Review and Summary of Computer Programs for Railway Vehicle Dynamics (Final Report), 1981
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9( <85 W f Review and Sum m ary of U.S. D epartm ent of Transportation Computer Programs for Federal Railroad Administration Railway Vehicle Dynam ics Office of Research and Development Washington, D.C. 20590 FRA/ORD-81/17 February 1981 Document is available to the U.S. Final Report public through the National Technical information Service, Walter D. Pilkey and Staff Springfield, Virginia 22161 School of Engineering and Applied Science University of Virginia 03 - Rail Vehicles at Charlottesville, V A 22901 Components NOTICE This document is disseminated under the sponsorship of the U.S.Department of Transportation in the interest of information exchange. The United States Government assumes no liability for the contents or use thereof. NOTICE The United States Government does not endorse products of manufacturers. Trade or manufacturer's names appear herein solely because they are considered essential to the object of this report. Technical Report Documentation Page 1. Report No. 2. Governm ent A c c e s s io n N o. 3. R e c ip ie n t 's C a t a lo g No. FRA/0R&D-81/17 . 4. Title and Subtitle 5. R e p o rt D ate REVIEW AND SUMMARY OF COMPUTER PROGRAMS FOR RAILWAY February 1981 VEHICLE DYNAMICS . Q. 6. Performing Organization Code 8. Performing Orgoni zofion Report No. 7. A u th o r's) UVA-529162-MAE80-101 Walter D. Pilkey 9. Performing Organization Name and Address 10. Work Unit No. (TRAIS) School of Engineering and Applied Science, University of Virginia 11. Contract or Grant No. DOT-FR-8076 Charlottesville, VA 22901 13. Type of Report and Period Covered 12. Sponsoring Agency Name and Address Final Report Department of Transportation Office of Research and Development Federal Railroad Administration 14. S p o n so rin g A g e n c y C o d e FRA/RRD-11 Washinaton. D.C. 20590 15. Supplem.ntary Notes 16. Abstract ' To assess the state of development of computer programs which apply to the dynamics of rail vehicles, reviews were prepared of programs in six different categories: lateral stability, curving dynamics, wheel/rail contact, freight vehicle dynamics, analog hybrid simulation, and train dynamics. In addition, a number of European programs were summarized. A survey of users of the programs was also undertaken. The great majority of available programs are not widely used; some were developed for specific purposes and are not suitable for general use. The three programs which are most frequently applied are Train Operations Simulator (TOS), Quasi-Static Lateral Stability Model (QSLTS), and Nonlinear Flexible Car Body Vehicle Model (FVEH). These codes appear to be the best choices for further improvement and verification. Other areas in which users believe computer programs could be profitably employed are wear, fatigue, fracture, inelastic behavior, and impact. The principal drawback in applying existing codes seems to be the difficulty in obtaining accurate input data, such as damping constants, moments of inertia, stiffnesses, and locations of mass centers. 17; Koy Words 18. Distribution Statement Train Dynamics Computer Models Document is available to the public Wheel/Rail Contact through the National Technical Informa Lateral Stability tion Service, Springfield, VA 22161 Curving Dynamics Freight Vehicle Dynamics 19. Security Clossif. (of this report) 20. Security Clossif. (of thi s page) 21* No. of Pages 22. P -ie e None None 129 Form D O T F 17(1 (8-72) Reproduction of completed page authorized METRIC CONVERSION FACTORS 23 A pproxim ate Conversions from M etric Measures ------22 = Symbol When You KnowMultiply by To Find Symbol Symbol When You KnowMultiply by To Find Symbol --8 __ ------ 21 8 ------ = LENGTH ----- 20 = LENGTH ------ 19 mm millimeters 0.04 inches in ssz cm centimeters 0.4 inches in . - = = meters 3.3 in inches *2.5 centimeters cm ------18 m feet ft ft feet 30 centimeters cm - m meters 1.1 yards Vd km kilometers 0.6 miles mi yd yards 0.9 meters m -----n ------ 17 mi miles 1.6 kilometers kni — = —E ------16 AREA AREA — = 15 cm2 square centimeters 0.16 square inches in2 in2 square inches 6.5 square: centimeters cm2 m2 square meters 1.2 square yards yd2 ft2 square feet 0.09 . square meters m2 km2 square kilometers 0.4 square miles mi2 yd2 square yards 0.8 square meters m2 — ------ 14 ha hectares (10,000 m2) 2.5 acres mi2 square miles 2.6 square kilometers km2 —“ acres 0.4 hectareis ha 5------ — MASS (weight) — ~ grams 0.035 ounces OZ oz ounces 28 grams - 9 9 kg kilograms 2.2 pounds lb lb pounds 0.45 kilograms' .. = kg t tonnes (1000 kg) 1.1 short tons short tons 0.9 tonnes t 4------ (2000 lb) ~ VOLUME — = tsp teaspoons 5 milliliters ml =E 8 ml milliliters 0.03 fluid ounces fl oz Tbsp tablespoons 15 milliliters ml 3------ — = i liters 2.1 pints Pt fl oz fluid ounces 30 milliliters ml =5 i liters 1.06 quarts qt --------7 c cups 0.24 liters i = i titers 0.26 gallons gal pt pints 0.47 liters i — m3 cubic meters 36 cubic feet ft3 quarts --------6 m3 cubic meters 1.3 cubic yards qt 0.95 liters i = yd3 gal gallons 3.8 liters i — ft2 cubic feet 0.03 “ cubic meters m3 2 ------ --------5 TEMPERATURE (exact) yd3 cubic yards 0.76 cubic meters m3 ------- 4 TEMPERATURE (exact) ° c Celsius 9/5 (then Fahrenheit °F temperature add 32) temperature °F Fahrenheit 5/9 (after Celsius °C --------3 temperature subtracting temperature ^ 1 — °F 32) = --------2 °F 32 98.6 212 = - 4 0 0 40 80 120 160 2001 *1 in. = 2.S4 cm (exactly). For other exact conversions and more detail tables see ~~ | 1 ,1 1 1 l 1 l I 1 I i 1 1 L I 1 1 1 1 1 1 1 1 1 1 1 r \ ■—r* ’-f i i 1 i l 1 1 NBS Misc. Publ. 286. Units of Weight and Measures. Price $2.25 SO Catalog = —40 —20 20 40 60 80 100 No. C13 10 286. inches = cm o c 0 37 °C . Executive Summary The purpose of this survey was to assess the state of development of computer codes which apply to the dynamics of rail vehicles. A list of these codes was compiled, and the codes were divided by function into six groups. An authority was then selected to prepare a summary of the program in each group. In addition, users of the programs were queried to obtain information on the effectiveness of the codes and to identify areas in which improvements were needed. Some information on German and British rail dynamics programs was also gathered. Jeffrey L. Hadden of Battelle-Columbus Laboratories reviewed the programs which deal with lateral stability of rail vehicles. He summarized and compared ten codes which are based on linear models and one code which uses a quasilinear model. He concluded that a program for validation of computed results is needed before computer codes can be relied on for more than predicting qualitative trends in vehicle behavior. The programs dealing with curving dynamics of rail vehicles were reviewed by Robert S. Jeffcoat of Foster-Miller Associates Inc. Sixteen programs and two analytical models were summarized in this group. The review includes discussions of such topics as solution methods, models, and features which programs should possess. The wheel/rail contact review included descriptions of five codes: CONFORM and COUNTACT by B. Paul, Kalkerfs Simplified Theory and Kalker's Exact Theory by James Goree, and DUVOROL by J. Kalker. N. Sussman, formerly of the Mitre Corporation, has summarized and compared two programs in the Freight Vehicles Dynamics Section1; these programs were FRATE and the IIT Freight Model. The similarities and differences of these two codes are described in detail in this section. In the Analog/Hybrid Simulation section, Carl Malstrom discusses analog/ digital systems in general and describes recent activity in using hybrid sys tems in rail vehicle simulation. The final group review by S. Shum deals with train dynamics models. Six models which apply to either longitudinal, lateral, or vertical train dynamics are described. A translation of a German summary of a number of European programs used to' study rail vehicle dynamics is also included, and a brief description of three British programs is presented. Some of these programs could be useful to j ' American analysts. The response to the users questionnaires indicated that the most widely applied programsare Train Operations Simulator (TOS), Quasi-Static Lateral Train Stability Model (QSLTS), and Nonlinear Flexible Car Body Vehicle Model (FVEH). The majority of the available codes are not in use; only eleven of a list of seventy codes were reported as being applied by at least one of the thirty-three responding users. Some programs which were not developed specifically for railroad applications are being used to analyze trains and rail cars, e.g., STRUDL, NASTRAN, and STARDYNE. A limited amount of experimental and analytical verification of computed results has been done; most users felt that the programs gave reasonable results and that they executed efficiently. The complaint was frequently voiced that input data was difficult to obtain and organize. Many programs lack complete documentation; they were developed for specific tasks and are not suitable for general use. i Wear, fatigue, fracture, inelastic behavior, and impact were mentioned as areas in which computer programs might advantageously be applied. There appears to be a pressing need to apply existing codes more widely and effectively. Because of relatively wide application, programs TOS, QSLTS, and FVEH seem the best choices to be objects of improvement and validation programs.