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Active Lateral Secondary Suspension with H∞ Control to Improve Ride Comfort: Simulations on a Full-Scale Model
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Rail Vehicles. KTH, School of Engineering Sciences (SCI), Centres, The KTH Railway Group.
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Rail Vehicles. KTH, School of Engineering Sciences (SCI), Centres, The KTH Railway Group.ORCID iD: 0000-0002-8237-5847
2011 (English)In: Vehicle System Dynamics, ISSN 0042-3114, E-ISSN 1744-5159, Vol. 49, no 9, 1409-1422 p.Article in journal (Refereed) Published
Abstract [en]

In this study, a full-scale rail vehicle model is used to investigate how lateral ride comfort is influenced by implementing the H and sky-hook damping control strategies. Simulations show that significant ride comfort improvements can be achieved on straight track with both control strategies compared with a passive system. In curves, it is beneficial to add a carbody centring Hold-Off Device (HOD) to reduce large spring deflections and hence to minimise the risk of bumpstop contact. In curve transitions, the relative lateral displacement between carbody and bogie is reduced by the concept of H control in combination with the HOD. However, the corresponding concept with sky-hook damping degrades the effect of the carbody centring function. Moreover, it is shown that lateral and yaw mode separation is a way to further improve the performance of the studied control strategies.

Place, publisher, year, edition, pages
2011. Vol. 49, no 9, 1409-1422 p.
Keyword [en]
rail vehicle, active secondary suspension, ride comfort, simulations, full-scale model
National Category
Vehicle Engineering
Research subject
Järnvägsgruppen - Gröna tåget; Järnvägsgruppen - Fordonsteknik
Identifiers
URN: urn:nbn:se:kth:diva-39472DOI: 10.1080/00423114.2010.527011ISI: 000299561600003Scopus ID: 2-s2.0-79960832886OAI: oai:DiVA.org:kth-39472DiVA: diva2:439836
Funder
TrenOp, Transport Research Environment with Novel Perspectives
Note
QC 20110921Available from: 2011-09-09 Created: 2011-09-09 Last updated: 2017-12-08Bibliographically approved
In thesis
1. On Active Secondary Suspension in Rail Vehicles to Improve Ride Comfort
Open this publication in new window or tab >>On Active Secondary Suspension in Rail Vehicles to Improve Ride Comfort
2011 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

One way to make rail vehicles a competitive means of transportation is to increase running speed. However, higher speeds usually generate increased forces and accelerations on the vehicle, which have a negative effect on ride comfort. With conventional passive suspension, it may be difficult to maintain acceptable passenger comfort. Therefore, active technology in the secondary suspension can be implemented to improve, or at least maintain, ride comfort at increased vehicle speeds or when track conditions are unfavourable.

This thesis describes the development of an active secondary suspension concept to improve ride comfort in a high-speed train. Firstly, an active lateral secondary suspension system (ALS) was developed, including dynamic control of the lateral and yaw modes of the carbody. Furthermore, quasi-static lateral carbody control was included in the suspension system in order to laterally centre the carbody above the bogies in curves at high track plane acceleration and hence to avoid bumpstop contact. By means of simulations and on-track tests, it is shown that the ALS system can offer significant lateral ride comfort improvements compared to a passive system.

Two different control strategies have been studied—the relatively simple sky-hook damping and the multi-variable H∞ control—using first a quarter-car and then a full-scale vehicle model. Simulation results show that significant ride comfort improvements can be achieved with both strategies compared to a passive system. Moreover, H∞ control in combination with the carbody centring device is better at reducing the relative lateral displacement in transition curves compared to sky-hook damping.

Secondly, an active vertical secondary suspension system (AVS) was developed, using simulations. Dynamic control of the vertical and roll modes of the carbody, together with quasi-static roll control of the carbody, show significant vertical ride comfort improvements and allow higher speeds in curves. Further, the AVS system compensates for negative ride comfort effects if the structural stiffness of the carbody is reduced and if the vertical air spring stiffness is increased.

Finally, the two active suspension systems (ALS and AVS) were combined in simulations. The results show that both lateral and vertical ride comfort is improved with the active suspension concept at a vehicle speed of 250 km/h, compared to the passive system at 200 km/h. Further, active suspension in one direction does not affect the other direction. The ALS system has been included in two recent orders comprising more than 800 cars.

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2011. 36 p.
Series
Trita-AVE, ISSN 1651-7660 ; 2011:79
Keyword
rail vehicle, active secondary suspension, ride comfort, sky-hook damping, H∞ control, multi-body simulations, on-track tests
National Category
Vehicle Engineering
Research subject
Järnvägsgruppen - Gröna tåget; Järnvägsgruppen - Fordonsteknik
Identifiers
urn:nbn:se:kth:diva-49880 (URN)978-91-7501-155-4 (ISBN)
Public defence
2011-12-16, E2, Lindstedtsvägen 3, KTH, Stockholm, 10:00 (English)
Opponent
Supervisors
Projects
Gröna Tåget
Note
QC 20111205Available from: 2011-12-05 Created: 2011-11-30 Last updated: 2012-03-21Bibliographically approved

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