Road Testing of the Niagaras” by Richard W
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Module 2: Dynamics of Electric and Hybrid Vehicles
NPTEL – Electrical Engineering – Introduction to Hybrid and Electric Vehicles Module 2: Dynamics of Electric and Hybrid vehicles Lecture 3: Motion and dynamic equations for vehicles Motion and dynamic equations for vehicles Introduction The fundamentals of vehicle design involve the basic principles of physics, specially the Newton's second law of motion. According to Newton's second law the acceleration of an object is proportional to the net force exerted on it. Hence, an object accelerates when the net force acting on it is not zero. In a vehicle several forces act on it and the net or resultant force governs the motion according to the Newton's second law. The propulsion unit of the vehicle delivers the force necessary to move the vehicle forward. This force of the propulsion unit helps the vehicle to overcome the resisting forces due to gravity, air and tire resistance. The acceleration of the vehicle depends on: the power delivered by the propulsion unit the road conditions the aerodynamics of the vehicle the composite mass of the vehicle In this lecture the mathematical framework required for the analysis of vehicle mechanics based on Newton’s second law of motion is presented. The following topics are covered in this lecture: General description of vehicle movement Vehicle resistance Dynamic equation Tire Ground Adhesion and maximum tractive effort Joint initiative of IITs and IISc – Funded by MHRD Page 1 of 28 NPTEL – Electrical Engineering – Introduction to Hybrid and Electric Vehicles General description of vehicle movement The vehicle motion can be completely determined by analysing the forces acting on it in the direction of motion. -
Minimising Fuel Consumption of a Series Hybrid Electric Railway Vehicle Using Model Predictive Control
Master of Science Thesis in Electrical Engineering Department of Electrical Engineering, Linköping University, 2017 Minimising Fuel Consumption of a Series Hybrid Electric Railway Vehicle Using Model Predictive Control Niklas Sundholm Master of Science Thesis in Electrical Engineering Minimising Fuel Consumption of a Series Hybrid Electric Railway Vehicle Using Model Predictive Control Niklas Sundholm LiTH-ISY-EX--17/5095--SE Supervisor: Måns Klingspor isy, Linköping University Keiichiro Kondo Department of Electrical and Electronic Engineering, Chiba University Examiner: Martin Enqvist isy, Linköping University Automatic Control Department of Electrical Engineering Linköping University SE-581 83 Linköping, Sweden Copyright © 2017 Niklas Sundholm Abstract With the increasing demands on making railway systems more environmentally friendly, diesel railcars have been replaced by hybrid electric railway vehicles. A hybrid system holds a number of advantages as it has the possibility of recuperat- ing energy and allows the internal combustion engine (ice) to be run at optimal efficiency. However, to fully utilise the advantages of a hybrid system the hybrid electric vehicle (hev) is highly dependent on the used energy management strat- egy (ems). In this thesis, the possibility of minimising the fuel consumption of the series hy- brid electric railway vehicle, Ki-Ha E200, has been studied. This has been done by replacing the currently used ems, based on heuristics, with a model predictive controller (mpc). The heuristic ems and the mpc have been evaluated by compar- ing the performance results from three different test cases. The performance of the implemented mpc seems promising as it yields more optimal operation of the ice and improved control of the battery state of charge (soc). -
Measurement of Tractive Force in the Creep Region and Maximum Adhesion Control of High Speed Railway Systems Abstract 1. Introd
Measurement of Tractive Force in the Creep Region and Maximum Adhesion Control of High Speed Railway Systems Atsuo Kawamura (Yokohama National University, Japan) Meifen Cao (Corporation for Advanced Transport & Technology, Japan) Yosuke Takaoka, Keiichi Takeuchi,Takemasa Furuya, KantaroYoshimoto (Yokohama National University, Japan) Abstract The acceleration and deceleration rate of the train depend on the tractive force. When the wheels of the train slip on the rails, the torque is decreased to avoid the continuous slipping. This reason is that the tractive coefficient between the wheels and the rails has a peak at a certain slip velocity. But this adhesive phenomenon is not clearly examined or analyzed. Thus we have developed a new adhesion test equipment.In this paper, we measured the tractive force with this equipment, and clarified the adhesive phenomenon. Then we proposed a new tractive force control and verified the effectiveness of the proposed control scheme. 1. Introduction The strong demands for Shinkansen are the speed up of the trains, and the increase of the passenger transportation capacity while preserving the safety of high-speed railway systems. One possible approach for this is to enhance the speed adjustment capability. The end results are 1) the safety will be improved by reducing the distance for the urgent stop, 2) the train running density can be improved by increasing the average speed for the existing lines with many curves, that is called the high-density-scheduling. Generally, the speed adjustment performance can be enhanced through increasing driving or braking force that is mostly achieved by the maximum adhesion force between wheels and rails. -
Effects of Soil Moisture and Tillage Speeds on Tractive Force of Disc Ploughing in Loamy Sand Soil
European International Journal of Science and Technology Vol. 3 No. 4 May, 2014 Effects of soil moisture and tillage speeds on tractive force of disc ploughing in loamy sand soil S. O. Nkakini* and I. Fubara-Manuel Department of Agricultural and Environmental Engineering, Faculty of Engineering, Rivers State University of Science and Technology, P.M.B 5080, Port-Harcourt, Nigeria Corresponding author: email : [email protected] Abstract The effect of disc plough speeds and variations in soil moisture content on tractive force requirements was investigated using the trace-tractor technique. The results indicate that tractive forces decrease with increase in soil moisture content at constant tillage speeds of 1.94m/s, 2.22m/s and 2.5m/s respectively. The study further revealed that the optimum speed of operation for disc ploughing is 1.94m/s, while the optimum soil moisture content lies in the range of 2.5% to 25% wb. for the soil under consideration. Soil strength properties decreased with increase in soil moisture content and tillage speeds. This implies that there exists an optimum moisture content above or below which good soil tilth will not be realised. From the results, a linear relationship was established for predicting tractive force of disc plough under varying soil moisture content and plough speed of 1,94m/s, 2.22m/s and 2.5m/s. Keywords: Tractive force, tillage speeds, soil moisture, disc ploughing, loamy sand soil. 1. Introduction Land preparation is one of the major concerns in agricultural operations. Over the years, developments have taken place from the use of traditional methods of farm cultivations to the use of tractor drawn implements (Ahaneku et al., 2004). -
The Niagara Story Thomas R
The Making Of A Legend- The Niagara Story Thomas R. Get:bracht Part I diameter from 25" on the J1, to 22.5", and they in Introduction creased the stroke from 28" to 29" to take maximum In 1945, the Equipment Engineering Department of advantage of the expansive properties of higher pressure the New York Central Railroad developed and Alco exe steam. This reduction of 16 percent in cylinder swept cuted a locomotive design which had a marked impact volume was offset by a 22 percent increase in boiler pres on the steam locomotives to follow, and on the tradi sure, to 275 psi. Main engine starting tractive effort was tional measurements by which motive power would be about the same, at 43,440 lbs. for the J3, but at the same evaluated. This locomotive was so significant that its cutoffs the J3 would be more economical in the use of performance is still discussed by the men who design steam than the Jl. Weight per driving axle increased, and run locomotives. The locomotive was the New York due in part to the use of one piece engine beds and roller Central class S1 4-8-4 Niagara. bearing axles on the J3's. (Later J1's also were provided There have been a number of articles pertaining to by Alco with one piece engine beds.) The weight per this locomotive in the technical and railfan press. The driving axle of the J3 Hudsons was 65,300 lbs. compared purpose of this series is to supplement these various ar with the 60,670 lbs. -
Chapter 4 Vehicle Dynamics
Chapter 4 Vehicle Dynamics 4.1. Introduction In order to design a controller, a good representative model of the system is needed. A vehicle mathematical model, which is appropriate for both acceleration and deceleration, is described in this section. This model will be used for design of control laws and computer simulations. Although the model considered here is relatively simple, it retains the essential dynamics of the system. 4.2. System Dynamics The model identifies the wheel speed and vehicle speed as state variables, and it identifies the torque applied to the wheel as the input variable. The two state variables in this model are associated with one-wheel rotational dynamics and linear vehicle dynamics. The state equations are the result of the application of Newton’s law to wheel and vehicle dynamics. 4.2.1. Wheel Dynamics The dynamic equation for the angular motion of the wheel is w& w =[Te - Tb - RwFt - RwFw]/ Jw (4.1) where Jw is the moment of inertia of the wheel, w w is the angular velocity of the wheel, the overdot indicates differentiation with respect to time, and the other quantities are defined in Table 4.1. 31 Table 4.1. Wheel Parameters Rw Radius of the wheel Nv Normal reaction force from the ground Te Shaft torque from the engine Tb Brake torque Ft Tractive force Fw Wheel viscous friction Nv direction of vehicle motion wheel rotating clockwise Te Tb Rw Ft + Fw ground Mvg Figure 4.1. Wheel Dynamics (under the influence of engine torque, brake torque, tire tractive force, wheel friction force, normal reaction force from the ground, and gravity force) The total torque acting on the wheel divided by the moment of inertia of the wheel equals the wheel angular acceleration (deceleration). -
Tractive Energy Analysis Methodology and Results from Long-Haul Truck Drive Cycle Evaluations
ORNL/TM-2011/455 Large Scale Duty Cycle (LSDC) Project: Tractive Energy Analysis Methodology and Results from Long-Haul Truck Drive Cycle Evaluations May 2011 Prepared by Tim LaClair ORNL/TM-2011/455 Energy and Transportation Science Division LARGE SCALE DUTY CYCLE (LSDC) PROJECT: TRACTIVE ENERGY ANALYSIS METHODOLOGY AND RESULTS FROM LONG-HAUL TRUCK DRIVE CYCLE EVALUATIONS Tim LaClair Date Published: May 2011 Prepared by OAK RIDGE NATIONAL LABORATORY Oak Ridge, Tennessee 37831-6283 managed by UT-BATTELLE, LLC for the U.S. DEPARTMENT OF ENERGY under contract DE-AC05-00OR22725 Contents 1. Background ........................................................................................................................................... 1 2. Fundamental Considerations ................................................................................................................ 3 2.1. Tractive Energy during Different Periods of Vehicle Operation ................................................... 3 2.2. Vehicle Fuel Consumption ............................................................................................................ 8 3. Methods and Equations ...................................................................................................................... 12 3.1. Tractive Energy Analysis and Overall Fuel Savings Potential ...................................................... 12 3.2. Technologies considered and Corresponding Equations ............................................................ 13 3.2.1. Tire Rolling -
2002 Model Railroading ▼ 5 Serving Ohio Bound and the Nation Acy Road of Service Acy V Es 845
▼ PASSENGER OPERATIONS ▼ CONTAINERS KSCU TO MATS ▼ DIESEL DETAIL: SP PA/PBs ▼ January 2002 $4.50 Higher in Canada VerticalVertical AccessAccess HatchesHatches Page 42 VirginiaVirginia SouthernSouthern Page 36 “Painted“Painted On”On” SignsSigns SOU RC Car Page 40 01 > EMDEMD GP40sGP40s Page 28 Seaboard Page 21 Page 28 0 7447 0 91672 7 I Asthe nation's box car fleet began to age in the early 1970's, it NEW SIECO BOX CARS became time for the birth of a brand new generation of freight cars. The Sieco exterior post plate C 50 foot boxcar was developed to fit SO' SIECO BOX CARS ITEM # DESCRIPTION the needs of both Class One and independent per diem short lines G4200 UNDECORATED and has performed yeoman service for more than three decades. G4201 B&M #1 Our Genesis 50' Sieco Boxcar provides the modern age model G4202 B&M #2 railroader with a wealth of prototypical fidelity. Stand alone details, G4203 MILWAUKEE #1 machined metal wheel sets with true-to-scale bearing cups that G4204 MILWAUKEE #2 actually rotate and photo-documented razor sharp graphics are a G4205 N&W#1 G4206 N&W#2 just a few of the benefits of this exceptional boxcar. This makes it a G4207 P&LE #1 "must have" for the realism inspired model rai lroad enthusiast or G4208 P&LE #2 the model railroader who demands that thei r rolling stock be as G4209 ST. LAWRENCE # 1 close to real as it gets. G4210 ST. LAWRENCE #2 January 2002 40 VOLUME 32 NUMBER 1 Photo by James A. -
Up Challenger 4-6-6-4
UP CHALLENGER 4-6-6-4 The 4-6-6-4 class, original Challenger was designed by Otto Jabelmann of the Union Pacific and first built by Alco for UP. Approximately 230 Challengers were built nearly alike, differing only in their steam pressure, cylinders, and boilers. All Challengers had either 69" or 70" drivers and were rated at 94,400 pounds tractive effort on the Delaware Hudson to 106,900 pounds tractive effort on the Northern Pacific. The 4-6-6-4 was often used for passenger service, but its main function was carrying heavy, fast freight. It could average speeds of up to 70 miles per hour. The original Challengers had 21" x 32" cylinders, 69" drivers, 255 pounds steam pressure and weighed 566,000 pounds. The original Union Pacific Challengers were numbered from 3900 to 3939 when they came from Alco, but were renumbered to 3800 to 3839 in 1944 in order to allow space for use on later engines. Alco modified the Challenger starting in 1942 and ending in 1944, making a total of 105 new Challenger locomotives. These improved locomotives had attached front engines. Springs and equalizers took up all irregularities in the track to keep the train in equilibrium. This better balance allowed the new Challengers to reach speeds of up to 70 miles per hour or more. Boiler pressure was increased to 280 pounds, allowing for smaller cylinders. Drivers were still 69", but the total wheelbase was made 5 1/4" longer. The engine now weighed 627,000 pounds and the tractive effort increased to 97,350 pounds. -
The Journal of the Gauge O Guild
pp01-16 Vol18.2-Feb2010 16/01/2011 10:54 Page 1 February 2011 Volume 18 No 2 GAZETTEThe Journal of the Gauge O Guild Arthur in the garden see page 11 pp01-16 Vol18.2-Feb2010 16/01/2011 10:54 Page 2 QUALITY BRASS MODELS IN GAUGES 00, 0 AND 1 Hear the chime whistle, the safety valves and the 3 cylinder beat! Golden Age Models A4 and Pullmans A2 sample in brass A1 sample BR Green LNER coaches with choice of liveries Triplet Restaurant Car set Pullman coaches LNER Dynamometer Car Coronation Observation Car Rebuilt Observation Car A4 Silver Fox and other names A4 Sir Nigel Gresley All brass models beautifully painted with choice of liveries. Photos by Tony Wright Other projects started, please enquire Please contact for details of full range and prices www.goldenagemodels.net to view our photos and DVD with sound Golden Age Models Limited, P.O. Box No. 888, Swanage, Dorset, BH19 9AE Tel: 01929 480210 (with answerphone) E-mail: [email protected] 2 GAUGE O GUILD GAZETTE pp01-16 Vol18.2-Feb2010 16/01/2011 10:54 Page 3 The Gauge ‘O’ Guild Gazette is published quarterly by the Gauge ‘O’ Guild Ltd. The Gauge O Guild Guild website: www.gauge0guild.com Registered Office: Vale & West, Victoria House, 26 Queen Victoria Street, Reading, Berks RG1 1TG GAZETTE Board of Directors: R Alderman, P Bevan, S Gorski, S Harper, M Marritt, B Pinchbeck, Volume 18 No 2 February 2011 G Sheppard, N Smith, B Sumsion, R Walley. Useful Addresses Gazette Editor: John Kneeshaw Hope Cottage, 5 London Street, Godmanchester, Huntingdon PE29 2HU CONTENTS Email: [email protected] -
Flying Scotsman These Resources Are Currently Available Through Search Engine
Search Engine Resource Pack Flying Scotsman These resources are currently available through Search Engine. Our list of resources is growing, please fill in a comment form with comments or recommendations. This resource lists a selection of our holdings for the locomotive, LNER Class A3 4- 6-2 The Flying Scotsman, and the Flying Scotsman rail service between London and Edinburgh that ran from 1862. Bibliography Locomotive and Service o Atkins, Phil. Flying Scotsman Manual: An Insight Into Maintaining Operating & Restoring the Legendary Steam Locomotive, Haynes, 2016. E8F/176 o Clifford, David. The world's most famous steam locomotive : Flying Scotsman. Swanage : Finial Publishing, 1997. Shelfmark: E8F/114 o Harris, Nigel. Flying Scotsman : a locomotive legend. St Michael's on Wyre: Silver Link, 1988. Shelfmark: E8F/110 (In Store, please see staff) o Gwynne, Robert. The Flying Scotsman: the train, the locomotive, the legend. Botley : Shire Publications, in association with the National Railway Museum, 2010. Shelfmark: E8F/146 o Hughes, Geoffrey. Flying Scotsman: the people's engine. York: Friends of the National Railway Museum, 2005. Shelfmark: E8F/138 o London and North Eastern Railway The "Flying Scotsman" : the world's most famous express with the world's longest daily non-stop run. 3rd ed., London : London & North Eastern Railway 1929. Shelfmark: G3/77/3P o Martin, Andrew. Belles & whistles : five journeys through time on Britain's trains. London : Profile Books 2014. Shelfmark G3/197 o McLean, Andrew. Flying Scotsman : speed, style and service. Scala Books in association with the National Railway Museum, 2016. G3/205 Created May 2011. Amended February 2016. -
The Making of a Legend the Niagara Story Thomas R
The Making of a Legend The Niagara Story Thomas R. Gerbracht (Continued from 3rd Quarter 1988 issue) Part VII "Central Headlight;• used sprays of water in the cylin Steam Locomotive Horsepower - ders of the engine on stationary tests to closely approxi Description and Measurement mate the volume of steam delivery to the exhaust nozzle There are more variables in the measurement of steam which would occur in full capacity, over-the-road testing. locomotive horsepower than in diesel or electric horse In this way the smokebox design and its ability to draft power. In the steam era, the railroads who supported the the boiler could be improved. Up to this time, the smoke most comprehensive test programs to measure steam lo box proportions, the size of the table plate and the ex comotive performance, including horsepower, were the haust nozzle, their shapes and their relation to one Pennsylvania Railroad and the New York Central.73 another were largely guesswork. The first locomotives to Other railroads such as C&O, N&W, and Santa Fe ran benefit from these tests were the NYC Hudsons. There is dynamometer car tests, but the PRR and NYC were in no indication that any other railroad utilized this knowl the forefront of steam locomotive development and their edge. For example, reference is made by Ralph Johnson efforts exceeded those of Alco, Baldwin and Lima. that the front ends of the first two PRR T-l's had to be All of the railroads which tested steam power used modified after they were placed in service to enable them to steam properly.77 different techniques, and it is therefore difficult to com pare maximum drawbar ratings of different steam loco C) Flue Size and Effect on Performance motives.