• Smart Structures and Systems
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• 제23권4호
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• pp.347-357
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• 2019

A new methodology for mitigation of the wheel squealing is proposed and investigated based on the dithering control. The idea can be applied in railway lines particularly in urban areas. The idea is clearly presented, and applied to a validated model. A full-scale model including the vehicle, curved track and wheel/rail contact is developed in the time domain to analyze the possibility and level of wheel squeal noise. Comparing the numerical results with a field test, the model is validated in different levels namely i) occurrence, ii) squealing frequency and iii) noise level. Two different approaches are proposed a) dithering of the wheel with piezoelectric patches and b) dithering of the rail with piezoelectric stacks. The noise level as well as the wheel responses is compared after applying the control strategy. A parametric study is carried out and effect of the dithering voltage and frequency on the squealing noise is investigated. It is found that both the strategies perform quite effectively within the saturating threshold of piezoelectric actuators.

• International Journal of Railway
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• 제3권2호
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• pp.60-67
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• 2010

This paper deals with an experimental study on the wheel flange climbing of railway vehicles, which is a major factor leading to derailment. An experiment is carried out on a 1/5-scale model wheelset of a truck used on a standard-gauge track, which is placed on a roller rig. The lateral external force acting on the wheelset is ramped up until derailment occurs under the condition of a fixed attack angle and wheel-load unbalance ratio. Three parameters, the height of wheel lift, the lateral force, and the wheel load acting on the outer rail, are measured until derailment occurs. From these measurements, it is possible to observe the behavior of the wheelset and to elucidate how the attack angle, the wheel-load unbalance ratio and the lateral external force affect flange-climb derailment. Then, a numerical simulation is carried out using an analytical model based on a single wheelset. As a result, the flange-climb behavior observed in the experiment can be explained theoretically on the bases of the analytical results, although further improvement of the model is desired.

• 제어로봇시스템학회논문지
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• 제17권9호
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• pp.882-887
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• 2011

A spiral electrodynamic wheel is proposed as an actuator for the contactless conveyance of a conductive rod. When rotating the wheel around the rod, a radial force, a tangential force, and an axial force are generated on the rod and cause a screw motion of the rod. The rotation of the rod is the inevitable result due to traction torque of the wheel and the unintended motion to be excluded. However, the rotating speed of the rod should be measured without mechanical contact to be cancelled out through the controller, so the electrodynamic wheel is used as a sensor measuring the rotating speed of the rod indirectly as well as an actuator. In this paper, we model the magnetic forces by the proposed wheel theoretically and compare the derived model with simulation result by Maxwell, and analyze influences on the magnetic forces by key parameters constituting the wheel. The feasibility of the conveyance system is verified experimentally.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.1270-1276
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• 2003

This paper describes an analytical method for wheel wear prediction. The outputs from vehicle dynamic software are used to calculation the wheel wear. Two calculation examples are shown for a high-speed line and a conventional line. Through the comparison of two cases, we can see the wheel wear characteristics on the conventional line and the high-speed line. The conventional line has many curved tracks that cause severe wheel flange wear. The influences of curve radius on wheel wear are also described considering the operational performance of the high speed trainset. A method of calculation using contact patch work model is presented for determination of the evolution by wear railway wheels.

• 한국철도학회논문집
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• 제7권3호
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• pp.186-192
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• 2004

Using the finite element method, rail-wheel contact model has been analyzed for mechanical loads due to passengers and payload of the train. This paper presents an investigation on how tapered wheel and inclined rail surfaces affect the contact stress and displacement of rail-wheel contacting surface under mechanical loads. For a numerical analysis, the tapered faces of the wheel are considered as 2.5% and 5.5%. And two models of the tilted rail are also considered as 40：1 and 20：1 at the bottom of the rail. The computed results based on the contact stress and displacement FE analysis indicate that the tilting ratio of the rail, 20：1 with a tapered face of the wheel, 2.5% may be more stable compared to that of 40：1 tilting model and 5.5% tapered wheel face.

• Structural Engineering and Mechanics
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• 제12권4호
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• pp.409-428
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• 2001

The characteristics of dynamic wheel loads of heavy vehicles running on bridge and rigid surface are investigated by using three-dimensional analytical model. The simulated dynamic wheel loads of vehicles are compared with the experimental results carried out by Road-Vehicles Research Institute of Netherlands Organization for Applied Scientific Research (TNO) to verify the validity of the analytical model. Also another comparison of the analytical result with the experimental one for Umeda Entrance Bridge of Hanshin Expressway in Osaka, Japan, is presented in this study. The agreement between the analytical and experimental results is satisfactory and encouraging the use of the analytical model in practice. Parametric study shows that the dynamic increment factor (DIF) of the bridge and RMS values of dynamic wheel loads are fluctuated according to vehicle speeds and vehicle types as well as roadway roughness conditions. Moreover, there exist strong dominant frequency resemblance between bounce motion of vehicle and bridge response as well as those relations between RMS values of dynamic wheel loads and dynamic increment factor (DIF) of bridges.

• Advances in aircraft and spacecraft science
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• 제1권4호
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• pp.379-398
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• 2014

This article discusses the microvibration analysis of a cantilever configured reaction wheel assembly. Disturbances induced by the reaction wheel assembly were measured using a previously designed platform. Modelling strategies for the effect of damping are presented. Sine-sweep tests are performed and a method is developed to model harmonic excitations based on the corresponding test results. The often ignored broadband noise is modelled by removing spikes identified in the raw signal including a method of identifying spikes from energy variation and band-stop filter design. The validation of the reaction wheel disturbance model with full excitations (harmonics and broadband noise) is presented and flaws due to missing broadband noise in conventional reaction wheel assembly microvibration analysis are discussed.

• 한국항공우주학회지
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• 제38권7호
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• pp.702-708
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• 2010

반작용휠의 경우 위성 탑재체에 영향을 미치는 가장 큰 고주파수 교란 중 하나로 평가되고 있다. 위성의 높은 지향-안정성 보장과 영상품질 향상을 위해서 이러한 진동원들에 대한 진동저감장치의 적용이 요구되고 있다. 따라서 효과적 진동저감장치 개발을 위해서는 반작용휠의 정확한 휠/교란 모델링이 선행되어야 한다. 본 연구에서는 반작용휠 구조모델과 교란에 대한 모델링 기법에 대해서 기술하였다. 해석적 휠 및 교란모델을 이용하여 플라이휠의 구동에 의해 발생하는 교란력을 계산하였다. 휠의 교란력에 대한 주파수 특성을 이용하여 휠/교란 모델 변수들의 추정기법을 제시하였으며, 모델링 기법의 정확성을 해석적으로 검증하였다. 또한, 다양한 교란력 계수 추정법을 비교하여 본 연구에서 제시한 휠 및 교란 모델링 기법의 필요성을 확인할 수 있었다. 본 연구에서 제시한 휠 및 교란 모델링 기법은 휠 진동저감 장치의 개발에 유용한 모델로 활용될 것으로 판단된다.

• 로봇학회논문지
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• 제18권4호
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• pp.427-435
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• 2023

This paper proposes a method of estimating the pose of a mobile robot by using a learning model. When estimating the pose of a mobile robot, wheel encoder and inertial measurement unit (IMU) data are generally utilized. However, depending on the condition of the ground surface, slip occurs due to interaction between the wheel and the floor. In this case, it is hard to predict pose accurately by using only encoder and IMU. Thus, in order to reduce pose error even in such conditions, this paper introduces a pose estimation method based on a learning model using data of the wheel encoder and IMU. As the learning model, long short-term memory (LSTM) network is adopted. The inputs to LSTM are velocity and acceleration data from the wheel encoder and IMU. Outputs from network are corrected linear and angular velocity. Estimated pose is calculated through numerically integrating output velocities. Dataset used as ground truth of learning model is collected in various ground conditions. Experimental results demonstrate that proposed learning model has higher accuracy of pose estimation than extended Kalman filter (EKF) and other learning models using the same data under various ground conditions.

• Journal of Biosystems Engineering
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• 제14권3호
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• pp.151-157
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• 1989

A mathematical model was developed to predict traction forces of rigid wheels. The modeling was based on the energy principle that the total energy delivered to a driving wheel is equal to the works done by the useful traction force and motion resistance of that wheel. The effect of the wheel slippage was also included in the modeling. Verification of the proposed model was provided by comparing the tractive coefficients predicted by the model to those obtained experimentally at the in-door soil bin tests. The model predictions were found to be a reasonable agreement with the experimental results.