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Track Dynamics

DYNAMICS
in

Railway Engineering
Prof.dr.ir. C. Esveld
Lectures 1995/96

Track Dynamics

Dynamic aspects
Loads variation in time
Structure

mass

periodic
impact
stochastic

damping
stiffness

natural frequencies

interaction
vehicle/track

Lectures 1995/96

Track Dynamics

Principle of dynamics

d( mv )
K
dt
Force = change of momentum
Lectures 1995/96

Track Dynamics

Newton
With constant mass:

K ma

Force = mass * acceleration

Lectures 1995/96

Track Dynamics

1 mass-spring system

Lectures 1995/96

Track Dynamics

Response of 1 mass-spring system


for harmonic loads the followwing
applies:

Lectures 1995/96

Track Dynamics

Unit impulse response function


h( t )

( t )

m 1

sin( 1 ( t ))
2

Lectures 1995/96

Track Dynamics

Duhamel-integral
Steady state solution via convolution:

x( t ) F( )h( t )d
0

Lectures 1995/96

Track Dynamics

Frequency domain
Response via multiplication:

X ( f ) H( f )F( f )
Much more simple than via,
however requires Fourier transform

Lectures 1995/96

Track Dynamics

Relationship between h and H

h FT ( H )
1

H FT ( h )

Lectures 1995/96

Track Dynamics

Track loads

Wavelength l
Frequency f

v
l
f
l[m]

Lectures 1995/96

Track Dynamics

Beam on an elastic foundation


-

EI
k
5
4

w(x)
p

L
3
4

p
4L

L
-0.208

-0.2

-0.043
x

-3L

(x) = e

-|x/L|

m(x) = e -|x/L|

-L

deflection

|x|

{cos Lx + sin L }
{cos

x
L

|x|
sin L

3L

w(x) =

0.5

Q h
(x)
2kL

moment

}
1

h,m

QL m
M(x) = 4 (x)

Lectures 1995/96

Track Dynamics

EIy ( x, t ) my( x, t ) cy ( x, t ) ky( x, t ) 0


iv

Boundary conditions:

EIy ( 0 ,t ) 0.5Qei 2pft ; y ( 0 ,t ) 0; y( ,t ) 0

Lectures 1995/96

Track Dynamics

As static!

Lectures 1995/96

Track Dynamics

Lectures 1995/96

Track Dynamics

L=characteristic length

static

Lectures 1995/96

Track Dynamics

Lectures 1995/96

Track Dynamics

Lectures 1995/96

Track Dynamics

i
1
f 2
2 f
Hr ( f )
[1 2 ] 4
2 e
2 kL
fn
fn
2

f
2

3
fn
a tan

2
4
1 f

2
f n

Lectures 1995/96

Track Dynamics

Analogy with 1 mass spring system

Lectures 1995/96

Track Dynamics

2 Layer system
-

Q
K1
K2
Lectures 1995/96

EI1
EI2

Track Dynamics

Hertzian spring
stiffness of Hertzian spring
Liniarized

For a wheel diameter of 1 m and a wheel load


of 75 kN
Lectures 1995/96

Track Dynamics

Hertzian spring k H

r
Lectures 1995/96

Track Dynamics

For high frequencies it follows from a


equilibrium consideration of the wheel:

With
The transfer function of the wheel is
found

Lectures 1995/96

Track Dynamics

Relationship FH and differential displacement


Hertzian spring:

In the frequency domain this becomes:

Lectures 1995/96

Track Dynamics

With:

we find for the geometry;

Lectures 1995/96

Track Dynamics

Relationship between axle box acceleration and


track geometery:

Lectures 1995/96

Track Dynamics
DQ
= Dynamic amplification
Q
6

P1

Impact loads

P2

4
3
2
1

time [ms]
0

10 12 14 16 18 20 22
Lectures 1995/96

Track Dynamics

Impact loads due to welds


k H me
P1 Qst 2 v
1 me mu
mu
P2 Qst 2 v
mu mt

ct p
1
4 kt mu mt
Lectures 1995/96

kt mu

Track Dynamics

Impact loads due to welds


In practice:

P Qst l 2 v mu k

Lectures 1995/96

Track Dynamics

Vibration transmission
F
transmission

10.00

m
k

1.00

z 1.0
z 0.5

0.10

z 0.2
z 0.1
z 0.05
z 0

0.01
0.1

1.0

10.0

Excitation frequency, f
Undamped natural frequency, f 0

K
natural frequency:
f0 = 1
2p

k
m

damping ratio:
z=

c
2 km

transmission factor:
K/F
Lectures 1995/96

Track Dynamics

Frequency domain

X( f )

x
(
t
)
e

i 2pft

dt

x( t )

X
(
f
)
e

i 2 pft

Via Fast Fourier Transform FFT


Lectures 1995/96

df

Track Dynamics

1
Sij ( f ) X i ( f ) X j ( f ) (complex)
T
Sii ( f ) autospectrum (real)
Sii Df D

Lectures 1995/96

Track Dynamics

Estimation of transfer functions

Sxy [Sxx]H
H [Sxx] Sxy
1

H Sxy
T

2
y .x

( f )

Syy

For reliable results it is required that:

0.85 10
.
2

Lectures 1995/96

Track Dynamics

TILLY model tram structure


L
kurkrubber
plaatjes

...

L
...

rail
betonplaat

hb

p
1
...

ondergrond

hg
q

Lectures 1995/96

...

...

kracht [

Track.5 Dynamics
0
-.5
0

Impulse load
0.5

1.5

1.5

tijd [s]

verplaatsing (Tilly)
verpl [mm]

-5
0

0.5
tijd [s]

Autospectrum verplaatsing (zoom tot 400 Hz)


verpl [mm^2s]

40
30
20
10
0

50

100

150

200
250
freq [Hz]

300

350

400

Lectures 1995/96

Track Dynamics
verplaatsing (Tilly)
verpl [mm]

0.2

Moving
load

0
-0.2
-0.4
-0.6
0

0.5

1.5

tijd [s]
verplaatsing (getaperd)
verpl [mm]

0.05

-0.05
0

0.5

1.5

tijd [s]
Autospectrum verplaatsing (zoom)
verpl [mm^2s]

0.1

0.05

20

40

60

80

100

freq [Hz]

Lectures 1995/96

Track Dynamics
m

Geometrical excitation
x

z=y-x

mx cx kx cy ky

mz cz kz my
Lectures 1995/96

Track Dynamics
F
m
x
k

Lectures 1995/96

Track Dynamics

Dynamic vehicle/track model

bak

draaistel

secundaire vering
primaire vering

onderlegplaatje
1

wielstel

dwarsligger

Hertz'se veer

ballast

Lectures 1995/96

Track Dynamics

c T=

G
_

Problems to be considered:
wave propagation:
soft soils: wave propagation speed can approach train speed
liquefaction type of phenomena

Lectures 1995/96

Track Dynamics

High Speeds
Critical speed:

Dynamic amplification:

2
cr

kEI
m

ydyn

y stat

1
v
1
vcr

Lectures 1995/96

Track Dynamics

Measurements in England on soft soils


-5
-6
critical train speed

vertical displacement [mm]

-7
-8

-9
-10
-11
-12

High speed train


IC train

-13
running speed [km/h]

-14
120

150

180

210 225 240


Lectures 1995/96

Track Dynamics

DIANA Model
100 kN

M11
M12
M9

0.175
0.35

10.55

100 kN

1.70

M8

1.30

M7

1.20

M6

VAR0 model Sliedrecht

VAR2 1.2 m dunner zandbed

lengte 29.4 m

M5
M4

3.50
M2
0.70

M3

1.80

M1
19.0
M10

VAR1 1.2 m dikker zandbed

Lectures 1995/96

VAR3 betonplaat 0.3 m

Track Dynamics

Calculational results

Concrete plate

+1.2 m sand

-1.2 m sand

Lectures 1995/96

Track Dynamics
08.55-09.40
10.00-10.45
10.55-11.40
11.50-12.35
Break
13.40-14.25
14.35-15.20
15.30-16.15

Introduction
Track maintenance
Track maintenance
Measuring systems
VRA system
Track loads
Decision support systems

08.55-09.40
10.00-10.45
10.55-11.40
11.50-12.35
Break
13.40-14.25
14.35-15.20
15.30-16.15

Dynamics
Dynamics
High speed operation
Rail defects
ERRI D202
Experimental research
MINIPROF system

Lectures 1995/96

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