dynamic and decoupling analysis of the bogie with...

Dynamic and Decoupling Analysis of the Bogie with

Single EMS Modules for Low-speed Maglev Train

Yougang Sun*1, 2

, Wanli Li1, Daofang Chang

2, Yuanyuan Teng

2

1 School of Mechanical Engineering, Tongji University, 201804, China 2 College of Logistics Engineering, Shanghai Maritime University, 201306, China

[email protected]

Abstract. In order to analyze the decoupling capacity of the bogie of low speed

maglev train, a dynamic multi-degree model of rising, falling, nodding and

rolling movement of the maglev bogie is built. A single maglev bogie

decoupling test platform is established. The experimental test results are

included to demonstrate the decoupling capacity of the low-speed maglev train

bogie and provide an important evidence for simplifying the whole train

suspension control into single EMS Module suspension control.

Keywords: decouple; low speed maglev train; dynamics; bogie; single EMS

module.

1 Introduction

Low speed maglev transportation technology with prominent advantages of the low

operating noise, small turning radius, strong climbing ability and the less maintenance

costs is becoming a new type of urban rail transit [1-3]

. The bogie frame is the core

component of the maglev train’s operation and control system. The characteristics of

the bogie frame are not only related to the safety and comfort of the vehicle, but also

have a decisive influence on the design of the suspension control algorithm and the

rail system [4]

. So we need to conduct a thorough study of the characteristics of the

bogie frame.

Fig. 1. Structure of the MAGLEV train

Advanced Science and Technology Letters Vol.121 (AST 2016), pp.83-88

http://dx.doi.org/10.14257/astl.2016.121.16

ISSN: 2287-1233 ASTL Copyright © 2016 SERSC

Fig. 2. Structure of the maglev bogie frame

In the world, the low-speed maglev trains adopt different types of anti-rolling

mechanism as bogie frame. South Korean UTM-02 maglev trains use an anti-roll sill

with a suspension module to realize the anti-roll decoupling [5]

. But the maglev trains

of the commercial operation line in Inchon use the steeve type anti roll decoupling

mechanism [6]

. In China, most of the middle and low speed maglev test vehicles use

the steeve type anti roll decoupling mechanism [4, 7-8]

. At present, there is little

research on the structure decoupling of the low speed maglev bogie frame structure.

The kinematic requirements of single bogie frame to realize the mechanical

decoupling based on the D-H transform is proposed by Zhang Kun[9]

and Zhang Gen[7]

etc.. But they didn’t figure out the bogie frame’s dynamics analysis. Jiang Haibo [10]

etc. analyzed the working principles of the anti-roll decoupling mechanism of bogie

frame, and analyzed the design requirements of the decoupling mechanism according

to the motion relationship between bogie frame and the rail.

In this paper, the dynamic multi-degree model of rising, falling, nodding and

rolling movement of the maglev bogie is built and decoupling capability of the low

speed maglev bogie frame is analyzed by experimental test.

2 Low-speed Maglev Train Bogie Frame Structure

The low speed maglev train system adopts the distributed structure. The vehicle body

includes two parts, which are the carriage and the bogie frame. Each carriage is

supported by 3-4 identical but independently controlled bogie frames, and the bogie

frame and carriage are connected by an air spring. The physical structure of the bogie

frame is shown in Figure 2.

To the bogie frame of the low speed maglev train, the motion of the left and right

modules in the movement process must be decoupled. The so-called decoupling refers

to the relative position between the left and right modules, which can be realized by

the motion of the joints of the lateral roll. The bogie frame makes the interaction

between 4 Single EMS Modules in a very small range, which can realize the stable of

the whole bogie frame by the independent single EMS module control.

Advanced Science and Technology Letters Vol.121 (AST 2016)

84 Copyright © 2016 SERSC

3 Dynamic Modeling of Maglev Bogie

Fig. 3. Dynamic model of the bogie frame

The dynamic model of the bogie frame is shown in Figure 3. Assume the bogie frame

as a rigid body, it can be simplified as a vibration system composed of two rigid

bodies, which are connected with each other by the elastic damping element (Kb, Cb).

Each rigid body has three degrees of freedom, which are ups and downs, nodding and

rolling. The vertical levitation force of the electromagnet in Single EMS Module is

equivalent to the spring damper suspension (Kp, Cp), which means to linearize the

suspension force at the equilibrium point.

According to Figure 3, we can get the whole bogie dynamic equations in the

directions of ups and downs, the pitch and lateral roll.

2 2 2

1 1 1

2 2 2

1 1 1

(2 ) (2 )

(2 ) (2 )

l l li l p l li p l li

i i i

r r p r ri p r ri ri r

i i i

m z F m g C z W K z W

m z C z W K z W F m g

2 2

1 1 1 2 1 1 1 2 1 2 2

2 2

1 2 2 1 1 1 2 1 1 1 2

[2 ( )] [2 ( )] ( )

( ) [2 ( )] [2 ( )]

l l P l l l p l l l l l

r r r r P r r r p r r r

J C l l W W K l l W W F F l

J F F l C l l W W K l l W W

2 2 2 2

2 2 2 2

[( ) 2 ( )( )] 2 [( )

2 ( )( )])] 2

[( ) 2 ( )( )] 2 [( )

2 ( )(

l l b b l b l b l r l b b l

b l b l r l

r r b b r b r b l r r b b r

b r b l r

J C l l l l l l z z C K l l

l l l l z z K

J C l l l l l l z z C K l l

l l l l z z

)])] 2 rK


Copyright © 2016 SERSC 85

4 Test for the Bogie Frame’s Capacity of Decoupling

4.1 Test Philosophy

Sensors and jacks are applied to the bogie frame which has shown in Fig.5. Jacks are

adjusted to make the four corners of the bogie frame in one plane. Then, one of the

four corners will be jacked up from 0mm to 25mm and the data of the pressure

sensors and the displacement of the bogie beam can be read. The variation of the four

forces and the four displacements can be obtained by jacking up the four corners one

by one and the degree of coupling can be obtained, while the capacity of decoupling

can also be got.

1—jack, 2—pressure sensor, ①②③④—displacement sensor

Fig. 4. Test platform

4.2 Test Results

In order to analyze the influence of the pivot on the displacements and loads of each

point, the initial value of the displacements and the loads will be subtracted and listed

in table 1. According to table 1, when pivot 1 is being jacked up, the variation of the

diagonal pivot’s load is in accordance with the variation of the pivot’s load and the

variation of the adjacent pivots are also in accordance. The displacement of pivot is

quite big while the other three pivots are quite small (all about 1.0mm), which is

satisfying to the decoupling requirements. The results for the pivot 1 and the other

three pivots are quite similar. So, we only give the test results of pivot 1 in this paper.



Table 1. The vertical displacement change table-- pivot 1 load

NO

.

Displac

ement

increme

nt

(mm)

Point 1 Point 2 Point 3 Point 4

Stres

s

(kN)

Displa

cemen

t (mm)

Stress

(kN)

Displace

ment

(mm)

Stress

(kN)

Displa

cemen

t

(mm)

Stress

(kN)

Displa

cemen

t (mm)

1 2.18 0.23 2.18 -0.17 -0.01 0.22 0.01 -0.26 0.03

2 5.82 0.48 5.82 -0.45 -0.01 0.53 -0.03 -0.53 0.10

3 10.44 0.71 10.44 -0.68 -0.01 0.76 -0.07 -0.73 0.19

4 15.07 0.86 15.07 -0.76 -0.01 0.86 -0.09 -0.84 0.21

5 20.18 1.11 20.18 -1.02 -0.01 1.09 -0.14 -1.05 0.36

6 25.33 1.44 25.33 -1.35 -0.02 1.43 -0.22 -1.39 0.61

The test results show that vertical displacements of single EMS modules are not

interacting with each other in a certain range, decoupling capacity of the bogie is

excellent

5 Conclusions

(1) A dynamic multi-degree model of rising, falling, nodding and rolling movement

of the maglev bogie is built. The simulation proves the decoupling capacity of the

bogie in theory.

(2) The experimental test results demonstrate the single EMS modules on bogie are

not interacting with each other, which can realize the stable of the whole bogie frame

by the independent single EMS module control.

References

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