Exploring Aspects in the Application of Long Accelerating Moving Walkways
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Mind Your Step Exploring aspects in the application of long accelerating moving walkways Indraswari Kusumaningtyas Cover: Photo by Peter Baker Mind Your Step Exploring aspects in the application of long accelerating moving walkways Proefschrift ter verkrijging van de graad van doctor aan de Technische Universiteit Delft, op gezag van de Rector Magnificus prof. dr. ir. J.T. Fokkema, voorzitter van het College voor Promoties, in het openbaar te verdedigen op dinsdag 27 oktober 2009 om 12:30 uur door Indraswari KUSUMANINGTYAS werktuigkundig ingenieur geboren te Tanjungpandan, Indonesië Dit proefschrift is goedgekeurd door de promotor: Prof. dr. ir. G. Lodewijks Samenstelling promotiecommissie: Rector Magnificus, voorzitter Prof. dr. ir. G. Lodewijks, Technische Universiteit Delft, promotor Prof. dr. ‐ing. L. Overmeyer, Leibniz Universität Hannover, Germany Prof. dr. F. Robusté, Universitat Politècnica de Catalunya, Spain Prof. dr. ir. S.C. Santema, Technische Universiteit Delft Prof. dr. ir. S.P. Hoogendoorn, Technische Universiteit Delft Prof. dr. eng. J.A. Ferreira, Technische Universiteit Delft Prof. dr. ir. J. Hellendoorn, Technische Universiteit Delft This dissertation is the result of research carried out from 2005 to 2009 at Delft University of Technology, Faculty of Mechanical, Maritime and Materials Engineering, Department of Maritime and Transport Technology, Section of Transport Engineering and Logistics. TRAIL Thesis Series no. T2009/10, The Netherlands TRAIL Research School TRAIL Research School P.O. Box 5017 2600 GA Delft The Netherlands Phone: +31 (0)15 2786046 Fax: +31 (0)15 2784333 Email: [email protected] ISBN: 978‐90‐5584‐122‐6 Copyright © 2009 by Indraswari Kusumaningtyas All rights reserved. No part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying and recording, or in any information storage or retrieval system without the prior written permission of the author. Printed in the Netherlands by Ipskamp Drukkers To my daughter Naureen, who began her journey together with this work Contents 1 Introduction 1 1.1 Background 1 1.2 Research objective 5 1.3 Research approach 5 1.4 Thesis outline 6 2 The story of accelerating moving walkways 9 2.1 Historical development 9 2.2 Birth of conventional moving walkways 11 2.3 Revival of high‐speed moving walkways 11 2.3.1 In‐line belts 12 2.3.2 Sliding parallelograms 12 2.3.3 Sliding pallets 12 2.3.4 Accelerating/decelerating rollers with high‐speed belt 13 2.4 Conclusions 15 3 Characteristics and comparative evaluation of accelerating moving walkways 17 3.1 Introduction 17 3.2 Research approach 18 3.2.1 Scope of analysis 18 3.2.2 Selection of data 19 3.3 Characteristics of the selected transport systems 20 3.3.1 Bus 20 3.3.2 Light rail 26 3.3.3 Automated people mover 27 3.3.4 Personal rapid transit 28 3.3.5 Conventional moving walkway 30 vii viii Exploring aspects in the application of long accelerating moving walkways 3.3.6 Accelerating moving walkway 32 3.4 Comparative evaluation 34 3.5 Conclusions 40 4 Characteristics and behaviour of pedestrians as passengers of accelerating moving walkways 43 4.1 Introduction 43 4.2 Human characteristics, abilities and limitations related to AMW design 44 4.2.1 Physical characteristics of human body 44 4.2.2 Ability to maintain balance and stability 46 4.2.3 Cognitive and sensory abilities 47 4.3 Human behaviours related to AMW use 48 4.3.1 Approaching the AMW 49 4.3.2 Boarding the AMW 53 4.3.3 Travelling on the high‐speed section 57 4.3.4 Exiting the AMW 59 4.4 Influence towards aspects in AMW applications 60 4.4.1 Effective capacity 60 4.4.2 AMW length 61 4.4.3 Safety 62 4.4.4 Alternative route 62 4.4.5 Power consumption 62 4.5 Conclusions 63 5 A study on the application of accelerating moving walkways in Amsterdam Airport Schiphol 65 5.1 Introduction 65 5.2 Amsterdam Airport Schiphol 66 5.2.1 The passenger terminal 66 5.2.2 Passenger processes 68 5.2.3 Expansion plans 69 5.3 Evaluation of AMWs for intra‐terminal transport 69 5.3.1 Current situation in Schiphol Centrum 70 5.3.2 AMWs in Schiphol Centrum 76 5.4 Evaluation of AMWs for inter‐terminal transport 80 5.4.1 A projection on Schiphol Noordwest 80 5.4.2 AMWs between Schiphol Noordwest and Schiphol Centrum 81 5.5 Conclusions 83 Contents ix 6 Analysing drive-related application aspects in long accelerating moving walkways 85 6.1 Introduction 85 6.2 Drive‐related aspects 86 6.2.1 Components and support structure requirements 86 6.2.2 System and passenger safety 87 6.3 Research approach 88 6.3.1 Multiple drives 88 6.3.2 Drive control 89 6.3.3 Dynamic simulations 90 6.4 AMW system considered 91 6.4.1 Main components 91 6.4.2 Assumptions for investigating multiple drives 97 6.5 Modelling the AMW high‐speed belt conveyor 98 6.5.1 Belt dynamics 99 6.5.2 Motion resistances 102 6.5.3 Passenger flow 105 6.5.4 Drive station 107 6.5.5 Simulation framework 110 6.6 Conclusions 111 7 Performance of long accelerating moving walkway belts with single and multiple drives 113 7.1 Introduction 113 7.2 Model parameters 113 7.3 Behaviour of single‐drive AMW belts 115 7.3.1 System layout 116 7.3.2 Starting 116 7.3.3 Influence of passenger distribution 122 7.3.4 Stopping 125 7.4 Behaviour of long multiple‐drive AMW belts 131 7.4.1 System layout 131 7.4.2 Starting 132 7.4.3 Influence of passenger distribution 136 7.4.4 Stopping 139 7.5 Implications towards drive‐related application aspects 144 7.5.1 System components and support structure 144 7.5.2 System and passenger safety 145 7.5.3 Power consumption 145 7.6 Conclusions 146 x Exploring aspects in the application of long accelerating moving walkways 8 Performance of long multiple-drive accelerating moving walkway belts with voltage control 147 8.1 Introduction 147 8.2 Drive control 148 8.2.1 Method of drive control 148 8.2.2 Implementation in the simulation framework 149 8.3 Behaviour of long multiple‐drive AMW belts with voltage control 149 8.3.1 System layout 149 8.3.2 Starting 150 8.3.3 Influence of passenger distribution 152 8.3.4 Stopping 154 8.4 Implications towards drive‐related application aspects 158 8.4.1 System components and support structure 158 8.4.2 System and passenger safety 159 8.4.3 Power consumption 159 8.5 Conclusions 159 9 Conclusions and recommendations 161 9.1 Conclusions 161 9.1.1 On aspects influencing the application of long AMWs 162 9.1.2 On the effects of using multiple drives in long AMWs 164 9.2 Recommendations 166 Nomenclature 169 References 173 Summary 185 Samenvatting 189 Acknowledgement 193 Curriculum vitae 195 TRAIL Thesis Series 197 Chapter 1 Introduction 1.1 Background The most basic mode of human transport is, undoubtedly, walking (Allan, 2001; Brög and Mense, 2003). Even with the availability of modern and sophisticated transport modes, walking is still normally carried out, at least, at the beginning and the end of a journey. If the journey involves intermediate change of vehicle, within or across transport modes, more walking may have to be performed. Efforts are continuously made to ease walking, such as by providing safe and comfortable paths or by placing facilities at as close distances as possible. Despite these efforts, in some situations it may occur that walking distances are still relatively long for pedestrians to cover within their comfort level. In such cases, moving walkways can be applied. In the EN 115‐1:2008 standard, the European Committee for Standardization (Comité Européen de Normalisation, CEN) defines a moving walkway as a ‘power‐driven installation for the conveyance of persons in which the user carrying surface remains parallel to its direction of motion and is uninterrupted (e.g. pallets, belt)’ (CEN, 2008). Various terms are also commonly used to name such a system, such as moving walk, moving sidewalk, moving pavement, passenger conveyor, pedestrian conveyor, or travelator. These terms are used interchangeably in this thesis. The first ever concept of a continuous moving pavement was proposed in 1874 for New York, with the intention to alleviate congestion (Richards, 1966). Several other concepts of moving walkways were also put forward as new forms of transport to reduce city congestions due to horse‐drawn vehicles. Only very few of these were actually constructed, mainly as attractions during large exhibitions. The enthusiasm for these new systems faded with the development of electric tramway, railway, motor car and motor bus, which more or less “solved” the transport problems in that early period. Interests in the use of moving walkways emerged for the second time 1 2 Exploring aspects in the application of long accelerating moving walkways some fifty years later, when the traffic conditions and town congestions once again became worse (Tough and O’Flaherty, 1971). Although the idea to use moving walkways to relieve congestions was not realized, the first modern moving walkway found its way into installation as a permanent form of transport in an underground rail station in Jersey City, New Jersey, in 1954. It was due to the development of this first modern system that conventional moving walkways found their present form, as shown in Figure 1.1. (a) (b) Figure 1.1.