scholarly journals Application and Experimental Validation of a Multibody Model with Weakly Coupled Lateral and Vertical Dynamics to a Scaled Railway Vehicle

Sensors ◽  
2020 ◽  
Vol 20 (13) ◽  
pp. 3700 ◽  
Author(s):  
Pedro Urda ◽  
Sergio Muñoz ◽  
Javier F. Aceituno ◽  
José L. Escalona
Keyword(s):  
Experimental Validation ◽  
Multibody System ◽  
Contact Forces ◽  
Railway Vehicle ◽  
Lateral Dynamics ◽  
Multibody Model ◽  
Weakly Coupled ◽  
Multibody Dynamic ◽  
Angular Velocities ◽  
The University

In this paper, a multibody dynamic model of a railway vehicle that assumes that vertical and lateral dynamics are weakly coupled, has been experimentally validated using an instrumented scaled vehicle running on a 5-inch-wide experimental track. The proposed linearised model treats the vertical and lateral dynamics of the multibody system almost independently, being coupled exclusively by the suspension forces. Several experiments have been carried out at the scaled railroad facilities at the University of Seville in order to test and validate the simulation model under different working conditions. The scaled vehicle used in the experiments is a bogie instrumented with various sensors that register the accelerations and angular velocities of the vehicle, its forward velocity, its position along the track, and the wheel–rail contact forces in the front wheelset. The obtained results demonstrate how the proposed computational model correctly reproduces the dynamics of the real mechanical system in an efficient computational manner.

Magnetorheological Semi-Active Suspension to Improve High Speed Railway Vehicles Performance

2012 ◽  
Author(s):  
Dan Baiasu ◽  
Gheorghe Ghita ◽  
Ioan Sebesan
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Active Suspension ◽  
Railway Vehicle ◽  
Lateral Dynamics ◽  
Multibody Model ◽  
Logic Control ◽  
Secondary Suspension ◽  
Magneto Rheological ◽  
The Mathematical Model

The paper presents the opportunity of using a magneto-rheological damper to control the lateral oscillations of a passenger railway vehicle to increase its comfort and speed features. The lateral dynamics of the vehicle is simulated using a multibody model with 17 degrees of freedom considering the lateral, yawing and rolling oscillations. The equations describing the model are integrated by the authors using original software. The mathematical model considers the geometrical nonlinearities of the wheel-track contact. The nonlinear stability of the vehicle running on tangent tracks with irregularities is assessed and it is shown the influence of the construction parameters of the suspensions on the vehicle’s performance. A magneto-rheological device with sequential damping based on balance logic control strategy is introduced in the secondary suspension of the vehicle to reduce the lateral accelerations generated by the track’s irregularities. The system’s response in terms of accelerations is compared for both passive and semi-active cases. It is shown that the magneto-rheological semi-active suspension improves the safety and the comfort of the railway vehicle.

scholarly journals Multibody dynamic models in biomechanics: modelling issues and a new model

2012 ◽  
Vol 3 (2) ◽  
pp. 128-137
Author(s):  
G. Fekete ◽  
B. Csizmadia ◽  
P. De Baets ◽  
M.A. Wahab
Keyword(s):  
Knee Joint ◽  
Dynamic Models ◽  
Relevant Literature ◽  
Contact Forces ◽  
Interface Failure ◽  
Human Knee ◽  
Multibody Model ◽  
Human Knee Joint ◽  
Multibody Dynamic ◽  
Dynamics Models

In the surgical process of total knee replacement (TKR), it is well known that the three types of failureswhich are; a) unable to reproduce normal knee function, b) bone-implant interface failure c) wear duringuse. These failures are certainly due to the motion and the load that influence the prosthesis components.In this study, the modelling questions of the human knee joint will be discussed in relation only to themultibody dynamics models. Firstly, a summary is presented about the relevant literature, where themodels with their different features are presented and evaluated. The existing models are mainly focusedon the investigation of the ligaments (linear of non-linear properties), the description of the contact path,and contact forces during the motion, kinematics (rotation, abduction and adduction) and even the wearmechanism of the knee joint. The primal advantages of the multibody dynamics models are the easyadaptability in the mechanical parameters to carry out simulations and the connection with CAE programsthat helps the design of new prostheses. A new multibody model is also presented by the authors.

scholarly journals AN INVERSE DYNAMICS METHOD FOR RAILWAY VEHICLE SYSTEMS

Transport ◽  
2013 ◽  
Vol 29 (1) ◽  
pp. 107-114 ◽  
Author(s):  
Tao Zhu ◽  
Shoune Xiao ◽  
Guangwu Yang ◽  
Weihua Ma ◽  
Zhixin Zhang
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Inverse Dynamics ◽  
Time History ◽  
Inverse Model ◽  
Contact Forces ◽  
Railway Vehicle ◽  
Inverse Dynamic ◽  
Multibody Model ◽  
History Of

The wheel–rail action will obviously be increased during the vehicles in high-speed operation state. However, in many practical cases, direct measurement of the wheel–rail contact forces cannot be performed with traditional procedures and transducers. An inverse mathematical dynamic model for the estimation of wheel–rail contact forces from measured accelerations was developed. The inverse model is a non-iteration recurrence method to identify the time history of input excitation based on the dynamic programming equation. Furthermore, the method overcomes the weakness of large fluctuations which exist in current inverse techniques. Based on the inverse dynamic model, a high-speed vehicle multibody model with twenty-seven Degree of Freedoms (DOFs) is established. With the measured responses as input, the inverse vehicle model can not only identify the responses in other parts of vehicle, but also identify the vertical and lateral wheel–rail forces respectively. Results from the inverse model were compared with experiment data. In a more complex operating condition, the inverse model was also compared with results from simulations calculated by SIMPACK.

Multibody model of railway vehicles with weakly coupled vertical and lateral dynamics

2019 ◽  
Vol 115 ◽  
pp. 570-592 ◽  
Author(s):  
Sergio Muñoz ◽  
Javier F. Aceituno ◽  
Pedro Urda ◽  
José L. Escalona
Keyword(s):  
Railway Vehicles ◽  
Lateral Dynamics ◽  
Multibody Model ◽  
Weakly Coupled

scholarly journals Design and Calibration of a Force/Tactile Sensor for Dexterous Manipulation

Sensors ◽  
2019 ◽  
Vol 19 (4) ◽  
pp. 966 ◽  
Author(s):  
Marco Costanzo ◽  
Giuseppe De Maria ◽  
Ciro Natale ◽  
Salvatore Pirozzi
Keyword(s):  
Experimental Validation ◽  
Sensory System ◽  
Tactile Sensor ◽  
Contact Forces ◽  
Dexterous Manipulation ◽  
Soft Contact ◽  
Grasping Force ◽  
Sense Of Touch ◽  
Human Sense ◽  
Robotic Applications

This paper presents the design and calibration of a new force/tactile sensor for robotic applications. The sensor is suitably designed to provide the robotic grasping device with a sensory system mimicking the human sense of touch, namely, a device sensitive to contact forces, object slip and object geometry. This type of perception information is of paramount importance not only in dexterous manipulation but even in simple grasping tasks, especially when objects are fragile, such that only a minimum amount of grasping force can be applied to hold the object without damaging it. Moreover, sensing only forces and not moments can be very limiting to securely grasp an object when it is grasped far from its center of gravity. Therefore, the perception of torsional moments is a key requirement of the designed sensor. Furthermore, the sensor is also the mechanical interface between the gripper and the manipulated object, therefore its design should consider also the requirements for a correct holding of the object. The most relevant of such requirements is the necessity to hold a torsional moment, therefore a soft distributed contact is necessary. The presence of a soft contact poses a number of challenges in the calibration of the sensor, and that is another contribution of this work. Experimental validation is provided in real grasping tasks with two sensors mounted on an industrial gripper.

Multibody Dynamic Model of Web Guiding System With Moving Web

2010 ◽  
Vol 132 (5) ◽  
Author(s):  
Lei Yu ◽  
Zhihua Zhao ◽  
Gexue Ren
Keyword(s):  
Dynamic Model ◽  
Lateral Displacement ◽  
Dynamical Behavior ◽  
Contact Forces ◽  
Lagrangian Formulation ◽  
Pi Control ◽  
Control Law ◽  
Reference Surface ◽  
Multibody Dynamic ◽  
Guiding System

In this paper, a multibody dynamic model is established to simulate the dynamics and control of moving web with its guiding system, where the term moving web is used to describe thin materials, which are manufactured and processed in a continuous, flexible strip form. In contrast with available researches based on Eulerian description and beam assumption, webs are described by Lagrangian formulation with the absolute nodal coordinate formulation (ANCF) plate element, which is based on Kirchhoff’s assumptions that material normals to the original reference surface remain straight and normal to the deformed reference surface, and the nonlinear elasticity theory that accounts for large displacement, large rotation, and large deformation. The rollers and guiding mechanism are modeled as rigid bodies. The distributed frictional contact forces between rollers and web are considered by Hertz contact model and are evaluated by Gauss quadrature. The proportional integral (PI) control law for web guiding is also embedded in the multibody model. A series of simulations on a typical web-guide system is carried out using the multibody dynamics approach for web guiding system presented in this study. System dynamical information, for example, lateral displacement, stress distribution, and driving moment for web guiding, are obtained from simulations. Parameter sensitivity analysis illustrates the effect of influence variables and effectiveness of the PI control law for lateral movement control of web that are verified under different gains. The present Lagrangian formulation of web element, i.e., ANCF element, is not only capable of describing the large movement and deformation but also easily adapted to capture the distributed contact forces between web and rollers. The dynamical behavior of the moving web can be accurately described by a small number of ANCF thin plate elements. Simulations carried out in this paper show that the present approach is an effective method to assess the design of web guiding system with easily available desktop computers.

Multirate Integration for Multibody Dynamic Analysis With Decomposed Subsystems

1999 ◽  
Author(s):  
Sung-Soo Kim ◽  
Jeffrey S. Freeman
Keyword(s):  
Dynamic Analysis ◽  
Multibody System ◽  
Equations Of Motion ◽  
Low Frequency ◽  
Inertia Force ◽  
Integration Scheme ◽  
Integration Algorithm ◽  
Multibody Dynamic ◽  
Higher Order Derivative ◽  
Derivative Information

Abstract This paper details a constant stepsize, multirate integration scheme which has been proposed for multibody dynamic analysis. An Adams-Bashforth Moulton integration algorithm has been implemented, using the Nordsieck form to store internal integrator information, for multirate integration. A multibody system has been decomposed into several subsystems, treating inertia coupling effects of subsystem equations of motion as the inertia forces. To each subsystem, different rate Nordsieck form of Adams integrator has been applied to solve subsystem equations of motion. Higher order derivative information from the integrator provides approximation of inertia force computation in the decomposed subsystem equations of motion. To show the effectiveness of the scheme, simulations of a vehicle multibody system that consists of high frequency suspension motion and low frequency chassis motion have been carried out with different tire excitation forces. Efficiency of the proposed scheme has been also investigated.

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