Attack-Resilient Distributed Cooperative Control of Virtually Coupled High-Speed Trains via Topology Reconfiguration

Dear Editor,This letter addresses the resilient distributed cooperative control problem of a virtually coupled train convoy under stochastic disturbances and cyber attacks.The main purpose is to achieve distributed coordination of virtually coupled high-speed trains with the prescribed inter-train distance and same cruise velocity.

Flow and sound fields of scaled high-speed trains with different coach numbers running in long tunnel

Segregated incompressible large eddy simulation and acoustic perturbation equations were used to obtain the flow field and sound field of 1:25 scale trains with three,six and eight coaches in a long tunnel,and the aerodynamic results were verified by wind tunnel test with the same scale two-coach train model.Time-averaged drag coefficients of the head coach of three trains are similar,but at the tail coach of the multi-group trains it is much larger than that of the three-coach train.The eight-coach train presents the largest increment from the head coach to the tail coach in the standard deviation(STD)of aerodynamic force coefficients:0.0110 for drag coefficient(Cd),0.0198 for lift coefficient(Cl)and 0.0371 for side coef-ficient(Cs).Total sound pressure level at the bottom of multi-group trains presents a significant streamwise increase,which is different from the three-coach train.Tunnel walls affect the acoustic distribution at the bottom,only after the coach number reaches a certain value,and the streamwise increase in the sound pressure fluctuation of multi-group trains is strengthened by coach number.Fourier transform of the turbulent and sound pressures presents that coach number has little influence on the peak frequencies,but increases the sound pressure level values at the tail bogie cavities.Furthermore,different from the turbulent pressure,the first two sound pressure proper orthogonal decomposition(POD)modes in the bogie cavities contain 90%of the total energy,and the spatial distributions indicate that the acoustic distributions in the head and tail bogies are not related to coach number.

Theory and practice for assessing structural integrity and dynamical integrity of high-speed trains

Purpose–The safety and reliability of high-speed trains rely on the structural integrity of their components and the dynamic performance of the entire vehicle system.This paper aims to define and substantiate the assessment of the structural integrity and dynamical integrity of high-speed trains in both theory and practice.The key principles and approacheswill be proposed,and their applications to high-speed trains in Chinawill be presented.Design/methodology/approach–First,the structural integrity and dynamical integrity of high-speed trains are defined,and their relationship is introduced.Then,the principles for assessing the structural integrity of structural and dynamical components are presented and practical examples of gearboxes and dampers are provided.Finally,the principles and approaches for assessing the dynamical integrity of highspeed trains are presented and a novel operational assessment method is further presented.Findings–Vehicle system dynamics is the core of the proposed framework that provides the loads and vibrations on train components and the dynamic performance of the entire vehicle system.For assessing the structural integrity of structural components,an open-loop analysis considering both normal and abnormal vehicle conditions is needed.For assessing the structural integrity of dynamical components,a closed-loop analysis involving the influence of wear and degradation on vehicle system dynamics is needed.The analysis of vehicle system dynamics should follow the principles of complete objects,conditions and indices.Numerical,experimental and operational approaches should be combined to achieve effective assessments.Originality/value–The practical applications demonstrate that assessing the structural integrity and dynamical integrity of high-speed trains can support better control of critical defects,better lifespan management of train components and better maintenance decision-making for high-speed trains.

Disturbance rejection tube model predictive levitation control of maglev trains

Magnetic levitation control technology plays a significant role in maglev trains.Designing a controller for the levitation system is challenging due to the strong nonlinearity,open-loop instability,and the need for fast response and security.In this paper,we propose a Disturbance-Observe-based Tube Model Predictive Levitation Control(DO-TMPLC)scheme combined with a feedback linearization strategy for the levitation system.The proposed strategy incorporates state constraints and control input constraints,i.e.,the air gap,the vertical velocity,and the current applied to the coil.A feedback linearization strategy is used to cancel the nonlinearity of the tracking error system.Then,a disturbance observer is implemented to actively compensate for disturbances while a TMPLC controller is employed to alleviate the remaining disturbances.Furthermore,we analyze the recursive feasibility and input-to-state stability of the closed-loop system.The simulation results indicate the efficacy of the proposed control strategy.

NeTrainSim:a network-level simulator for modeling freight train longitudinal motion and energy consumption

Although train modeling research is vast, most available simulation tools are confined to city-or trip-scale analysis, primarily offering micro-level simulations of network segments. This paper addresses this void by developing the Ne Train Sim simulator for heavy long-haul freight trains on a network of multiple intersecting tracks. The main objective of this simulator is to enable a comprehensive analysis of energy consumption and the associated carbon footprint for the entire train system. Four case studies were conducted to demonstrate the simulator's performance. The first case study validates the model by comparing Ne Train Sim output to empirical trajectory data. The results demonstrate that the simulated trajectory is precise enough to estimate the train energy consumption and carbon dioxide emissions. The second application demonstrates the train-following model considering six trains following each other. The results showcase the model ability to maintain safefollowing distances between successive trains. The next study highlights the simulator's ability to resolve train conflicts for different scenarios. Finally, the suitability of the Ne Train Sim for modeling realistic railroad networks is verified through the modeling of the entire US network and comparing alternative powertrains on the fleet energy consumption.

Aerodynamic Features of High-Speed Maglev Trains with Different Marshaling Lengths Running on a Viaduct under Crosswinds

The safety and stability of high-speed maglev trains traveling on viaducts in crosswinds critically depend on their aerodynamic characteristics.Therefore,this paper uses an improved delayed detached eddy simulation(IDDES)method to investigate the aerodynamic features of high-speed maglev trains with different marshaling lengths under crosswinds.The effects of marshaling lengths(varying from 3-car to 8-car groups)on the train’s aerodynamic performance,surface pressure,and the flow field surrounding the train were investigated using the three-dimensional unsteady compressible Navier-Stokes(N-S)equations.The results showed that the marshaling lengths had minimal influence on the aerodynamic performance of the head and middle cars.Conversely,the marshaling lengths are negatively correlated with the time-average side force coefficient(CS)and time-average lift force coefficient(Cl)of the tail car.Compared to the tail car of the 3-car groups,the CS and Cl fell by 27.77%and 18.29%,respectively,for the tail car of the 8-car groups.It is essential to pay more attention to the operational safety of the head car,as it exhibits the highest time average CS.Additionally,the mean pressure difference between the two sides of the tail car body increased with the marshaling lengths,and the side force direction on the tail car was opposite to that of the head and middle cars.Furthermore,the turbulent kinetic energy of the wake structure on the windward side quickly decreased as marshaling lengths increased.

Aerodynamic Analysis and Optimization of Pantograph Streamline Fairing for High-Speed Trains

A pantograph serves as a vital device for the collection of electricity in trains.However,its aerodynamic resistance can limit the train’s running speed.As installing fairings around the pantograph is known to effectively reduce the resistance,in this study,different fairing lengths are considered and the related aerodynamic performances of pantograph are assessed.In particular,this is accomplished through numerical simulations based on the k-ωShear Stress Transport(SST)two-equation turbulence model.The results indicate that the fairing diminishes the direct impact of high-speed airflow on the pantograph,thereby reducing its aerodynamic resistance.However,it also induces interferences in the flow field around the train,leading to variations in the aerodynamic resistance and lift of train components.It is shown that a maximum reduction of 56.52%in pantograph aerodynamic resistance and a peak decrease of 3.38%in total train aerodynamic resistance can be achieved.

Integration of bio-inspired limb-like structure damping into motor suspension of high-speed trains to enhance bogie hunting stability

Hunting stability is an important performance criterion in railway vehicles.This study proposes an incorporation of a bio-inspired limb-like structure(LLS)-based nonlinear damping into the motor suspension system for traction units to improve the nonlinear critical speed and hunting stability of high-speed trains(HSTs).Initially,a vibration transmission analysis is conducted on a HST vehicle and a metro vehicle that suffered from hunting motion to explore the effect of different motor suspension systems from on-track tests.Subsequently,a simplified lateral dynamics model of an HST bogie is established to investigate the influence of the motor suspension on the bogie hunting behavior.The bifurcation analysis is applied to optimize the motor suspension parameters for high critical speed.Then,the nonlinear damping of the bio-inspired LLS,which has a positive correlation with the relative displacement,can further improve the modal damping of hunting motion and nonlinear critical speed compared with the linear motor suspension system.Furthermore,a comprehensive numerical model of a high-speed train,considering all nonlinearities,is established to investigate the influence of different types of motor suspension.The simulation results are well consistent with the theoretical analysis.The benefits of employing nonlinear damping of the bio-inspired LLS into the motor suspension of HSTs to enhance bogie hunting stability are thoroughly validated.

Running safety assessment method of trains under seismic conditions based on the derailment risk domain

The accurate assessment of running safety during earthquakes is of significant importance for ensuring the safety of railway lines.Currently,assessment methods based on a single index suffer from issues such as misjudgment of operational safety and difficulty in evaluating operational margin,making them unsuitable for assessing train safety during earthquakes.Therefore,in order to propose an effective evaluation method for the running safety of trains during earthquakes,this study employs three indexes,namely lateral displacement of the wheel–rail contact point,wheel unloading rate,and wheel lift,to describe the lateral and vertical contact states between the wheel and rail.The corresponding evolution characteristics of the wheel–rail contact states are determined,and the derailment forms under different frequency components of seismic motion are identified through dynamic numerical simulations of the train–track coupled system under sine excitation.The variations in the wheel–rail contact states during the transition from a safe state to the critical state of derailment are analyzed,thereby constructing the evolutionary path of train derailment and seismic derailment risk domain.Lastly,the wheel–rail contact and derailment states under seismic conditions are analyzed,thus verifying the effectiveness of the evaluation method for assessing running safety under earthquakes proposed in this study.The results indicate that the assessment method based on the derailment risk domain accurately and comprehensively reflects the wheel–rail contact states under seismic conditions.It successfully determines the forms of train derailment,the risk levels of derailment,and the evolutionary paths of derailment risk.

Measured dynamic load distribution within the in situ axlebox bearing of high-speed trains under polygonal wheel–rail excitation

The dynamic load distribution within in-service axlebox bearings of high-speed trains is crucial for the fatigue reliability assessment and forward design of axlebox bearings. This paper presents an in situ measurement of the dynamic load distribution in the four rows of two axlebox bearings on a bogie wheelset of a high-speed train under polygonal wheel–rail excitation. The measurement employed an improved strain-based method to measure the dynamic radial load distribution of roller bearings. The four rows of two axlebox bearings on a wheelset exhibited different ranges of loaded zones and different means of distributed loads. Besides, the mean value and standard deviation of measured roller–raceway contact loads showed non-monotonic variations with the frequency of wheel–rail excitation. The fatigue life of the four bearing rows under polygonal wheel–rail excitation was quantitatively predicted by compiling the measured roller–raceway contact load spectra of the most loaded position and considering the load spectra as input.

Robust Parameter Identification Method of Adhesion Model for Heavy Haul Trains

A robust parameter identification method based on Kiencke model was proposed to solve the problem of the parameter identification accuracy being affected by the rail environment change and noise interference for heavy-duty trains. Firstly, a Kiencke stick-creep identification model was constructed, and the parameter identification task was transformed into a quadratic programming problem. Secondly, an iterative algorithm was constructed to solve the problem, into which a time-varying forgetting factor was added to track the change of the rail environment, and to solve the uncertainty problem of the wheel-rail environment. The Granger causality test was adopted to detect the interference, and then the weights of the current data were redistributed to solve the problem of noise interference in parameter identification. Finally, simulations were carried out and the results showed that the proposed method could track the change of the track environment in time, reduce the noise interference in the identification process, and effectively identify the adhesion performance parameters.

Typical Explosive Trains Analyzing and Computer Simulating

Through system analysis of typical explosive trains in various fuses, physical and correspondent mathematical models of typical explosive trains are established, based on mass conservation, momentum conservation, energy conservation and so on. MAZE and DYNA2D program is used to dispose these models and results of the simulating of elements of explosive trains in a typical fuse are obtained. It is helpful for designing fuses.

Numerical study on wake characteristics of high-speed trains

Intensive turbulence exists in the wakes of high speed trains, and the aerodynamic performance of the trailing car could deteriorate rapidly due to complicated features of the vortices in the wake zone. As a result, the safety and amenity of high speed trains would face a great challenge. This paper considers mainly the mechanism of vortex formation and evolution in the train flow field. A real CRH2 model is studied, with a leading car, a middle car and a trailing car included. Different running speeds and cross wind conditions are considered, and the approaches of un- steady Reynold-averaged Navier-Stokes （URANS） and de- tached eddy simulation （DES） are utilized, respectively. Re- suits reveal that DES has better capability of capturing small eddies compared to URANS. However, for large eddies, the effects of two approaches are almost the same. In conditions without cross winds, two large vortex streets stretch from the train nose and interact strongly with each other in the wake zone. With the reinforcement of the ground, a complicated wake vortex system generates and becomes strengthened as the running speed increases. However, the locations of flow separations on the train surface and the separation mechanism keep unchanged. In conditions with cross winds, three large vortices develop along the leeward side of the train, among which the weakest one has no obvious influence on the wake flow while the other two stretch to the tail of the train and combine with the helical vortices in the train wake. Thus, optimization of the aerodynamic performance of the trailing car should be aiming at reducing the intensity of the wake vortex system.

Multibody System Dynamics Analysis for Valve Trains

The theory of multibody system dynamics is used to simulate valve trains' kinematics and dynamics characteristics, and the methods of establishing and analyzing the multibody system dynamics model for valve trains are discussed. Since most of the flexible bodies of a valve train are slender parts, the finite segment method is used to build their models. Other parts such as cams, valve heads etc., are built as rigid bodies. After applying the constraints, forces and motions, the establishing of the whole system is accomplished, and the Lagrange's multiplier method can be used to obtain its dynamics constitutive equations. As an example, a valve trains multibody system model of 4100QB engine made by the Yunnan Internal Combustion Engine Limited Liability Company is established, and the analysis results obtained show that its working performance is generally good except that the air pass ability and the lubrication effect of the cam and the tappet have to be improved.

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.

Prediction of vibrations from underground trains on Beijing metro line 15

The impact of vibrations due to underground trains on Beijing metro line 15 on sensitive equipment in the Institute of Microelectronics of Tsinghua University was discussed to propose a viable solution to mitigate the vibrations.Using the state-of-the-art three-dimensional coupled periodic finite element-boundary element(FE-BE) method,the dynamic track-tunnel-soil interaction model for metro line 15 was used to predict vibrations in the free field at a train speed of 80 km/h.Three types of tracks(direct fixation fasteners,floating slab track and floating ladder track) on the Beijing metro network were considered in the model. For each track,the acceleration response in the free field was obtained.The numerical results show that the influence of vibrations from underground trains on sensitive equipment depends on the track types.At frequencies above 10 Hz,the floating slab track with a natural frequency of 7 Hz can be effective to attenuate the vibrations.

Comparative investigations of pressure waves induced by trains passing through a tunnel with different speed modes

Pressure waves induced by high-speed trains passing through a tunnel have adverse effects on train structures and passenger comfort. These adverse effects can be alleviated when the train passing through the tunnel with a speed mode of deceleration. Thus, to investigate the effect of speed modes on pressure waves, three-dimensional compressible unsteady Reynolds-averaged Navier-Stokes simulations and the sliding mesh are used to simulate pressure waves on train surfaces and tunnel walls when trains passing through a tunnel with three different speed modes(a constant speed at350 km/h, a uniform deceleration from 350 to 300 km/h, and another uniform deceleration from 350 to 250 km/h).Compared with the constant speed, the peak-to-peak of the train surface pressure under the other two speed modes reaches a maximum difference of 11.0%. The maximum positive pressure difference of the tunnel wall under different speed modes is caused by the different attenuation of the friction effect when the train enters the tunnel, and the maximum difference is 12.8%. The difference of the maximum negative pressure on the tunnel wall is caused by the different speed and pressure wave intensity of the train arriving at the same measuring point in different speed modes,and the maximum difference is 15.8%. Hence, it can be concluded that a speed mode of deceleration for trains passing a tunnel can effectively alleviate the aerodynamic effect in the tunnel, especially for the pressure on the tunnel wall.

Wind tunnel measurement of aerodynamic characteristics of trains passing each other on a simply supported box girder bridge

The aerodynamic performance of high-speed trains passing each other was investigated on a simply supported box girder bridge,with a span of 32 m,under crosswinds.The bridge and train models,modeled at a geometric scale ratio of 1:30,were used to test the aerodynamic forces of the train,with the help of a designed moving test rig in the XNJD-3 wind tunnel.The effects of wind speed,train speed,and yaw angle on the aerodynamic coefficients of the train were analyzed.The static and moving model tests were compared to demonstrate how the movement of the train influences its aerodynamic characteristics.The results show that the sheltering effect introduced by trains passing each other can cause a sudden change in force on the leeward train,which is further influenced by the wind and running speeds.Detailed analyses related to the effect of wind and train speeds on the aerodynamic coefficients were conducted.The relationship between the change in aerodynamic coefficients and yaw angle was finally described by a series of proposed fitting formulas.

Vibration and acoustic radiation of bogie area under random excitation in high-speed trains

Based on the experiments on a platform with real vehicle structure and finite element simulation, the vibration and interior acoustic radiation under random excitations of high-speed trains’ bogie area were studied. Firstly, combined with line tests, a vehicle body with a length of 7 m was used as the research object. By comparing the results of experiment and simulation, the accuracy of the finite element model was verified. Secondly, the power spectral density curves at typical measuring points in bogie area were obtained by processing and calculating the line test data, which was measured when the vehicle ran at high speeds, and the standard vibration spectrum of the bogie area was obtained by the extreme envelope method. Furthermore, the random vibration test and simulation prediction analysis of the real vehicle structure were carried out to further verify the accuracy of the noise and vibration prediction model. Finally, according to the vibration and acoustic radiation theory, the indirect boundary element method was adopted to predict the acoustic response of the real vehicle. The analysis shows that the simulated power spectral density curves of acceleration and sound pressure level are highly consistent with the experimental ones, and the error between the simulated prediction and the experimental result is within the allowable range of 3 dB.

Communication simulation of on-board diagnosis network in high-speed Maglev trains

The on-board diagnosis network is the nervous system of high-speed Maglev trains, connecting all controller sensors, and corresponding devices to realize the information acquisition and control. In order to study the on-board diagnosis network＇s security and reliability, a simulation model for the on-board diagnosis network of high-speed Maglev trains with the optimal network engineering tool （OPNET） was built to analyze the network＇s performance, such as response error and bit error rate on the network load, throughput, and node-state response. The simulation model was verified with an actual on-board diagnosis network structure. The results show that the model results obtained are in good agreement with actual system performance and can be used to achieve actual communication network optimization and control algorithms.