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Simplified Tilt Simplified tilt FRÉDÉRIC ROCHAT Master of Science Thesis Stockholm, Sweden 2007 Simplified tilt Frédéric Rochat Master of Science Thesis MMK 2007:26 MPK 586 KTH Industrial Engineering and Management Machine Design SE-100 44 STOCKHOLM Examensarbete MMK 2007:26 MPK 586 Enklare korglutning Frédéric Rochat Godkänt Examinator Handledare 2007-03-16 Jan-Gunnar Persson Vincent Capponi (EPFL) Paul Xirouchakis (EPFL) Uppdragsgivare Kontaktperson Sebastian Stichel Sammanfattning Detta projekt leddes av Bombardier Transportation i Västerås i samarbete med KTH Stockholm och EPFL Lausanne. Projektet syftar till att utveckla en ny och enklare korglutning för spårfordon. Ökat konkurrens på marknaden beroende på ett bredare utbud av andra transportmedel tvingade tågkompanier att förbättra sin prestanda. En av de mest uppenbara faktorerna för hög prestanda är restiden, som kan minskas genom användning av höghastighetståg. De kräver kurvor med stor radie och långa övergångskurvor för att undvika minskad komfort, vilket är ett andra mått på prestanda. Att bygga nya spår, som är anpassade till höghastighetståg, är mycket dyrbart och kan bara möjliggöras där antalet resenärer är högt. Tåg som har förmågan att luta korgen inåt i kurvor är ett billigare alternativ. Genom att korglutning minskar sidoaccelerationen passagerarna upplever, kan tågen hålla högre hastighet genom kurvorna med bibehållen komfort. Risken för åksjuka ökar dock. Fördelar med korglutningståg är förbättrad möjlighet till hög hastighet in i kurvor samt högre passagerarkomfort, men är dyrare både vad gäller inköps- och underhållskostnad. Eftersom konventionella tåg dessutom har ökat hastigheten i kurvor har prestandafördelen med korglutningståg minskat. Skillnaden i pris förblir dock tydlig och tycks vara konstant. Dessutom har korglutningståg dåligt rykte vad gäller pålitlighet och på grund av åksjuka. Detta arbete presenterar en state of the art av korglutningståg med fokus på deras mekanik, men tar också i övervägande reglersystem och aktuatorer/motorer. Nya och enklare lösningar har hittats och presenteras i jämförelse med nuvarande industriella konstruktioner. Nuvarande lösningar förväntas förbli fördelaktiga på den framtida marknaden. En ny lösning är föreslagen, men kräver mer detaljerade studier för att utvärdera och bedöma om den är utförbar. Ingen förändring förväntas ske på aktuatorområdet. Komplexa algoritmer som använder lagrad spårinformation och tågpositionen förväntas ta över marknaden inom en snar framtid. Master of Science Thesis MMK 2007:26 MPK 586 Simplified tilt Frédéric Rochat Approved Examiner Supervisor 2007-03-16 Jan-Gunnar Persson Vincent Capponi (EPFL) Paul Xirouchakis (EPFL) Commissioner Contact person Sebastian Stichel Abstract This project was led on behalf of Bombardier Transportation in Västerås, Sweden, in collaboration with KTH Stockholm and EPFL Lausanne. This project is connected to the development of a new and simplified tilt system for rail vehicles. Growing competition from other means of transportation has forced railway companies throughout the world to search for increased performances. Travelling time is the most obvious performance indicator that may be improved by introducing high-speed trains. They require very large curve radii and long transitions curves not to impair ride comfort, another performance indicator. Building new tracks adapted to high speed trains is very costly and can only be justified where the passenger base is large. Trains with the capability to tilt the carbodies inwards the curve is a more cost efficient alternative. The tilt inwards reduces the lateral force felt by the passengers allowing the train to pass curves at enhanced speed with maintained ride comfort but increases the frequency of motion sickness. The benefits of tilting trains are improved speed capability in curves and enhanced passengers comfort, but at higher buying and maintenance cost. As the conventional trains increase their speed in curves, the performance advantage of tilting trains is reduced while their prize is still kept significantly higher and constant. Moreover, tilting trains often suffer from bad reputation regarding reliability and motion sickness. This work presents a state of the art of tilting trains mainly focused on their mechanisms, but also taking in consideration control and activation. New and simplified solutions have been researched and are presented in comparison with existing embodiments. Existing solutions are expected to stay advantageous and available on the market. A new possible solution is proposed and requires further investigations to verify its feasabilty. No change is expected concerning activation. It is foreseen that complex control algorithms using onboard track data and train position are going to be usual technology. Frédéric ROCHAT 2006-2007 Diploma thesis Simplified tilt Contents 1TU UT IntroductionTU UT .....................................................................................................2 1.1TU UT BackgroundTU of this studyUT ............................................................................2 1.2TU UT ObjectivesTU of this studyUT ..............................................................................3 2TU UT Track,TU trains and tiltUT .........................................................................................4 2.1TU UT InfrastructureTU UT .............................................................................................4 2.2TU UT VehiclesTU UT ....................................................................................................11 2.3TU UT StoryTU of tiltingUT ...........................................................................................16 2.4TU UT DevelopmentTU trendsUT ..................................................................................18 2.5TU UT RailsTU dynamicsUT ..........................................................................................20 2.6TU UT ComfortTU UT .....................................................................................................29 2.7TU UT MotionTU sicknessUT ........................................................................................31 2.8TU UT HowTU much to tiltUT .......................................................................................35 2.9TU UT PerformanceTU and advantages of tilting trainsUT ...........................................35 2.10TU UT AdditionalTU requirements of tilting trainsUT ...................................................36 3TU UT RequirementsTU for the optimal solutionUT ...........................................................40 4TU UT TiltTU mechanismUT ...............................................................................................48 4.2TU UT DifferentTU possible configurationsUT ..............................................................52 4.3TU UT PatentsTU UT .....................................................................................................56 4.4TU UT OverviewTU of existing mechanismsUT .............................................................56 4.5TU UT BrainstormingTU & creativityUT ........................................................................68 4.6TU UT NovelTU designsUT............................................................................................68 4.7TU UT OverviewTU of all possible tilt mechanismsUT ..................................................78 4.8TU UT SystemsTU to be assessedUT ............................................................................79 4.9TU UT AssessmentTU of different mechanismsUT ........................................................80 5TU UT ActuatorsTU UT ........................................................................................................92 5.1TU UT PneumaticTU actuatorsUT .................................................................................92 5.2TU UT HydraulicTU actuatorsUT ...................................................................................93 5.3TU UT Electro-mechanicTU actuators.......................................................................93UT 5.4TU UT Electro-hydraulicTU actuatorsUT .......................................................................94 5.5TU UT AssessmentTU of actuatorsUT ...........................................................................94 6TU UT ControlTU UT ............................................................................................................97 6.1TU UT RequirementsTU of tilt controlUT ......................................................................97 6.2TU UT ReactiveTU tiltUT...............................................................................................98 6.3TU UT PredictiveTU tiltUT ..........................................................................................101 6.4TU UT ComparativeTU diagramUT ..............................................................................107 7TU UT ConclusionsTU and further workUT .......................................................................108 7.1TU UT ConclusionsTU UT .............................................................................................108 7.2TU UT FurtherTU workUT ...........................................................................................108 8TU UT AcknowledgementsTU UT .......................................................................................110 9TU UT BibliographyTU UT ....................................................................................................II
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