Rail Vehicle Mechatronics (Hardcover, 1)

1 Introduction to Mechatronics 1.1 Historical review 1.2 Theoretical aspects for the application of mechatronic system 1.2.1 Stability and curving 1.2.3 Ride comfort 1.3 Structure of the book 2 Modelling 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 2.4 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 2.5 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 and 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 3 Modelling 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 3.2 Traction Power Supplies 3.2.1 Alternators and generators 3.2.2 Rectifiers 3.2.3 Energy Storage 3.2.4 Dynamic braking energy management 3.3 Traction Motors and Power Electronics 3.3.1 DC Motors 3.3.2 Induction machines 3.3.3 Synchronous 3.3.4 Brushless DC 3.3.5 Slip control 4 Control Systems 4.1 Introduction 4.2 Open-loop and closed-loop control systems 4.3 Classical control 4.4.1 Closed-loop transfer function 4.4.2 PID feedback control 4.4 Modern control approach 4.4.1 State space representation 4.4.2 Pole placement 4.4.3. Observer design technique 4.4.4 Optimal control 4.5 Non-classical control methods 4.5.1 Fuzzy control 4.5.2 Neural network-based control 5 Actuators 5.1 Introduction 5.2 Electro-mechanical actuators 5.2.1 Direct current (DC) motors 5.2.2 Alternating current (AC) motors 5.2.3 Mechanical 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 Modelling Control Valves 5.3.7 Closed Loop Controls 5.3.8 Dynamic Performance Modelling of Actuator Systems 5.3.9 Applications 5.3.10 Overall Summary 5.4 Pneumatic Actuators 5.4.1 Pneumatic Power Systems 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 5.4.8 Overall Summary 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 (LVDT) 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 7 Modelling of Complex System 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 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 7.6.2 Co-simulation for an advanced longitudinal train dynamics study 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 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 Type 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 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 11 Mechatronic suspensions 11.1 Introduction 11.2 Active primary suspensions 11.2.1 Active primary suspension functions 11.2.2 Active primary suspension configurations 11.2.3 Control strategies for active primary suspensions 11.3 Active and semi-active secondary suspensions 11.3.1 Active and semi-active secondary suspension functions 11.3.2 Configurations and hardware 11.3.3 Control strategies for active and semi-active secondary suspensions 11.4 Car body tilting systems 11.5 Active suspensions for non-conventional vehicle architectures 12 Real-time systems 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 multibody 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 multibody model 13 System Integration 13.1 Interpretation of system integration 13.2 Interdisciplinary approach for design and evaluation processes 13.3 Systems integration activities 13.4 Rail vehicle specific standards and guidelines 14 Practical examples and studies 14.1 Case A ? Simplified models of railway vehicle lateral dynamics for suspension control studies 14.1.1 The 2-DOFs wheelset model 14.1.2 The 6-DOFs bogie model 14.2 Case B ? Modelling 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 - Modelling of a heavy haul diesel-electric locomotive traction power system 14.3.1 Modelling concept 14.3.2 Implementation in Simulink 14.3.3 Simulation scenarios and results 14.4 Case D - Modelling of a hybrid locomotive 14.4.1 Locomotive design modification 14.4.2 Modelling of ESS traction system for the hybrid locomotive 14.4.3 Implementation in Simulink 14.4.4 Simulation scenarios and results