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Measures to Enhance the Dynamic Performance of Railway Catenaries

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Measures to Enhance the Dynamic Performance of Railway Catenaries Measures to Enhance the Dynamic Performance of Railway Catenaries Zhendong Liu Doctoral Thesis in Vehicle and Maritime Engineering KTH Royal Institute of Technology TRITA-AVE 2017:60 School of Engineering Sciences ISSN 1651-7660 Dep. of Aeronautical and Vehicle Engineering ISBN 978-91-7729-524-2 Teknikringen 8C, SE-100 44 Stockholm, SWEDEN 2017 Academic thesis with permission by KTH Royal Institute of Technology, Stockholm, to be submitted for public examination for the degree of Doctor of Philosophy of Engineering in Vehicle and Maritime Engineering, Wednesday the 18th of October, 2017 at 10:00 am in the room F3, Lindstedtsvägen 26, KTH Royal Institute of Technology, Stockholm, Sweden. TRITA-AVE 2017:60 ISSN 1651-7660 ISBN 978-91-7729-524-2 Zhendong Liu, June 2017 ii Preface The work presented in this thesis was performed between September 2013 and June 2017 at the Department of Aeronautical and Vehicle Engineering at KTH Royal Institute of Technology in Stockholm, Sweden. It was mainly supported by KTH Royal Institute of Technology and China Scholarship Council, and partly by Swedish Transport Administration (Trafikverket), Bombardier Transportation and Schunk group. I would like to thank my main supervisor Prof. Sebastian Stichel in particular for guiding and inspiring me to explore the unknown world. I would like to give special thanks to my co-supervisors, Dr. Per-Anders Jönsson and Prof. Anders Rønnquist, for sharing their knowledge with me and helping me to solve every problem during my study. In addition, I appreciate Prof. Mats Berg for his kind help on every aspect during my PhD study. I am grateful for the support from all other colleges in our unit: Carlos, Alireza, Saeed, Tomas, Yuyi, Weiyuan, Visakh as well as all the former colleges at the unit. I also give my thanks to Leping Feng and Petter Nåvik for helpful and fruitful discussions. In addition, I would like to thank the small Chinese community at my department at KTH and all my former colleges in China Academy of Railway Sciences. In the end, I want to show my most heartfelt gratitude to my parents and my wife, for their encouragements and support in the past years. Stockholm, June 2017 Zhendong LIU iii “滴水之恩，涌泉相报” iv Abstract The pantograph-catenary system is used in railways to transfer electric power from the stationary infrastructure to the moving trainset. As the pantograph slides against the catenary, the contact between the two surfaces is not stable due to stiffness variation, propagating wave and other environmental perturbation, especially at high speeds or in multi-pantograph operation. Heavy oscillation can result in poor power-transmission quality, electromagnetic interference, severe wear or even structural damage. Therefore, the pantograph-catenary dynamics has become one of the key issues which limits the maximum operational speed and determines the maintenance cost. There are many types of catenary systems developed in Sweden, which are relatively soft and sensitive compared with the systems used in other countries. They work well at low operational speed and have strict limitations to multi- pantograph operation. Although it is possible to achieve an operational speed of 350 km/h on newly-built high-speed lines, there is still a large demand for higher operational speed and more capacity on the existing lines. Many researchers and engineers have made progress to improve the dynamic performance of pantograph-catenary systems. From the research aspect, many numerical models have been built up to better demonstrate the dynamics of the pantograph-catenary system and to unveil the key influencing factors. There have also been many engineering applications developed in recent years. From the catenary aspect, high-tensile loads on the catenary and low-stiffness- variation designs are widely used to improve the dynamic performance. From the pantograph aspect, aerodynamic-friendly designs and active-control technique contribute to the development of high-speed pantograph. All these methods to upgrade the existing systems need not only large investment but also long suspension of the service. Considering the large scale and the heavy service duty of the existing railway lines, it becomes almost impossible to completely upgrade the existing pantograph-catenary systems. Therefore, it is necessary to find practical and efficient methods to exploit the potentials of the existing systems to enhance their dynamic performances. In response, this thesis investigates the dynamic behaviour of the existing Swedish pantograph-catenary systems and proposes methods for better usage of the existing systems. A numerical study on multi-pantograph operation is performed and the relationships between dynamic performance and some key parameters are established. By studying the multi- pantograph operation at short spacing distance between pantographs, a method to use the leading pantograph as auxiliary pantograph is proposed aiming to increase the operational speed on the soft catenary system. To ensure operational safety in abnormal conditions, numerical studies on pantograph raising/lowering processes and in catenary overlap sections are performed. By studying the influence of the catenary lumped-mass on the dynamic performance, it shows that it is not necessary to avoid the lumped-masses on the catenary. It is even possible to implement some artificial tuned-masses on the catenary for dynamic optimization. v Keywords: numerical study, pantograph-catenary interaction, soft catenary system, multi- pantograph operation, auxiliary-pantograph operation, tuned-mass application. vi Sammanfattning Strömavtagare och kontaktledning används i järnväg för att överföra elkraft från den stationära infrastrukturen till det rörliga tågsättet. Eftersom strömavtagaren glider mot kontaktledningen är kontakten mellan de två ytorna inte stabil på grund av att kontaktkrafterna varierar och kan även gå ner till noll, dvs. Strömavtagaren tappar kontakt med kontaktledningen. Anledningen till dessa variationer är styvhetsvariationer, svängning på kontaktledningen och annan miljöinflytande, särskilt vid höga hastigheter eller vid drift med flera strömavtagare på samma tågsätt. Kraftiga variationer i kontaktkraften kan leda till dålig effektöverföringskvalitet, elektromagnetisk störning, svårt slitage eller till och med strukturell skada. Därför har strömavtagare-kontaktledningssystemet blivit en av de viktigaste frågorna som begränsar maximal driftshastighet och bestämmer underhållskostnaden. Det finns många typer av kontaktledningssystem i Sverige som är mjukare och känsligare än som de används i andra länder. De har låg tillåten hastighet och strikt begränsning vad gäller fler-strömavtagardrift. Trots att det är möjligt att uppnå en driftshastighet på 350 km/h på nybyggda höghastighetslinjer, är det ocskå stor efterfrågan på högre hastighet och kapacitet på befintliga banor. Många forskare och ingenjörer har gjort framsteg för att förbättra den dynamiska prestandan hos strömavtagare-kontaktledningssystemen. På forskningssidan har många numeriska modeller byggts upp för att bättre visa den dynamiska interaktionen av strömavtagare- kontaktledningssystemet och avslöja de viktigaste påverkningsfaktorerna. Det finns också många tekniska applikationer utvecklade de senaste åren. Vad gäller kontaktledningen används i stor utsträckning höga dragbelastningar och lågstyvhetsvariationer för att förbättra den dynamiska prestandan. Från strömavtagarens aspekt bidrar aerodynamisk optimering och aktiv reglerteknik till utvecklingen av höghastighetsströmavtagare. Alla metoder för att uppgradera de befintliga systemen behöver inte bara stora investeringar utan också långa trafikavbrott. Med tanke på det stora järnvägsnätet och den befintliga transportvolymen blir det nästan omöjligt att helt uppgradera befintliga strömavtagare-kontaktledningssystem. Därför är det nödvändigt att ta reda på praktiska och effektiva metoder för att förbättra operativiteten och utforska potentialen i de befintliga systemen. Som svar undersöker denna avhandling de dynamiska beteenden hos befintliga strömavtagare-kontaktledningssystem och föreslår metoder för bättre användning av befintliga system. En numerisk studie om multi-strömavtagardrift utförs och förhållandet mellan dynamisk prestanda och några nyckelparametrar undersöks. Efter att ha studerad fler- strömavtagarsdrift med kort avstånd mellan strömavtagare, föreslås en metod för att använda den ledande strömavtagaren som hjälpströmavtagare för att öka driftshastigheten på det mjuka kontaktledningsystemet. För att säkerställa driftssäkerheten vid onormala förhållanden, utförs numeriska studier på höjnings- och sänkningsoperationen av strömavtagare och i överlappningen av kontaktledningssektioner. Genom att studera inverkan av punkt-massor på den dynamiska prestandan visar det sig att det inte är nödvändigt att alltid undvika den massan vii på kontaktledningsystemet och det är möjligt att använda vissa konstgjorda massor på kontaktledningsystemet för att optimera det dynamiska beteendet. Nyckelord: numerisk studie, strömavtagare-kontaktledningssystem, fler-strömavtagardrift, mjukt kontaktledningssystem, extraströmavtagare, avstämt massystem. viii Dissertation This thesis consists of a summary of the present work and a collection of the following appended papers: Paper A Zhendong Liu, Per-Anders Jönsson, Sebastian Stichel and Anders Rønnquist, ‘Implication of multiple pantograph operation on soft catenary systems in Sweden’, IMechE Part F: Journal of Rail and Rapid Transit,
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