Influence of statics and dynamics on high performance catenary designs
A.Carnicero, J.R.Jimenez-Octavio ([email protected]) M.Such, A.Ramos & C.Sánchez-Rebollo ([email protected])
Pantograph Catenary Interaction Framework for Intelligent Control
December 8th, 2011Amiens, France
2Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Outline
• Influence of static and dynamics on… the catenary-pantograph interaction
• Influence of static and dynamics on…the optimization of the catenary designs
• Influence of static and dynamics on…the wind effects on the catenary
• Influence of static and dynamics on…the track-vehicle-pantograph-catenary interaction
3Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Catenary-pantograph dynamic interaction
• Simplified lumped• FEM• Multibody dynamics• Modal analysis• PDAE’s
Difficulties & Models• Geometric
nonlinearity• Contact nonlinearity• Discretization (Ω,t)• Computational time• Accuracy
4Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Catenary simplified model
Equivalent stiffness
Equivalent mass
5Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Catenary FEM based model Space discretization
Type of elements Truss, Non-Linear truss or Co-rotational truss (only tension)Euler-Bernoulli beam, Non-Linear beam or Co-rotational beamMass-Spring-DumperConcentrate massSegment-point contact
Number of elements
Time discretization -b Newmark family HHT -a generalized
Distance (m)
Heig
ht
(m
)
6Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Space discretization
Cont
act w
ire
Messenger wire
Truss Euler Beam Co-rotational
Euler Beam 4.87 h. 5.25 h. 4.68 h.
Co-rotational 6.02 h. 5.81 h. 6.04 h.
Elements between droppers
Messenger wire
3 6 9
3 2.65 h.
6 2.93 h. 4.27 h. 5.35 h.
9 6.04 h.
12 7.89 h.
15 9.90 h.
Con
tact
wir
e
Element type
7Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Moving mesh FEM model
Distance (m)
Heig
ht
(m
)
Rough meshMoving mesh
8Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Density analysis & EN50318 validationMessenger
wire Contact wireMoving mesh
5 10 15 20 25 30
3 3 2.16 h. 2.22 h. 2.29 h. 2.27 h. 2.29 h. 2.33 h.
3 6 3.99 h. 3.65 h. 3.63 h. 3.68 h. 3.66 h. 3.62 h.
6 9 7.69 h. 7.78 h. 7.30 h. 7.03 h. 6.86 h. 6.65 h.
EN50318:2002 “Validation of simulation of the dynamic interaction between pantograph and overhead contact line”.
The Technical Specifications for Interoperability (TSI:2008) Energy subsection requires the simulation of the catenary-pantograph dynamics with a EN50318 validated
simulation method
9Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Comparison of the models - 300 km/h
Distance (m)
Conta
ct
forc
e (
N)
SimplifiedMEFMoving Mesh
10Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
The close-future 3D simulation model
11Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Outline
• Influence of static and dynamics on… the catenary-pantograph interaction
• Influence of static and dynamics on…the optimization of the catenary designs
• Influence of static and dynamics on…the wind effects on the catenary
• Influence of static and dynamics on…the track-vehicle-pantograph-catenary interaction
12Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Optimization of the geometry – Genetic Algorithms
Distance (m)
Heig
ht
(m
)
• Sizing• Configuratio
n• Topology• Materials
• Spans• Masts• Cables• Droppers
13Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Pareto front for the 1st and all of the droppers
14Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Optimized design – FQ1
15Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Dynamic check of the designs - 300 km/h
16Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Outline
• Influence of static and dynamics on… the catenary-pantograph interaction
• Influence of static and dynamics on…the optimization of the catenary designs
• Influence of static and dynamics on…the wind effects on the catenary
• Influence of static and dynamics on…the track-vehicle-pantograph-catenary interaction
17Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Wind effects on the catenary
Wind effects Statics Dynamics
18Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Static effects on the catenary
Position [m]
Late
ral d
isp
lace
men
t [m
]Vert
ical d
isp
lace
men
t [m
]
19Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Buckling effects on the catenary
20Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Contact force variation
Position [m]
Con
tact
Forc
e V
ari
ati
on
[%
]
Distance [m]
Heig
ht
[m
]
Position [m]
Con
tact
Forc
e V
ari
ati
on
[%
]
21Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Outline
• Influence of static and dynamics on… the catenary-pantograph interaction
• Influence of static and dynamics on…the optimization of the catenary designs
• Influence of static and dynamics on…the wind effects on the catenary
• Influence of static and dynamics on…the track-vehicle-pantograph-catenary interaction
22Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Catenary-Pantograph-Vehicle-Track
Rail Clip
Sleeper
Rail
Ballast
23Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Random irregularities on the track
24Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Effects of random irregularities on the track
Differences around 3% in the contact forces and around 8% in displacements
25Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Pass over long viaducts
Differences over 10%, depending on the kind of large
viaduct
26Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Pass over short viaducts
Differences up to 10%, depending on the kind of short viaduct
27Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
• A moving FEM mesh proposal has been compared to a simplified method based on statics and a classic FEM.
• The moving FEM mesh dynamic simulation is validated by EN50318, saves 30% CPU time over classic FEM mesh and has been used into the certification of the catenary Madrid-Barcelona line.
• Static parameters and criteria are not enough to tackle the geometric optimization of high performance catenary designs.
• Lateral wind can result in huge displacements and even the buckling of certain registration arms. The variability of the contact forces grows up besides the dynamic displacements may reach critical values.
• The simulation of the Catenary-Pantograph-Vehicle-Track with accurate static characteristics allows to obtain more realistic values of the Catenary-Pantograph dynamic interaction.
Final remarks
Instituto de Investigación TecnológicaSanta Cruz de Marcenado, 2628015 MadridTel +34 91 542 28 00Fax + 34 91 542 31 [email protected]
www.upcomillas.es
Thanks for your attention
A.Carnicero, J.R.Jimenez-Octavio ([email protected]) M.Such, A.Ramos & C.Sánchez-Rebollo ([email protected])
29Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Initial equilibrium problem• The initial geometry of the catenary is unknown because is
coupled with the wires tension• The lenght of the droppers must be computed as a first step
30Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Simplified models
Equivalent stiffness (droppers slackening)
31Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Simplified models
Distance (m)
Conta
ct
forc
e (
N)
32Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
FEM models
Distance (m)
Conta
ct
forc
e (
N)
33Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Moving mesh FEM model
Distance (m)
Dis
pla
cem
ent
(N)
34Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Geometry optimization
35Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Catenary-Pantograph-Vehicle-Track• Rail random irregularities
36Instituto de Investigación TecnológicaEscuela Técnica Superior de Ingeniería ICAI
Amiens, FranceDecember 8th, 2011
Catenary-Pantograph-Vehicle-Track• Rail random irregularities