An example of a power-off maneuver of a vehicle without a straight line motion control

In this paper some selected results related to motor vehicle dynamics have been presented basing on the computer simulations of a sports two-seater performing a power-off straight line maneuver with different road conditions and the lack of a straight-line motion control having been included. All simulations have been performed in the MSC Ad-ams/Car environment and the adopted maneuver was performed at the instant speed of 100km∙h-1. The selected phe-nomena have therefore been observed along the road long enough to relate them to different aspects of vehicle dynam-ics and the road traffic safety research. The adopted vehicle’s model moved along the flat and the randomly uneven road with the almost similar and the almost different profiles for the left and the right wheels. Additionally, two values of the coefficient determining the maximum amplitude of road irregularities have been selected, i.e., 0.3 for the lower and 0.9 for the higher irregularities. This meant that the road conditions have been considered as one of the main factors possibly affecting disturbances of the motor vehicle’s motion. Such research seems valuable from the point of view of the road safety and the vehicles’ maintenance. A power-off straight maneuver is not very often performed during the normal road traffic and might seem useless. However, in this case it seemed essential to test the response of a vehicle’s model to such factors as, e.g., the uneven loading, suspension characteristics, etc. This in turn might prove valuable when considering, e.g., the additional con-centration of a driver to overcome the external disturbances acting on a moving vehicle. The presented research is the second part of the paper (Kisilowski, 2019) where the power-off maneuver was considered but with the straightforward motion control. Here, the straight-line control has been switched off to examine an untypical situation where, for example a driver loses consciousness, and the vehicle moves freely along the road

Railroad Turnout Wear Diagnostics

The article presents a few issues related to the technical condition of a railway turnout, an important element of the railway network where about 90% of railway accidents occur. In the first part of the article, the results of railway turnout wear are presented. A comparison of normal forces (in wheel–rail contact) in vehicle traffic on straight track without a turnout and normal forces occurring when a rail vehicle passes a turnout is presented. Then, turnout wear processes for selected speeds are presented. In the next part of the paper, the possibilities of using a vision system are presented, which, in combination with tools for image processing analysis, makes it possible to detect wear and distances between the key elements of a railway turnout. The main idea of the proposed online diagnostic system solution is to use the analysis of received images (photos) with the help of a vision system. The basic problem to be solved in the proposed system was to develop algorithms responsible for generating wear areas from high-resolution images. The algorithms created within the work were implemented and tested in the MATLAB software environment. The presented method is an original procedure for diagnosing turnout elements for each time instant. The proposed system is compatible with railway traffic control systems

Method for Determining the Susceptibility of the Track

This paper discusses real-world experiments in which selected ground imperfections were dynamically analysed in terms of track susceptibility for a linear and non-linear system. The imperfections included wheel pressure on local ground irregularities within the railway turnout. In this study, susceptibility was assumed as an element between two points (two masses)—most often susceptibility is assumed as a Voigt model (parallel combination of stiffness and damping). The tests were carried out for two configurations of train passage through a railway turnout on straight and diverging track. The track stiffness parameters of the railway turnout were determined from deflection measurements measured by sensors positioned at different points of the turnout. The components of the railway turnout were loaded with different forces. The damping parameter was determined from bench measurements of the actual track component. The function describing this damping is dry friction and such a function was determined. The second part of the study was concerned with measurements of stiffness and moments of inertia in a railway switchyard. The analysis carried out indicated the significance of the adverse effects of selected factors on the operation of the railway track (e.g., increasing the length of non-contact of the track with the ground or additional deflections of the railway track rail arising). The paper points out that such imperfections, in addition to the calculated additional deflections, cause, among other things, disturbances in the progressive movement of the rolling stock

Selected aspects of motor vehicle dynamics on the example of a power-off straight line maneuver

In this paper the selected phenomena related to motor vehicle’s motion have been considered basing on a computer simulation. The vehicle performed a power-off straight line maneuver with different road conditions being included. All simulations have been performed in the MSC Adams/Car environment based on the available sports two-seater vehicle model, realizing the adopted maneuver at the instant speed of 100km/h. This enabled observation of the selected phenomena along the road long enough to relate them to different aspects of vehicle dynamics research. As for the randomly uneven road, almost similar and almost different profiles have been assumed for the left and right wheels of the vehicle. Additionally, two values of the coefficient determining the maximum amplitude of road irregularities have been selected: 0.3 for lower and 0.9 for higher irregularities, so the road surface conditions along with the flat road have been considered as one of the factors causing disturbances of the motor vehicle motion. Such research seems valuable from the point of view of road traffic safety and vehicle maintenance. This specific example is a presentation of the possible research on vehicle dynamics as well as a potential background for further considerations including different types of vehicles along with almost different road profiles for the left and right wheels of the given vehicle model. A power-off straight maneuver is not performed very often in normal road traffic. However, such test could be valuable when analyzing influence of the selected motor vehicle parameters, such as uneven loading, suspension characteristics, etc. on such maintenance features as stability, steerability and the influence of external disturbances acting on the moving vehicle. Further research provides different maneuvers and different simulation conditions

Numerical Testing of Switch Point Dynamics—A Curved Beam with a Variable Cross-Section

The article presents mathematical considerations on the dynamics of the springing switch point being an element of the railway junction. Due to the structure of the switch point, mathematical analysis was divided into two stages: The first stage refers to the analysis of the dynamics of the switch point as a beam of variable rectilinear stiffness to which three forces (coming from three closures of switch drives) placed in the initial section of the switch point are applied. The next stage of the analysis concerns an identical beam, but curved, with a variable cross-section. In both cases, the beam is subjected to a vertical force resulting from forces from the rail vehicle. The calculations refer to a switch point of 23 m length and a curvature radius R = 1200 m. The first stage of the switch point analysis refers to the movement of a rail vehicle on a straight track, and the second stage concerns the rail vehicle movement on a reverse path. This article also provides an analysis of mode vibrations of a curved beam with a variable cross-section, and variable inertia and stiffness moments (further in the article the changes will be referred to as beam parameter changes). It is assumed that the beam is loaded with vertical forces (coming) from a rail vehicle. The solution was found by applying the Ritz method, which served to present the fourth-order partial equations as ordinary differential ones. The numerical research whose results are given aimed to define how the changes in beam parameters and vertical load affect mode vibrations of the beam

Method for Determining the Susceptibility of the Track

This paper discusses real-world experiments in which selected ground imperfections were dynamically analysed in terms of track susceptibility for a linear and non-linear system. The imperfections included wheel pressure on local ground irregularities within the railway turnout. In this study, susceptibility was assumed as an element between two points (two masses)—most often susceptibility is assumed as a Voigt model (parallel combination of stiffness and damping). The tests were carried out for two configurations of train passage through a railway turnout on straight and diverging track. The track stiffness parameters of the railway turnout were determined from deflection measurements measured by sensors positioned at different points of the turnout. The components of the railway turnout were loaded with different forces. The damping parameter was determined from bench measurements of the actual track component. The function describing this damping is dry friction and such a function was determined. The second part of the study was concerned with measurements of stiffness and moments of inertia in a railway switchyard. The analysis carried out indicated the significance of the adverse effects of selected factors on the operation of the railway track (e.g., increasing the length of non-contact of the track with the ground or additional deflections of the railway track rail arising). The paper points out that such imperfections, in addition to the calculated additional deflections, cause, among other things, disturbances in the progressive movement of the rolling stock

Współpraca pojazdu szynowego z rozjazdem

The paper presents a mathematical model of the switch point with R radius > 1200 m. The switch point was treated as a beam with variable stiffness and variable moment of inertia. A simulation was performed for a constant force loading the switch point and for real parameters of the switch point with R = 1200 m.Artykuł przedstawia model matematyczny iglicy rozjazdu kolejowego o promieniu r≥1200 m. Iglica traktowana jest jako belka o zmiennej sztywności i zmiennym momencie bezwładności (wzdłuż długości iglicy). Przedstawiono symulację modelu matematycznego iglicy obciążoną stała siłą w kontakcie koła z szyną, korzystając z rzeczywistych parametrów takiej iglicy

On a Possibility of a Side Impact Collision Analysis

In this paper a potential use of the tangential coefficient of restitution has been analyzed on the basis of a computer simulation of a side oblique collision between two motor vehicles. The simulation was carried out in PC-Crash 8.0. The results obtained for a side impact collision have been considered along with the tangential phenomena occurring between the colliding vehicles. The simulation was repeated three times for the adopted values of the coefficient of restitution. Then the coefficient of restitution was divided into two components (normal and tangential) which has been described in further parts of the paper. The obtained results were compared with the certain analytical calculations basing on the vehicle crash model for a vehicles performing a planar motion but with the phenomena between their bodies included. Also a theory of collision between the rough surfaces was used. The aim of this analysis was to examine whether the coefficient of restitution divided into two perpendicular components will alter the results obtained from the analytical calculations and if it is worthy considering such division in analyzing the real accidents in road traffic. Also it has been considered whether such complication of a vehicle crash model is useful and necessary

Modelowanie matematyczne ruchu bezzałogowego statku powietrznego - czterowirnikowca

The article presents an analytical approach to building a mathematical model of a quadrocopter. The main purpose of building the model was to design an appropriate facility control system and analyze its behavior in various situations. The assumption was made to build a model, control system and all accompanying algorithms in an open programming environment, which will allow their subsequent implementation in a real facility, without the need to use expensive software. The quadrocopter is controlled by the operator by means of hand movements that are read by the camera and properly interpreted using advanced image processing methods. The entire system is visualized and embedded in a three-dimensional simulation environment. The model study was conducted using a DC motor as an input data source. The operation of the model was checked with a controller when a disturbance was introduced into the model. The four-rotor model with a selected regulator was tested by analyzing the angular velocity and position of the object in a rectangular coordinate system. At the end of the article, the results of the simulations made are presented and the resulting conclusions are presented.W artykule przedstawiono analityczne podejście do budowy modelu matematycznego czterowirnikowca. Głównym celem budowy modelu było zaprojektowanie odpowiedniego systemu sterowania obiektem oraz analiza jego zachowania w różnych sytuacjach. Przyjęto założenie, aby model, system sterowania oraz wszystkie towarzyszące im algorytmy zbudować w otwartym środowisku programistycznym, co pozwoli na ich późniejszą implementację w rzeczywistym obiekcie, bez konieczności stosowania drogiego oprogramowania. Sterowanie czterowirnikowcem przez operatora odbywa się za pomocą ruchów ręki, które są odczytywane przez kamerę i odpowiednio interpretowane przy użyciu zaawansowanych metod przetwarzania obrazu. Cały system jest wizualizowany i osadzony w trójwymiarowym środowisku symulacyjnym. Badania modelowe przeprowadzono z wykorzystaniem silnika prądu stałego jako źródła danych wejściowych. Działanie modelu zostało sprawdzone za pomocą kontrolera po wprowadzeniu do modelu zakłócenia. Model czterowirnikowca z wybranym regulatorem testowano analizując prędkość kątową i położenie obiektu w prostokątnym układzie współrzędnych. Na końcu artykułu zaprezentowano wyniki przeprowadzonych symulacji oraz przedstawiono wynikające z nich wnioski

Stability test of Hyperloop vehicle in different movement conditions

The guide of the Hyperloop system in the paper is mathematically represented as a continuous system along which the force from the capsule travels, with the capsule in turn represented as a discrete system. The simulations discussed in the article were used to determine the displacements of the magnet elements. ANSYS software was used to perform the simulations using finite element calculations (FEM). The stability of the capsule will be determined from the results of the displacements present in the system. Taking into account the existing conditions in the magnet and guide assembly system, the simulation results were used to analyse stability in technical and stochastic terms (Lyapunov criteria) for non-linear systems. In the technical stochastic stability analysis, the transverse displacements of the electromagnets were used. The probability of unstable Hyperloop motion was then calculated