Linear Analysis of Railway Vehicle as Mechatronic System
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1 Linear Analysis of Railway Vehicle as Mechatronic System Dr. Heinz-Peter Kotz TS BG EN
2 Separated worlds and how to reunify them Power Line Line Filters Converter Power Train Carbody Bogie Wheel-Rail Noise Voltage Disturbance Currents Torques Rotational velocities W-R-Forces Track geometry SIMPLORER SIBEFA SIMPACK SITRAC PC Hardware in the Loop E&M-Simulation Toolkit Track TS CR 2
3 The Simulation Toolkit Implementation Validation and first Applications Linear System Analysis Focus Analysis of Interaction Mechanics Electrics Software Methods: Co-Simulation & Linear System Analysis Established Software Platforms Models Mechanics: Drive train - Bogie - Vehicle Electrics: Converter Induction motor Tachometer dynamics Software: ASG Slip control - GSS - dn/dt Applications Drive train vibrations Vehicle vibrations Shock-loads
4 Methods of Simulation Time-Integration Non-Linear-System Time-Integration Linear-System Linear System Analysis Traction force Traction force Software + Electrics Electrics: Simulink ω [rad/s] M [Nm] Software + Electrics Electrics: Simulink ω [rad/s] M [Nm] Traction force x' = Ax+Bu y = Cx+Du SIMPACK SIMAT x' = Ax+Bu y = Cx+Du Electrics & Mechanics: Linear System Matrices Mechanics: Co-Simulation SIMPACK Mechanics: Co-Simulation SIMPACK Simulation of the entire system Electrics Mechanics Software including track geometry and track irregularities Stand-alone-simulation in MATLAB Fundamental insight into the behaviour of the linear system Various applications: Shock Loads Torsional vibrations Vehicle vibrations Used for verification of system-matrix-export Implemented, validation and first applications
5 The Linearisation Recipe 1. Synchronise Co-Simulation SIMPACK-MATLAB Synchronised state mechanics-electrics Automatisation 2. Linearise Export of linear system matrices from SIMPACK Linearisation of complete system in MATLAB 3. Visualise Root locii Visualise with SIMPACK
6 Synchronise Co-Simulation in time domain Synchronised state
7 Linearise 1. Exchange SIMAT System Matrix Block Torques Rot. velocities A B C D Torques Rot. velocities 2. Linearise the complete system at given times linmod t start t lin1 t lin2 t link t end
8 Visualise Plot Eigenvalues Generate SIMPACK aew-file
9 Automatisation Variation of vehicle parameters Variation modify sys-file set parameter directly Synchronise Linearise Save results Visualise results
10 Example Step 1 Vibration effect due to interaction mechanics-electrics-software is found on the real vehicle Co-simulation in time domain can reproduce the behaviour
11 Example Step 2 Linear analysis - mechanics only (without E&M-coupling) Traditional mode shapes from mechanics
12 Example Step 3 Linear analysis - complete system (with E&M-coupling) Additional mode shapes from interaction mechanics-electrics with correct frequency are found
13 Summary Intention Apply methods of linear system analysis to models of railway vehicles as mechatronic system Method Results Outlook Find a synchronised state electrics-mechanics by co-simulation Exchange SIMAT-block by system-matrix-block Import system matrices from SIMPACK Linearise the complete system in MATLAB Visualise results in SIMPACK Method has been applied to sample models Basic technical functionality is provided Validation and testing is in progress
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