Dynamic Response Impact of Vehicle Braking on Simply Supported Beam Bridges with Corrugated Steel Webs Based on Vehicle-Bridge Coupled Vibration Analysis

A novel approach for analyzing coupled vibrations between vehicles and bridges is presented,taking into account spatiotemporal effects and mechanical phenomena resulting fromvehicle braking.Efficient modeling and solution of bridge vibrations induced by vehicle deceleration are realized using this method.The method’s validity and reliability are substantiated through numerical examples.A simply supported beam bridge with a corrugated steel web is taken as an example and the effects of parameters such as the initial vehicle speed,braking acceleration,braking location,and road surface roughness on the mid-span displacement and impact factor of the bridge are analyzed.The results show that vehicle braking significantly amplifies mid-span displacement and impact factor responses in comparison to uniform vehicular motion across the bridge.Notably,the influence of wheelto-bridge friction forces is of particular significance and cannot be overlooked.When the vehicle initiates braking near the middle of the span,both the mid-span displacement and impact factor of the bridge exhibit substantial increases,further escalating with higher braking acceleration.Under favorable road surface conditions,the midspan displacement and the impact factor during vehicle braking may exceed the design values stipulated by codes.It is important to note that road surface roughness exerts a more pronounced effect on the impact factor of the bridge in comparison to the effects of vehicle braking.

Integrated Active Suspension and Anti-Lock Braking Control for Four-Wheel-Independent-Drive Electric Vehicles

This paper presents an integrated control scheme for enhancing the ride comfort and handling performance of a four-wheel-independent-drive electric vehicle through the coordination of active suspension system(ASS)and anti-lock braking system(ABS).First,a longitudinal-vertical coupled vehicle dynamics model is established by integrating a road input model.Then the coupling mechanisms between longitudinal and vertical vehicle dynamics are analyzed.An ASS-ABS integrated control system is proposed,utilizing an H∞controller for ASS to optimize load transfer effect and a neural network sliding mode control for ABS implementation.Finally,the effectiveness of the proposed control scheme is evaluated through comprehensive tests conducted on a hardware-in-loop(HIL)test platform.The HIL test results demonstrate that the proposed control scheme can significantly improve the braking performance and ride comfort compared to conventional ABS control methods.

ISO releases a standard on braking systems of railway vehicles

ISO 24221:2024, Railway applications-Braking system-General requirements, the first of its kind, was recently released. With the leading efforts of National Railway Administration of China, China has made new breakthrough in railway international standardization by the development of the international standard.

A numerical method for the simulation of freight train emergency braking operations based on the UIC braked weight percentage

The present paper shows the development of a strategy for the calculation of the air brake forces of European freight trains. The model is built to upgrade the existing Politecnico di Torino longitudinal train dynamics(LTD) code LTDPoliTo, which was originally unable to account for air brake forces. The proposed model uses an empirical exponential function to calculate the air brake forces during the simulation, while the maximum normal force on the brake friction elements is calculated according to the indication of the vehicle braked weight percentage.Hence, the model does not require to simulate in detail the fluid dynamics in the brake pipe nor to precisely know the main parameters of the braking system mounted on each vehicle. The model parameters are tuned to minimize the difference between the braking distance computed by the LTDPoliTo code and the value prescribed by the UIC544-1 leaflet in emergency braking operations. Simulations are run for different configurations of freight train compositions including a variable number of Shimmns wagons trailed by an E402B locomotive at the head of the train, as suggested in a reference literature paper. The results of the proposed method are in good agreement with the target braking distances calculated according to the international rules.

Energy model based sensorless estimation method for operational temperature of braking resistor onboard metro vehicles

Purpose–This study aims to improve the availability of regenerative braking for urban metro vehicles by introducing a sensorless operational temperature estimation method for the braking resistor(BR)onboard the vehicle,which overcomes the vulnerability of having conventional temperature sensor.Design/methodology/approach–In this study,the energy model based sensorless estimation method is developed.By analyzing the structure and the convection dissipation process of the BR onboard the vehicle,the energy-based operational temperature model of the BR and its cooling domain is established.By adopting Newton’s law of cooling and the law of conservation of energy,the energy and temperature dynamic of the BR can be stated.To minimize the use of all kinds of sensors(including both thermal and electrical),a novel regenerative braking power calculation method is proposed,which involves only the voltage of DC traction network and the duty cycle of the chopping circuit;both of them are available for the traction control unit(TCU)of the vehicle.By utilizing a real-time iterative calculation and updating the parameter of the energy model,the operational temperature of the BR can be obtained and monitored in a sensorless manner.Findings–In this study,a sensorless estimation/monitoring method of the operational temperature of BR is proposed.The results show that it is possible to utilize the existing electrical sensors that is mandatory for the traction unit’s operation to estimate the operational temperature of BR,instead of adding dedicated thermal sensors.The results also validate the effectiveness of the proposal is acceptable for the engineering practical.Originality/value–The proposal of this study provides novel concepts for the sensorless operational temperature monitoring of BR onboard rolling stocks.The proposed method only involves quasi-global electrical variable and the internal control signal within the TCU.

The effect of controllable train-tail devices on the longitudinal impulse of the combined trains under initial braking

The 20,000-ton combined train running has greatly promoted China’s heavy-haul railway transportation capability. The application of controllable train-tail devices could improve the braking wave of the train and braking synchronism, and alleviate longitudinal impulse.However, the characteristics of the controllable train-tail device such as exhaust area, exhaust duration and exhaust action time are not uniform in practice, and their effects on the longitudinal impulse of the train are not apparent,which is worth studying. In this work, according to the formation of the Datong-Qinhuangdao Railway, the train air brake and longitudinal dynamics simulation system(TABLDSS) is applied to establish a 20,000-ton combined train model with the controllable train-tail device, and the braking characteristics and the longitudinal impulse of the train are calculated synchronously with changing the air exhaust time, exhaust area, and action lag time under initial braking. The results show that the maximum coupler force of the combined train will decrease with the extension of the continuous exhaust time, while the total exhaust time of the controllable train-tail device remains unchanged;the maximum coupler force of the combined train reduces by32.5% with the exhaust area increasing from 70% to 140%;when the lag time between the controllable train-tail device and the master locomotive is more than 1.5 s, the maximum coupler force of the train increases along with the time difference enlargement.

Braking distance prediction for vehicle consist in low-speed on-sight operation:a Monte Carlo approach

The first and last mile of a railway journey, in both freight and transit applications, constitutes a high effort and is either non-productive(e.g. in the case of depot operations) or highly inefficient(e.g. in industrial railways). These parts are typically managed on-sight, i.e. with no signalling and train protection systems ensuring the freedom of movement. This is possible due to the rather short braking distances of individual vehicles and shunting consists. The present article analyses the braking behaviour of such shunting units. For this purpose, a dedicated model is developed. It is calibrated on published results of brake tests and validated against a high-definition model for lowspeed applications. Based on this model, multiple simulations are executed to obtain a Monte Carlo simulation of the resulting braking distances. Based on the distribution properties and established safety levels, the risk of exceeding certain braking distances is evaluated and maximum braking distances are derived. Together with certain parameters of the system, these can serve in the design and safety assessment of driver assistance systems and automation of these processes.

Simulation and Experimental Design of Load Adaptive Braking System on Two Wheeler

The braking quality is considered the main execution of the adaptive control framework that impacts the vehicle safety and rides solace astoundingly notably the stopping distance.This research work aims to create a pattern and design of an electromechanically adjusted lever that multiplies the applied braking force depending on the inputs given by the sensors to reduce the stopping distance of the vehicle.It is carried out using two main parts of the two-wheeler vehicle:thefirst part deals with the detection of load acting on the vehicle and identifying the required braking force to be applied,and the second part deals with the micro-controller which activates the stepper motor for varying the mechanical leverage ratio from various loads on the vehicle using two actively movable wedges.The electromechanically operated variable braking force system is developed to actuate the braking system based on the load on the motorcycle.The MATLAB simulation and experimental work are carried out for various loading(driver and pillion)conditions on a two-wheeler.The results indicate that the proposed electronically operated braking system is more effective than the conventional braking system for various loads and vehicle speeds.Specifically,the stopping distance of the vehicle is decreased significantly by about 4.9%between the con-ventional braking system and the simulated proposed system.Further,the experi-mental results show that the stopping distance is condensed by about 4.1%.The validation between simulated and experimental results revealed a great deal with the least error percentage of about 0.8%.

Energy Management of Networked Smart Railway Stations Considering Regenerative Braking, Energy Storage System, and Photovoltaic Units

The networking of microgrids has received significant attention in the form of a smart grid.In this paper,a set of smart railway stations,which is assumed as microgrids,is connected together.It has been tried to manage the energy exchanged between the networked microgrids to reduce received energy from the utility grid.Also,the operational costs of stations under various conditions decrease by applying the proposed method.The smart railway stations are studied in the presence of photovoltaic(PV)units,energy storage systems(ESSs),and regenerative braking strategies.Studying regenerative braking is one of the essential contributions.Moreover,the stochastic behaviors of the ESS’s initial state of energy and the uncertainty of PV power generation are taken into account through a scenario-based method.The networked microgrid scheme of railway stations(based on coordinated operation and scheduling)and independent operation of railway stations are studied.The proposed method is applied to realistic case studies,including three stations of Line 3 of Tehran Urban and Suburban Railway Operation Company(TUSROC).The rolling stock is simulated in the MATLAB environment.Thus,the coordinated operation of networked microgrids and independent operation of railway stations are optimized in the GAMS environment utilizing mixed-integer linear programming(MILP).

Blended Regenerative Anti-Lock Braking System and Electronic Wedge Brake Coordinate Control Ensuring Maximal Energy Recovery and Stability of All-Wheel-Motor-Drive Electric Vehicles

ABS is an active safety system which showed a valuable contribution to vehicle safety and stability since it was first introduced. Recently, EVs with in-wheel-motors have drawn increasing attention owing to their greatest advantages. Wheels torques are precisely and swiftly controlled thanks to electric motors and their advanced driving techniques. In this paper, a regenerative-ABS control RABS is proposed for all-in-wheel-motors-drive EVs. The RABS is realized as a pure electronic braking system called brake-by-wire. A coordination strategy is suggested to control RABS compromising three layers. First, wheels slip control takes place, and braking torque is calculated in the higher layer. In the coordinate interlayer, torque is allocated between actuators ensuring maximal energy recovery and vehicle stability. While in the lower layer, actuator control is performed. The RABS effectiveness is validated on a 3-DOF EVSimulink model through two straight-line braking manoeuvres with low and high initial speeds of 50 km/h and 150 km/h, respectively. Both regular and emergency braking manoeuvres are considered with ABS enabled and disabled for comparison. Simulation results showed the high performance of the proposed RABS control in terms of vehicle stability, brake response, stopping distance, and battery re-charging.

Exploring Crowdsourced Hard—Acceleration and Braking Event Data for Evaluating Safety Performance of Low-Volume Rural Highways in Iowa

There are over four million miles of two-lane roadways across the United States, of which a substantial portion is low-volume roads (LVR). Traditionally, most traffic safety efforts and countermeasures focus on high-volume high-crash urban locations. This is because LVRs cover an extensive area, and the rarity of crashes makes it challenging to use crash data to monitor the safety performance of LVRs regularly. In addition, obtaining up-to-date roadway information, such as pavement or shoulder conditions of an extensive LVR network, can be exceptionally difficult. In recent times, crowdsourced hard-acceleration and braking event data have become commercially available, which can provide precise geolocation information and can be readily acquired from different vendors. The present paper examines the potential use of this data to identify opportunities to monitor the safety of LVRs. This research examined approximately 12 million hard-acceleration and hard-braking events over a 3-months period and 26,743 crashes, including 9373 fatal injuries over the past 5-year period. The study found a moderate correlation between hard acceleration/hard-braking events with historical crash events. This study conducted a hot spot analysis using hard-acceleration/hard-braking and crash datasets. Hotspot analysis detected spatial clusters of high-risk crash locations and detected 848 common high-risk sites. Finally, this paper proposes a combined ranking scheme that simultaneously considers historical crash events and hard-acceleration/hard-braking events. The research concludes by suggesting that agencies can potentially use the hard-acceleration and hard-braking event dataset along with the historical crash dataset to effectively supervise the safety performance of the vast network of LVRs more frequently.

Design and Analysis of Electro-mechanical Hybrid Anti-lock Braking System for Hybrid Electric Vehicle Utilizing Motor Regenerative Braking

Braking on low adhesion-coefficient roads, hybrid electric vehicle＇s motor regenerative torque is switched off to safeguard the normal anti-lock braking system （ABS） fimction. When the ABS control is terminated, the motor regenerative braking is readmitted. Aiming at avoiding permanent cycles from hydraulic anti-lock braking to motor regenerative braking, a novel electro-mechanical hybrid anti-lock braking system using fuzzy logic is designed. Different from the traditional single control structure, this system has a two-layered hierarchical structure, The first layer is responsible for harmonious adjustment or interaction between regenerative system and anti-lock braking system. The second layer is responsible for braking torque distribution and adjustment. The closed-loop simulation model is built. Control strategy and method for coordination between regenerative and anti-lock braking are developed. Simulation braking on low adhesion-coefficient roads with fuzzy logic control and real vehicle braking field test are presented. The results from simulating analysis and experiment show braking performance of the vehicle is perfect, harmonious coordination between regenerative and anti-lock braking function, significant amount of braking energy can be recovered and the proposed control strategy and method are effective.

Influence of quick release valve on braking performance and coupler force of heavy haul train

We establish a simulation model based on the theory of air flow to analyze the accelerated release effect of the quick release valve inside the air brake control valve.In addition, the combined simulation system of train air brake system and longitudinal train dynamics is used to analyze how the parameters of the quick release valve in the 120/120–1 brake control valve affect the propagation characteristics of the train brake pipe pressure wave, the release action range of the accelerated brake, and the longitudinal coupler force for a 20,000-ton heavy haul train on the section of the Datong–Qinhuangdao Railway. The results show that the quick release valve can effectively accelerate the rising speed of the train brake pipe pressure during the initial release, as the accelerated release effect is evident before the train brake pipe pressure reaches582 k Pa. The quick release valve can effectively accelerate the release of the rear cars, reducing the longitudinal coupler force impact due to time delay of the release process. The quick release valve can effectively reduce the tensile coupler force in the train by as much as 20% in certain cases.

Driving and Braking Control of PM Synchronous Motor Based on Low-resolution Hall Sensor for Battery Electric Vehicle

Resolvers are normally employed for rotor positioning in motors for electric vehicles, but resolvers are expensive and vulnerable to vibrations. Hall sensors have the advantages of low cost and high reliability, but the positioning accuracy is low. Motors with Hall sensors are typically controlled by six-step commutation algorithm, which brings high torque ripple. This paper studies the high-performance driving and braking control of the in-wheel permanent magnetic synchronous motor （PMSM） based on low-resolution Hall sensors. Field oriented control （FOC） based on Hall-effect sensors is developed to reduce the torque ripple. The positioning accuracy of the Hall sensors is improved by interpolation between two consecutive Hall signals using the estimated motor speed. The position error from the misalignment of the Hall sensors is compensated by the precise calibration of Hall transition timing. The braking control algorithms based on six-step commutation and FOC are studied. Two variants of the six-step commutation braking control, namely, half-bridge commutation and full-bridge commutation, are discussed and compared, which shows that the full-bridge commutation could better explore the potential of the back electro-motive forces （EMF）, thus can deliver higher efficiency and smaller current ripple. The FOC braking is analyzed with the phasor diagrams. At a given motor speed, the motor turns from the regenerative braking mode into the plug braking mode if the braking torque exceeds a certain limit, which is proportional to the motor speed. Tests in the dynamometer show that a smooth control could be realized by FOC driving control and the highest efficiency and the smallest current ripple could be achieved by FOC braking control, compared to six-step commutation braking control. Therefore, FOC braking is selected as the braking control algorithm for electric vehicles. The proposed research ensures a good motor control performance while maintaining low cost and high reliability.

Aircraft Electric Anti-skid Braking System Based on Fuzzy-PID Controller with Parameter Self-adjustment Feature

The principle of electric braking system is analyzed and an anti-skid braking system based on the slip rate control is proposed.The fuzzy-PID controller with parameter self-adjustment feature is designed for the anti-skid braking system.The dynamic model of aircraft ground braking is established in the simulation environment of MATLAB/SIMULINK,and simulation results of dry runway and wet runway are presented.The results show that the fuzzy-PID controller with parameter self-adjustment feature for the electric anti-skid braking system keeps working in the state of stability and the brake efficiencies are increased to 93%on dry runway and 82%on wet runway respectively.

Design and preliminary validation of a tool for the simulation of train braking performance

Train braking performance is important for the safety and reliability of railway systems. The availability of a tool that allows evaluating such performance on the basis of the main train features can be useful for train system designers to choose proper dimensions for and optimize train＇s subsystems. This paper presents a modular tool for the prediction of train braking performance, with a par- ticular attention to the accurate prediction of stopping distances. The tool takes into account different loading and operating conditions, in order to verify the safety require- ments prescribed by European technical specifications for interoperability of high-speed trains and the corresponding EN regulations. The numerical results given by the tool were verified and validated by comparison with experimental data, considering as benchmark case an Ansaldo EMU V250 train--a European high-speed train--currently developed for Belgium and Netherlands high-speed lines, on which technical information and experimental data directly recorded during the preliminary tests were available. An accurate identification of the influence of the braking pad friction factor on braking performances allowed obtaining reliable results.

A Novel Braking Control Strategy for Hybrid Electric Buses Based on Vehicle Mass and Road Slope Estimation

Proper braking force distribution strategies can improve both stability and economy performance of hybrid electric vehicles,which is prominently proved by many studies.To achieve better dynamic stable performance and higher energy recovery efficiency,an effective braking control strategy for hybrid electric buses(HEB)based on vehicle mass and road slope estimation is proposed in this paper.Firstly,the road slope and the vehicle mass are estimated by a hybrid algorithm of extended Kalman filter(EKF)and recursive least square(RLS).Secondly,the total braking torque of HEB is calculated by the sliding mode controller(SMC),which uses the information of brake intensity,whole vehicle mass,and road slope.Finally,comprehensively considering driver’s braking intention and regulations of the Economic Commission for Europe(ECE),the optimal proportional relationship between regenerative braking and pneumatic braking is obtained.Furthermore,related simulations and experiments are carried out on the hardware-in-the-loop test bench.Results show that the proposed strategy can effectively improve the braking performance and increase the recovered energy through precise control of the braking torque.

Analysis of longitudinal forces of coupler devices in emergency braking process for heavy haul trains

To reduce the longitudinal coupler forces of heavy haul trains and improve the running safety, the velocity method and New-mark method were used for the coupler simulation and numerical integration, and a numerical model on the longitudinal dynamics of heavy haul trains was established. Validation was performed against the experimental data. Using this model, the emergency braking process for a combined marshalling heavy haul train was investigated to obtain the distributions of the longitudinal compressive forces and strokes of coupler devices. Then, the influences of the initial braking velocity, the synchronization time of master and slave locomotives, the coupler stiffness and the vibrator mass on the longitudinal forces and strokes were analyzed. The results show that it should be avoided that the emergency braking starts at a low initial speed. Keeping synchronism between master locomotive and slave locomotives effectively helps to reduce the longitudinal forces. Reducing the coupler stiffness appropriately and adding rigid arm connections, the longitudinal vibration frequency can be brought down and the longitudinal forces will be decreased, which improves the running safety of heavy haul trains. All of these research results can provide a reference for the operation and development of heavy haul trains.

A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks

Di erential braking and active steering have already been integrated to overcome their shortcomings. However, existing research mainly focuses on two-axle vehicles and controllers are mostly designed to use one control method to improve the other. Moreover, many experiments are needed to improve the robustness; therefore, these control methods are underutilized. This paper proposes an integrated control system specially designed for multi-axle vehicles, in which the desired lateral force and yaw moment of vehicles are determined by the sliding mode control algorithm. The output of the sliding mode control is distributed to the suitable wheels based on the abilities and potentials of the two control methods. Moreover, in this method, fewer experiments are needed, and the robustness and simultaneity are both guaranteed. To simplify the optimization system and to improve the computation speed, seven simple optimization subsystems are designed for the determination of control outputs on each wheel. The simulation results show that the proposed controller obviously enhances the stability of multi-axle trucks. The system improves 68% of the safe velocity, and its performance is much better than both di erential braking and active steering. This research proposes an integrated control system that can simultaneously invoke di erential braking and active steering of multi-axle vehicles to fully utilize the abilities and potentials of the two control methods.

Regenerative Braking Strategy for Motor Hoist by Ultracapacitor

Rising concern in environmental issues on global scale has made energy saving in powered equipment a very important subject.In order to improve the energy efficiency and driving range of a motor hoist,a regenerative braking system is designed and discussed.The system takes a unique ultracapacitor-only approach to energy storage system.The bi-directional bride DC？DC converter which regulates current flow to and from the ultracapacitor operates in two modes：boost and buck,depending on the direction of the flow.In order to provide constant input and output current at the ultracapacitor,this system uses a double proportional-integral（PI） control strategy in regulating the duty cycle of PWM to the DC？DC converter.The permanent magnet synchronous motor（PWSM） drive system is also studied.The space vector pulse width modulation（SVPWM） technique,along with a two-closed-loop vector control model,is adopted after detailed analysis of PMSM characteristics.The overall model and control strategy for this regenerative braking system is ultimately built and simulated under the MATLAB and Simulink environment.A test platform is built to obtain experimental results.Analysis of the results reveals that more than half of the gravitational potential energy can be recovered by this system.Simulation and experimentation results testify the validity of the double PI control strategy for interface circuit of ultracapacitor and SVPWM strategy for PMSM.