Diapositiva 1

1
19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
HIL Simulation of WSP Systems on MI-6 Test rig

• L.PUGI1
• M.MALVEZZI1
• A.TARASCONI1
• A.PALAZZOLO1
• G.COCCI2
• M.VIOLANI2

Dip. Energetica Sergio Stecco
TRENITALIA SPA
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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
Summary

• Introduction to MI-6 test rig for WSP System

• Wheel-Rail Adhesion Models

• Proposed Model and Simulation Results

Dip. Energetica Sergio Stecco
TRENITALIA SPA
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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
Universal Platform for HIL Testing of SAFETY
RELEVANT Railway Subsystems

• MI-6 Test Rig

• Adhesion Models

Other

• Models and Results

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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
Enviromental conditions reproduced by signal
generators and actuators
Enviromental Condition artificially evaluated
according numerical predictions of a real time
model
Real TimeModel

• MI-6 Test Rig

Response of the tested device

• Adhesion Models

HIL Cycle Process
Tested device for example odometry or WSP board

• Models and Results

Testeddevice
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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
SIMULATION MODEL

• MI-6 Test Rig

• Adhesion Models

• Models and Results

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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005

• MI-6 Test Rig

• Adhesion Models

• Models and Results

BRAKE PLANT
P
WSP VALVES
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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005

• MI-6 Test Rig

• Adhesion Models

• Models and Results

• Wheel Speed Simulation
• Max 6 simulated axles
• Customizable sensor interface
• Good dinamical response ( max acc.50/60 rad/s-2 )
• Max Simulated Speed 360-500kmh (according wheel
  diameter)

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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005

• MI-6 Test Rig

• Adhesion Models

• Models and Results

• Max Speed 50-60 m/s (180-220 kmh)
• Max Acceleration /-3m/s2
• Wide reflective surface (2x1 meters)
• Reliability
• Customizable reflective properties

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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005

• MI-6 Test Rig

• Adhesion Models

• Models and Results

10
19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005

• MI-6 Test Rig

• Adhesion Models

• Models and Results

• Homologation test of WSP according fiche UIC
  541-05
• 6 brake cylinders with variable run and
  mechanical impedance
• Pressure regulation and pneumatic impedance
  simulation using pressure relays
• UIC distributor simulated with pressure
  controlled proportional valve
• Plant completely monitored

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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005

• MI-6 Test Rig

• Adhesion Models

• Models and Results

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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005

• MI-6 Test Rig

• Adhesion Models

• Models and Results

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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
Simulation Model

• MI-6 Test Rig

• Adhesion Models

• Models and Results

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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005

• MI-6 Test Rig

ModelloVeicolo

• Adhesion Models

• Models and Results

TAILOREDMODELS
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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
Vehicle Model

• MI-6 Test Rig

• Adhesion Models

• 11-13 dof, Bidimensional model variable
  according Simulated vehicle wheelset and
  suspension system
• Trailers resistances and braking plant response

• Models and Results

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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
Vehicle On Board SubSystem

• MI-6 Test Rig

• WSP model including control logic and response of
  the pneumatic valves
• Traction control including control criterion and
  typical response delay.
• Electric braking and WSP for the electric brake
  are modeled as parts of the traction control

• Adhesion Models

• Models and Results

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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
Line model

• MI-6 Test Rig

• Adhesion Models

• Altimetric profile of the line
• Wheel rail adhesion distribution along the line
• Max allowed speed on the line

• Models and Results

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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
Wheel-Rail interaction

• MI-6 Test Rig

• Adhesion Models

• Models and Results

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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
Wheel-Rail interaction

• MI-6 Test Rig

• Adhesion Models

• Models and Results

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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
Artificially degraded adhesion (Velim Spring
2004) for WSP Tests (UIC 541-05)

• MI-6 Test Rig

• Adhesion Models

• Models and Results

Adhesion degrader solution on rail (cleonsol)
Adhesion degrader solution pipe (first axle)
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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
Artificially degraded adhesion (Velim Spring
2004) for WSP Tests (UIC 541-05)

• MI-6 Test Rig

Very Low Adhesion Levels(flt0.08)
Presence of contaminants(water-cleonsol)
High slidings (near to locking condition)

• Adhesion Models

Heavy dissipated power (50-100kW on 1cm2
surface)

• Models and Results

Traditional models for Tangential
forcescalculation FAILS
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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
Experimental Studies(State of the Art)

• MI-6 Test Rig

Direct approach (SNCF Studies)
Indirect approach (DB Studies)
Sliding is actively controlled by changing the
clamping force.
A braking force path is reproduced and axle
locking and release is observed.

• Adhesion Models

• Models and Results

M. Boiteux, M. Cadier, J. Kling, W. Kunnes,
"Aderérence en freinage et anti-enrayeurs",
Document Technique DT257 (ISO RE B164), Office de
Recherches et d'Essays de L'Union Internationale
des Chemins de Fer, July 1992.
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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
Direct approach (SNCF Studies)
Indirect approach (DB Studies)

• MI-6 Test Rig

• Adhesion Models

Hysteresis
Common resultsFamilies of experimental adhesion
curves(speed, load, energy, mean adhesion
value,etc)

• Models and Results

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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
DE-TRENITALIA HEURISTIC MODELMAIN FEATURES

• Adhesion curves as functions of slidings
• Different adhesion curves for locking and
  release phases (Hysteresis)
• Adhesion noise with controlled space sampling
• Custom time and space filtering of adhesion
  factor
• Dissipated energy calculated in real time affect
  theshape of adhesion curves
• Adhesion improved according axle position

• MI-6 Test Rig

• Adhesion Models

• Model and Results

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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005

• MI-6 Test Rig

• Adhesion Models

• Models and Results

Example of adhesion pattern
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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
Model Calibration and Validation

• Experimental and Calculated speed profilesare
  compared.
• Vehicle and WSP features (including
  internalcalibration) must be completelyknown
  since both influence shape of speed profiles.

• MI-6 Test Rig

• Adhesion Models

• Models and Results

A reduced set of WSP experimental tests fromhuge
Trenitalia archives are chosenas benchmark
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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
Model Calibration and ValidationCriteria

• MI-6 Test Rig

• Error on stopping time
• Error on stopping distance
• Statististical distribution of slidings
  amplitudes
• Speed profile shape (still looking for the
  rightmath/statistic operator).

• Adhesion Models

• Models and Results

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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
Model Calibration and Validation

• MI-6 Test Rig

• Adhesion Models

Real
Simulated

• Models and Results

Time Hystory cant be reproduced however shape
of speed profiles are quite similar
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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
Model Calibration and Validation

• MI-6 Test Rig

• Adhesion Models

• Models and Results

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19 IAVSD Symposium The Dynamics of Vehicles on
Roads and Tracks Milano, Italy 28 August 2
September 2005
Conclusions

• MI-6 Multipurpose HIL test rig has been developed
• Heuristic Wheel Rail Adhesion Model has been
  arranged for Real Time Applications.
• The rig has been succesfully used for testing and
  development of SCMT (italian ATP/ATC system)
  odometry subsystem (2003-2004).
• From october 2004 (WSP extension of the rig)
  several WSP system and sub components have been
  successfully developed.
• Authors are working to further extension of rig
  capalities and improvements of the simulation
  software.

• MI-6 Test Rig

• Adhesion Models

• Models and Results