transient Behaviour of the Vehicle-Track System	p. 116
Conclusion	p. 118
References	p. 120
Wavy Wear Pattern on the Tread of Railway Wheels	p. 121
Introduction	p. 121
The Common View of the Evolution of Wavy Wear Pattern	p. 122
Shape of Wheel Surface	p. 123
Fast-Time Dynamics	p. 124
Vehicle-Track Model	p. 124
Contact Conditions	p. 125
Fast-Time Equations	p. 126
Slow-Time Behaviour	p. 126
Evolution of the Coefficients of the Wavy Wear Pattern	p. 128
Numerical Results	p. 130
Conclusions and Outlook	p. 131
References	p. 132
Rotor Dynamics and Irregular Wear of Elastic Wheelsets	p. 133
Motivation	p. 133
Flexible Multibody Systems	p. 133
Kinematics and Dynamics	p. 134
Procedure of a Dynamic Analysis for a Flexible System	p. 136
Modeling of Rotating Wheelsets	p. 136
FE-Model of the Wheelset	p. 137
Modal Analysis and Selection of the Elastic Coordinates	p. 138
Consideration of Static and Dynamic Unbalances	p. 140
Wheel-Rail Contact Module	p. 141
Modular Organization of the Contact Module	p. 142
Varying Wheel Radii During Time Integration	p. 143
Long-Term Wear Model	p. 143
Wear Hypothesis and Model for the Mass Loss	p. 144
Feedback of Worn Profiles in the Sense of Long-Term Wear	p. 146
System and Wear Behaviour of Elastic Wheelsets	p. 147
Eigenbehaviour of the Wheelset	p. 147
Wear Development due to Initial Out-Of-Roundness	p. 148
Wear Development due to Unbalances	p. 149
Summary	p. 151
References	p. 151
CONTACT, FRICTION, WEAR	p. 153
On the Numerical Analysis of the Wheel-Rail System in Rolling Contact	p. 155
Introduction	p. 155
The Arbitrary LAGRANGian-EtJLERian Approach for Rolling Contact	p. 157
Equations of Motion	p. 159
Description of Contact	p. 160
The Normal Contact Problem	p. 160
The Tangential Contact Problem for Rolling Contact	p. 162
Kinematical Description of the Contact	p. 164
The Finite Element Formulation (FEM)	p. 165
Numerical Analysis of Transient Rolling Contact	p. 166
Fundamentals for Transient Rolling	p. 166
Classification of Irregularities and Mechanisms of Excitation	p. 167
Transient Formulation of the Contact Conditions	p. 168
Numerical Results	p. 169
Conclusion and Outlook	p. 173
References	p. 173
Experimental Analysis of the Cyclic Deformation and Damage Behavior of Characteristic Wheel and Rail Steels	p. 175
Scope of the Project	p. 175
TEM Investigations of the Microstructure of a Cyclic Loaded Rail Steel	p. 177
Materials and Testing Specimens	p. 177
Results	p. 177
Discussion	p. 179
Conclusions	p. 182
Deformation and Lifetime Behavior of a Cyclic Loaded Wheel Steel	p. 182
Material and Testing Specimens	p. 182
Experimental Details	p. 183
Results and Discussion	p. 185
Conclusions	p. 188
References	p. 189
Friction and Wear of Tractive Rolling Contacts	p. 191
Tasks and Objektives	p. 191
Two Roller Model	p. 192
Calculation of Friction	p. 192
Traction-to-Creep-Behaviour	p. 192
Description of the Tribotechnical System	p. 193
Contact Parameters under Tribological Loading	p. 194
Deformation Component of Friction Force	p. 197
Adhesion Components of Friction Force	p. 199
Friction Coefficient	p. 200
Test Machine and Test Rollers	p. 200
Test Machine Design	p. 200
Test Rollers	p. 200
Results	p. 201
Comparsion Between Theoretical and Experimental Traction Coefficients	p. 201
Experimental Friction and Wear Data	p. 202
Comparison Between Wear Occurring in Original Rails and Test Rollers	p. 207
Summary	p. 208
References	p. 209
Model-Based Validation within the Rail-Wheel-Subgrade Mod-eling	p. 211
Motivation	p. 211
The Rail-Wheel Contact	p. 213
The Proportional-Integral-Observer	p. 214
History of Disturbance Estimation	p. 214
Estimation Behavior	p. 217
Known System without External Inputs	p. 218
Known Systems with Constant External Inputs	p. 219
Known Systems with Arbitrary External Inputs	p. 220
Modeling and Simulation	p. 221
Simulation Results	p. 223
Concluding Remarks and Future Aspects	p. 225
References	p. 227
TRACK DYNAMICS	p. 229
Monitoring the Dynamics of Railway Tracks by Means of the Karhunen-Loève-Transformation	p. 231
Introduction	p. 231
Dynamic System	p. 232
Measurements	p. 235
Karhunen-Loève Transformation	p. 237
Small Scale Experiment	p. 239
Evaluation of Full Scale Measurements	p. 242
Evaluation of the Results and Outlook	p. 245
Conclusion	p. 245
Acknowledgment	p. 246
References	p. 246
Combined Modelling of Discretely Supported Track Modelsand Subgrade Models - Vertical and Lateral Dynamics	p. 247
Introduction	p. 247
Frequency Domain Model for Vertical and Lateral Dynamics	p. 248
Fast Time Domain Model for Vertical Dynamics	p. 257
General Time Domain Model for Vertical Dynamics	p. 259
Conclusions	p. 263
References	p. 264
Measurement and Modelling of Resilient Rubber Rail-Pads	p. 265
Introduction	p. 265
General Concept	p. 267
Quasi-Static Experiments	p. 268
Low Frequency Measurements	p. 269
High Frequency Experiments	p. 271
Interpretation of Measurement Results	p. 272
Frequency Domain Model of Rail-Pads	p. 273
Concluding Remarks	p. 273
References	p. 274
Model-Based Investigation of the Dynamic Behaviour of Rail-way Ballast	p. 275
Introduction	p. 275
Railway Ballast in Conventional Track Models	p. 276
The Software Package Train Track Interaction (TTI)	p. 277
Molecular Dynamics Method	p. 279
Application to Railway Ballast	p. 280
Model Geometry	p. 281
Contact Forces	p. 281
Input and Output Data	p. 283
Simulation Steps	p. 284
Simulation Results	p. 285
Plausibility and Robustness Tests	p. 285
Short-Time Dynamics	p. 289
Long-Term Behaviour	p. 291
Concluding Remarks	p. 292
References	p. 294
The Dynamics of Railway Track and Subgrade with Respect to Deteriorated Sleeper Support	p. 295
Introduction	p. 295
Experimental Set-Up	p. 296
Scope of Experimental Investigations	p. 298
Identification of the Concrete Sleeper B70W60	p. 299
Sleeper with Free - Free Boundary Conditions	p. 299
Ideal Contact Between Sleeper and Subsoil	p. 300
Partially Unsupported Sleepers due to Voids	p. 302
Structural Dynamics of a Track Segment	p. 304
Comparison Between Laboratory and In-Situ Experiments	p. 309
Comparison Between Experimental and Numerical Investigations	p. 310
Conclusions and Outlook	p. 312
Acknowledgement	p. 313
References	p. 313
SUBGRADE DYNAMICS	p. 315
Numerical Model and Laboratory Tests on Settlement of Bal-last Track	p. 317
Questions	p. 317
Irregular Settlements of Model Railway Tracks	p. 317
Model Circular Track	p. 317
Ballast Loading Test	p. 321
Summary of Model Tests	p. 321
Long Term Behaviour of Railroad Ballast in Laboratory Tests andNumerical Simulation	p. 323
Cyclic Element Tests	p. 323
Numerical Simulation of Cyclic Element Tests	p. 326
A Numerical Track-Train Model	p. 329
The Model of the Track	p. 329
Troughs as Reasons of Additional Permanent Deformation	p. 331
Simulation Results	p. 332
References	p. 335
Track Settlement Due to Cyclic Loading with Low Minimum Pressure and Vibrations	p. 337
Introduction	p. 337
Loading Conditions in the Track	p. 338
Minimum Load During Cyclic Loading	p. 338
Vibrations and Impacts	p. 338
Experimental Research and Findings	p. 340
First Tests with a Large Track System	p. 340
Simplified Tests - Minimum Load During Cyclic Loading	p. 343
Simplified Tests Dynamic Excitation	p. 346
Summary and Outlook	p. 354
References	p. 355
Simulation of the Dynamic Behavior of Bedding-Foundation-Soil in the Time Domain	p. 357
Introduction	p. 357
Computational Model	p. 360
Finite Element Method	p. 360
Boundary Element Method	p. 361
Coupling Strategy	p. 363
Computational Aspects	p. 364
Numerical Examples	p. 365
Two-Dimensional Systems	p. 365
Three-Dimensional Systems	p. 371
Conclusion	p. 373
References	p. 374
Dynamic Behavior of Railway Track Systems Analyzed in Frequency Domain	p. 377
Introduction	p. 377
Analysis Procedure	p. 378
Boundary Element Method (BEM)	p. 378
Finite Element Method (FEM)	p. 379
Coupling of BEM and FEM	p. 380
Numerical Results	p. 382
Model Size	p. 382
Influence of Different Track Geometry	p. 383
Moving Load	p. 386
Summary and Conclusion	p. 391
References	p. 392
Experimental and Numerical Investigations on the Track Stability	p. 395
Introduction and Motivation	p. 395
Problem	p. 396
Solving Method	p. 396
Model Scale Tests	p. 399
Transfer of the Results on a Prototype	p. 404
Numeric Simulation	p. 405
Possible Application of the Research Results to the Praxis	p. 409
Summary	p. 409
Outlook	p. 410
References	p. 410
Experimental Investigation and Numerical Modelling of Soils and Ballast under Cyclic and Dynamic Loading	p. 411
Introduction	p. 411
Saturated Cohesive Soils	p. 412
General	p. 412
Quasi-Static Model	p. 412
Verification of Numerical Model	p. 415
Cyclic Triaxial Tests on a Saturated Cohesive Soil	p. 416
Granular Soils and Ballast	p. 418
Experimental Investigation and Derivation of a Cyclic-Viscoplastic Constitutive Approach	p. 418
Numerical Implementation	p. 423
Modelling Examples	p. 427
Outlook and Future Objectives	p. 430
References	p. 430
3D-Simulation of Dynamic Interaction Between Track and Layered Subground	p. 431
Introduction	p. 431
Substructure Method	p. 432
Structures on the Surface	p. 433
Analysis in Frequency Domain	p. 433
Analysis in Time Domain	p. 439
Embedded Structures Analysis in Frequency Domain	p. 444
Outlook	p. 448
Acknowledgement	p. 448
References	p. 448
Rigid Body Dynamics of Railway Ballast	p. 451
Introduction	p. 451
Molecular Dynamics Fails for the Simulation of Railway Ballast	p. 452
Rigid Body Dynamics	p. 454
Schedule of Rigid Body Simulations	p. 456
Mathematical Description	p. 457
Dantzig's Algorithm	p. 462
Collisions	p. 464
Resolution of Static Indeterminacy	p. 466
Step Size Control	p. 468
Conclusions	p. 469
References	p. 470
A Comparative Study of Results from Numerical Track-Subsoil Calculations	p. 471
Introduction	p. 471
Approach and Participants	p. 472
Calculated Systems	p. 472
System Data	p. 472
Ballasted Track	p. 473
Slab Track	p. 475
Calculating Procedure	p. 475
Results	p. 477
Ballasted Track	p. 478
Slab Track	p. 485
Summary	p. 486
References	p. 487
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System Dynamics and Long-Term Behaviour of Railway Vehicles, Track and Subgrade

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