Modeling of Truck with Parallel Cardan Drives Considering Adhesion and Wheel Slip Phenomena

Abstract

Adhesion and wheel slip phenomena should be well clarified when improving the performance of re-adhesion control of the railway truck, therefore the detailed modeling of the truck including traction device is important. However, in many studies, only two-dimensional dynamics of truck, were taken into account. In this paper, three-dimensional model including roll motion of truck with parallel Cardan drives is presented. A detailed model of tangential force coefficient considering the influence of wheel load and velocity is also introduced into the detailed model. Simulation result shows that tangential forces of the four wheels are different each other. This is caused by the difference of wheel loads with not only longitudinal direction but also lateral direction. Furthermore, it is shown that truck flame rotates to specific direction with driving torque. Relation of vertical axle spring force and wheel load is described and compared with previously mentioned phenomena in running experiment.