A rapid on-site calibration method for measuring dynamic envelope curve of high-speed trains

Dynamic envelope curve is a significant parameter to assess the running safety of high-speed trains.Up to now the method based on binocular stereo vision is the only way available to measure the dynamic envelope curve of a train,the speed of which is over200km/h.Nevertheless the method has two limitations,one is large field-〇f-view(FO V),the other is calibration time.Hence portable calibration equipment,easy-t〇-build target and rapid calibration algorithm are required to complete the calibration.In this paper,a new rapid on-site calibration method with large FOV based on binocular stereo vision is proposed.To address these issues,a light target has been designed,the rail coordinate system(RCS)is represented by40fixed retroreflective points on the target,and they are utilized to calibrate the parameters of two cameras.In addition,two cameras merely capture a single image of the target simultaneously,and the intrinsic and extrinsic parameters of the cameras can be calculated rapidly.To testify the proposed method,the experiments have been conducted and the results reveal that the accuracy can reach+1mm,which can meet the measurement requirement.

Study on the operational safety of high-speed trains exposed to stochastic winds

The characteristic wind curve （CWC） was com- monly used in the previous work to evaluate the operational safety of the high-speed trains exposed to crosswinds. How- ever, the CWC only provide the dividing line between safety state and failure state of high-speed trains, which can not evaluate the risk of derailment of high-speed trains when ex- posed to natural winds. In the present paper, a more realistic approach taking into account the stochastic characteristics of natural winds is proposed, which can give a reasonable and effective assessment of the operational safety of high-speed trains under stochastic winds. In this approach, the longitudi- nal and lateral components of stochastic winds are simulated based on the Cooper theory and harmonic superposition. An algorithm is set up for calculating the unsteady aerody- namic forces （moments） of the high-speed trains exposed to stochastic winds. A multi-body dynamic model of the rail vehicle is established to compute the vehicle system dynamic response subjected to the unsteady aerodynamic forces （mo- ments） input. Then the statistical method is used to get the mean characteristic wind curve （MCWC） and spread range of the high-speed trains exposed to stochastic winds. It is found that the CWC provided by the previous analyticalmethod produces over-conservative limits. The methodol- ogy proposed in the present paper can provide more signif- icant reference for the safety operation of high-speed trains exposed to stochastic winds.

Operational Safety Assessment of a High-Speed Train Exposed to the Strong Gust Wind

The operational safety characteristics of trains exposed to a strong wind have caused great concern in recent years.In the present paper,the effect of the strong gust wind on a high-speed train is investigated.A typical gust wind model for any wind angle,named“Chinese hat gust wind model”,was first constructed,and an algorithm for computing the aerodynamic loads was elaborated accordingly.A vehicle system dynamic model was then set up in order to investigate the vehicle system dynamic characteristics.The assessment of the operational safety has been conducted by means of characteristic wind curves(CWC).As some of the parameters of the wind-train system were difficult to measure,we also investigated the impact of the uncertain system parameters on the CWC.Results indicate that,the descending order of the operational safety index of the vehicle for each wind angle is 90°-60°-120°-30°-150°,and the worst condition for the operational safety occurs when the wind angle reaches around 90°.According to our findings,the gust factor and aerodynamic side force coefficient have great impact on the critical wind speed.Thus,these two parameters require special attention when considering the operational safety of a railway vehicle subjected to strong gust wind.

Characteristics of wheel-rail vibration of the vertical section in high-speed railways

In order to analyze the characteristics of wheel-rail vibration of the vertical section in a high-speed railway, a vehicle-line dynamics model is established using the dynamics software SIMPACK. Through this model, the paper analyzes the influence of vertical section parameters, including vertical section slope and vertical curve radius, on wheel-rail dynamics interaction and the acting region of wheel-rail vibration. In addition, the characteristics of wheel- rail vibration of the vertical section under different velocities are investigated. The results show that the variation of wheel load is not sensitive to the vertical section slope but is greatly affected by the vertical curve radius. It was also observed that the smaller the vertical curve radius is, the more severe the interaction between the wheel and rail be- comes. Furthermore, the acting region of wheel-rail vibration expands with the vertical curve radius increasing. On another note, it is necessary to match the slope and vertical curve radius reasonably, on account of the influence of operation speed on the characteristics of wheel-rail vibration. This is especially important at the design stage of vertical sec- tions for lines of different grades.

Design of the Minimum Curve Radius of the Hainan East Ring Railway

The minimum curve radius is one of the most important factors in railway route design. The minimum curve radius of the Hainan East Ring Railway, a newly built high-speed passenger-dedicated line from Haikou to Sanya, Hainan, China, was determined through comparative analysis of the design codes both in China and Germany. The results show that the design parameters of the Hainan East Ring Railway in terms of the minimum curve radius determined by China＇s Temporary Regulations, conform to the ones by German code, and even preserve some capacity for speeds up to 300 km/h in the future. Additionally, the related counter- measures for speed increases in this line were proposed on the premise of the safety and riding comfort of the trains.

考虑发用电相似性的海上风电中长期双边协商交易优化决策模型

海上风电是未来最有潜力的可再生能源之一,但其出力具有随机性和波动性。为了更好地促进海上风电的市场化消纳,文中基于海上风电商与负荷聚合商间的中长期双边协商交易构建了优化决策模型。首先,通过时间序列相似性评估方法,为目标海上风电寻找最优的用电负荷组合。其次,考虑需求响应备用容量配置和发用电曲线预测误差,构建了基于两阶段分布鲁棒优化的中长期交易优化决策模型,为海上风电配置适应其未来一段时间内出力特性的需求响应资源,并合理调整中长期交易曲线。最后,通过仿真算例验证了所提模型的有效性和实用性。

无证书密钥协议在物联网下的应用研究

物联网终端设备具有存储小、计算资源受限等特点,差异性较大导致其安全认证机制薄弱。本文提出了一种基于椭圆曲线密码的无证书密钥协议,主要用于物联网应用中的设备通信。协议中去除了计算复杂的配对操作,轻量化的无证书密钥方案更有利于物联网设备应用,具有提供消息完整性、抵抗重放攻击等安全措施。与其他同类协议相比,本文的无证书密钥协议的计算开销和通信成本较低,具备更高的安全性能。

采用弹性车轮的独立轮对有轨电车曲线通过动力学性能研究

采用动力学仿真软件SIMPACK,利用离散刚度阻尼单元模拟弹性车轮的弹性变形特性,建立了三编组现代有轨电车列车动力学计算模型,对比分析了曲线半径R400 m线路条件下弹性车轮在时域和频域内的减振性能,讨论了50~400 m不同半径的曲线线路条件下不同轮对形式的弹性车轮对中间拖车曲线通过性能的影响。计算结果显示:弹性车轮能够减小20~40 Hz、50~70 Hz和180~300 Hz频率范围内的车体垂向振动以及20~550 Hz范围内的车体横向振动。从轮对横移量和轮重减载率看,曲线半径R200 m左右是弹性车轮传统轮对和弹性车轮独立轮对曲线导向能力的分界点;从轮轨横向蠕滑率、轮对摇头角、脱轨系数和轮轴横向力看,曲线半径R100 m左右是分界点。

用于地铁列车的主动径向装置研究

[目的]地铁列车通过小半径曲线区段时会产生车轮磨耗及噪声。转向架轮对的主动径向技术作为一种理论上可以解决上述问题的有效措施,有必要对其进行深入研究。[方法]通过分析主动径向原理,确定了“径向导向”的控制目标。提出了一种用于转臂式轴箱定位转向架的可控橡胶节点装置及其控制系统,使之成为车辆的主动径向装置。阐述了该主动径向装置的主动径向导向原理,即:地铁列车运行时以信标的方式获取线路信息,径向控制器内存储有每条曲线的信息,结合列车运行速度可确定列车在曲线中位置,由此控制可控橡胶节点装置动作,进而实现轮对以径向姿态通过曲线。以列车的头车为研究对象,建立了A型地铁列车的动力学模型,对采用主动径向装置的地铁列车以60 km/h的速度通过400 m曲线半径时的通过性能进行了分析,并与传统转向架的通过性能进行对比。[结果及结论]相比于传统转向架导向轮对,主动径向转向架导向轮对的冲角和磨耗指数均大幅降低;同一转向架的两个轮对具有相近的横移量,在该位置下轮对可实现“纯滚动”;列车在小半径曲线上的通过性能有明显改善。

柔性轮对的地铁曲线段内轨波磨迁移特性研究

为预防波磨从一侧钢轨迁移至另一侧,建立了柔性轮对的车辆-轨道曲线通过刚柔耦合动力学模型,再现了地铁车辆曲线段时的轮轨接触行为,分析了曲线内轨不同特征波长波磨产生的振动响应和磨耗功率。相比传统多刚体模型,车辆-轨道刚柔耦合模型能将轮对弯曲、扭转和高频振动考虑在内。针对波长极短的40 mm短波、80 mm短波、150 mm中波和200 mm长波波磨四种工况进行仿真,结果表明:随着波长增加,波磨迁移现象越容易产生。对于波长较短的短波引起单侧高频轮轨冲击但波磨不易迁移至另一侧;80 mm短波引起的振动较小,也不易发生迁移;当波长增加至150 mm中长波和200 mm长波后,外轨轮轨力振动开始加剧,150 mm工况外轨纵向轮轨力振荡明显增加,200 mm工况纵向和垂向轮轨力已接近波磨所在侧的振荡幅值,此时很可能发生波磨迁移的现象。

轴箱内置式转向架高速线路适应性评估

基于轴箱内置式转向架实测参数及边界条件,建立动车组拖车动力学仿真模型。研究新车轮型面、大锥度车轮型面与60D、60N及其正负偏差钢轨型面匹配并高速通过实测线路时,车辆运行稳定性及平稳性;研究轴箱内置式转向架高速通过不同曲线线路,以及正、侧向通过18#道岔时的车辆运行安全性,并评估轴箱内置式转向架对高速线路适应性。结果表明:轴箱内置式转向架动车组以300~450km/h运行速度通过直线线路时,脱轨系数、轮重减载率、轮轴横向力、构架横向加速度等稳定性指标,随运行速度提升呈增大趋势,但均未超出相应标准限值,车辆平稳性指标属于优级;当动车组以不同运行速度通过不同半径曲线时,稳定性指标未超出相应标准限值,车辆平稳性指标属于优级,且轮对冲角很小;动车组以450km/h运行速度正向通过18#道岔、以90km/h运行速度侧向通过18#道岔时,稳定性指标未超出相应标准限值;动车组通过实测三级轨道水平不平顺时,稳定性指标未超出相应标准限值,车辆的垂、横向平稳性指标属于优级。因此,轴箱内置式转向架动车组在400km/h运行速度范围内,能够适应京沪高铁线路运行。

风载作用下高速列车曲线通过性能研究

在风载和曲线欠超高叠加的不利工况下,高速列车的运行安全性表现出复杂的变化规律,因此需要针对风载作用下高速列车的曲线通过安全性进行深入研究。采用空气动力学和车辆动力学相结合的分析方法,考虑车速和风速变化、实际轮轨匹配及线路激励情况,建立瞬态风载模型、横风作用下高速列车空气动力学模型及车辆动力学模型;对高速列车在不同车速和风速作用下的气动载荷变化规律进行分析,并对其以不同速度通过不同欠超高曲线线路时的脱轨系数、轮重减载率和轮轴横向力等车辆关键动力学参数的变化规律进行分析,研究风载和曲线欠超高对高速列车脱轨和倾覆的影响。结果表明:风速变化引起的侧向力系数变化幅度大于车速;在风载和曲线欠超高叠加的不利工况下,除轮重减载率安全裕量明显降低外,轮轴横向力的安全裕量也降低,且车辆关键悬挂部件工作状态恶化,其中二系横向止档的位移迅速增大且工作状态接近压并,左右两侧空气弹簧压力差也迅速增大,车辆动力学性能的安全裕量明显下降。

机车车辆橡胶元件动态建模及其应用

橡胶的动态特性依赖于外界激扰的幅值和频率。为充分体现铁道车辆橡胶部件的真实物理特性,兼顾动力学仿真计算的精度和时间,基于弹塑性理论建立橡胶元件动态模型。分别用摩擦力和黏滞力表征橡胶的振幅相关性和频率相关性;计算分析简谐激励下橡胶元件的等效刚度和阻尼;将橡胶元件模型结合车辆-轨道耦合动力学模型,分析车辆通过曲线时一系定位节点力的动态特性。研究结果表明:摩擦力提供的等效刚度随激扰幅值的增大而减小,阻尼随激扰幅值的增大而增大;黏滞力提供的等效刚度和阻尼都随激扰频率的增大而增大;橡胶元件在车辆曲线通过的不同阶段可反映不同的动态特性。

重载钢轨滚动接触疲劳现场观测与数值模拟

针对唐包重载铁路曲线段U75V热处理钢轨发生的滚动接触疲劳损伤,开展了不同半径曲线的现场观测和相关信息搜集,通过统计和对比分析,得到了钢轨滚动接触疲劳的重要特征,并建立了集成重载列车动力学和损伤函数模型的钢轨滚动接触疲劳萌生模型,预测了轴重、速度和黏着系数对钢轨滚动接触疲劳的影响。发现上行重载线钢轨滚动接触疲劳随曲线半径的增大而减轻,R600和R800曲线上存在严重剥离,R1000曲线上剥离基本消失,而R1600曲线上仅存在轻微裂纹,相同半径曲线上行重载线的钢轨损伤程度明显比下行空载线严重。上行线R600的入过渡曲线段上,内轨在超高55 mm时开始出现比较明显的剥离,而对应外轨仅存在零星的小尺寸剥离。数值仿真结果能很好地解释现场观测现象,为进一步治理提供了关键研究工具。结合前期研究成果,可确定曲线半径、轴重、磨耗后廓形等是造成唐包线钢轨滚动接触疲劳的主要影响因素。

铁道车辆曲线通过性能在线监测及评估方法研究

小半径曲线上的车辆通过性能的优劣直接影响着运输安全和效率,亟待采取针对性的在线监测手段予以动态监控。文中在参考既有同类技术和相关动力学评价标准的基础上,结合试验数据分析和仿真分析,提出了基于轮轨力地面连续测量的小半径曲线车辆通过性能在线监测设备的布局方案建议,以缓圆点、圆曲线和圆缓点作为传感器布置位置,并在此基础上通过考虑加权系数反映不同断面位置的影响因子,利用“分散检测、集中报警”的原理开展车辆曲线通过性能的联网运用,提高车辆曲线通过性能的保障能力。

轻型磁浮车辆小半径曲线通过性能研究

为了分析轻型磁浮车辆在景区应用的可行性,开展了车辆的小半径曲线通过性能研究。首先,进行车辆曲线通过几何分析,计算悬浮架实现解耦以及车体之间不发生运动干涉的条件;然后,采用SIMPACK与SIMULINK联合仿真建立车辆的机电耦合动力学模型,分析轻型磁浮车辆在50 m半径曲线上的动态响应;最后,评估其曲线通过性能。结果表明:车辆通过50 m半径曲线时,悬浮架实现解耦的条件是防侧滚梁绕其端部旋转约3.7°;车体之间间隙最小值约230 mm,故车体之间不会发生运动干涉;车辆具有较好的小半径曲线通过能力,影响车辆最小通过速度的因素是悬浮架与轨道之间的横向间隙,影响其最大通过速度的因素是旅客的乘坐舒适性。因此,为兼顾车辆的运行安全性与旅客的乘坐舒适性,建议车辆的最佳曲线通过速度为20~25 km/h。

Intelligent NURBS Interpolator Based on the Adaptive Feedrate Control

To satisfy the need for high-speed and high-accuracy machining of NURBS curve. Firstly the form of NURBS curve is analyzed and Talor＇s expansion of the parameter u with respect to time t is used to obtain the algorithm of the first order approximation interpolation. Secondly, based on the algorithm of the controlled chord error interpolator, an intelligent interpolation algorithm of the adaptive feedrate control is proposed. According to the actual machining capacity of machine tools, this algorithm uses look-ahead method, which dispenses with the complicated computation of the end point estimation of NURBS curve, to analyze the curve segment required by the maximum deceleration distance. Thus, the feedrate could decrease in advance and vary with the curvature and the variation ratio of curvature, which makes machining motion quite smooth. Not only could high accuracy and fine surface quality be achieved during high-speed machining, but also the overload of cutter tools is avoided on comers. Finally, in order to facilitate the calculation of interpolation, the dynamic matrix representation and efficient algorithm of curvature computation of the NURBS curve are presented,

常导吸引式低速磁悬浮车辆动态曲线通过性能研究

通过对磁悬浮车辆基本结构的分析 ,建立了低速常导磁吸式 (EMS)磁悬浮车辆动态通过曲线的动力学模型 ,编制了磁悬浮车辆系统动力学仿真程序 ,并对青城山磁悬浮试验车辆的动态曲线通过性能进行了系统仿真。

曲线几何参数对货车转向架曲线通过性能的影响

利用SIMPACK仿真软件建立副构架径向转向架和交叉支撑转向架的动力学模型，并对其动力学性能进行仿真计算，分析比较曲线半径、超高等曲线几何参数对2种转向架曲线通过性能的影响。结果表明：曲线半径和欠超高对径向转向架和交叉支撑转向架的脱轨系数、轮重减载率影响比较接近；曲线半径在400-1200m范围内，自导向径向转向架能有效提高通过性能，明显降低轮对冲角，减缓轮轨磨耗；欠超高对2种转向架轮对冲角的影响近似成线性关系，且其影响程度仅和转向架本身属性相关，与曲线半径无关。指出采用磨耗功率评价欠超高对曲线轮轨磨耗的影响更为合理，因为不仅能反映出磨耗与欠超高的关系，还能反映出曲线外轨超高设置不同时轮轨磨耗的变化特点，这与工程实际中减小外轨超高、设置欠超高有利于降低轮轨磨耗是一致的。

重载列车曲线通过性能研究

为了解决重载列车动力学仿真过程中遇到的自由度繁多的问题,本文利用一种在三维空间将列车系统耦合起来的建模及求解方法——基于循环变量的模块化方法对重载列车曲线通过安全性能进行研究。分析表明:位于曲线线路不同区段转折点上的车辆,其动力学性能差于其他位置的车辆,列车曲线通过性能与曲线线路位置密切相关;曲线半径及缓和曲线长度等因素对重载列车动力学性能有重要影响。