State Estimation Between Rail and Wheel When curving with PQ Wheelsets and Kalman Filter

Abstract

It is important to monitor surface condition between a rail and a wheel when evaluating running safety of a railway vehicle. This paper proposes the method to estimate coefficient of friction between the rail and the wheel in curve of various curvature from the vertical load and lateral force measured by a PQ wheelset. Yaw angle and lateral displacement are estimated by Kalman filter including two degree of freedom model of the wheelset. The relationship between the friction coefficient and creepage is obtained, which shows the saturated coefficient of friction.