High-speed Bogies and Vehicle Dynamics

Huailong Shi (Ph.D.)

State Key Laboratory of Traction Power (TPL)
Southwest Jiaotong University(SWJTU)
Chengdu, China
shi@swjtu.edu.cn
June, 2021
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Content
1 Background

2 High-speed bogie instruction

3 Vehicle dynamics-hunting motion

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CRH1 CRH2A CRH5

CRH2C CRH3C CRH380A

CR400A CR400B CRH380B

⚫ Field operation speed, 160/250/350 km/h

⚫ Next step: Operated at 400 km/h
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⚫ Bogies are the key parts of a vehicle, determines the running

speed and safety as well as curve passing performance.
⚫ High strength, lightweight welding frame, solid axle, air spring and
shock absorber are used to achieve good dynamic performance at
high speed and ensure safety, stability and comfort.
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CRH380A – motor bogie with traction gear

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CRH380B motor bogie

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 Traction and braking

⚫ Three-phase asynchronous motor, flexible coupling, gearbox

⚫ Electric braking as the main and air braking as the auxiliary

Air brake gearbox Electronic brake

motor

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Content
1 Background

2 High-speed bogie instruction

3 Vehicle dynamics-hunting motion

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Function of bogie

⚫ Support – support the carbody and transfer loads to track

⚫ Steering – travel along the track
⚫ Curving – go through the curved tracks, R=50m, 250m…
⚫ Traction – accelerate the vehicle to move forwardly
⚫ Brake – decelerate and stop the vehicle
⚫ Vibration damping – between the track and the car body

M μ=F/N
V
F P

Support, Steer, Traction/brake

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Components of bogie, EMU

Secondary suspension Bolster for assembling

Assembled wheelset Primary suspension Frame

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➢ Main components of bogie, EMU

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➢ Main components of bogie, EMU
Traction
牵引装置 rod
H-Frame
构架

Motor
牵引电机

Wheelset and
基础制动装置
Brake calipers 轮对轴箱
axle-box
二系悬挂装置
Secondary
suspension
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➢ Frame of EMU bogie 13/38

1. Side beam
2. Cross beam
3. Longitudinal cross girder
4. Air spring seat
5. Gear-box support
6. Swing-arm support
9. Motor support
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➢ Wheelsets

⚫ Axle and wheels

⚫ Axle-box, rotational motion to translational motion, supports for
primary suspensions, like springs and dampers
⚫ Gear transition system
⚫ Brake discs

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➢ Suspensions of bogie

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➢ Suspensions

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➢ Primary Suspensions

⚫ Steel springs
⚫ Dampers
⚫ Swing-arm
⚫ Rubber joints
⚫ Bumpers
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➢ Secondary Suspensions

Bumpers

CRH380B/CR400B

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➢ Secondary Suspensions

cab

Air bag

Conical rubber

Support
Rod with joint bush

Anti-roll bar

Longitudinal slaving
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➢ Air springs

Pipe length Amplitudes of excitation

The vertical modelling of air springs is important, including the

stiffness and damping nonlinearity with frequency, amplitude and
load, as well as the levelling valve working condition.

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➢ Dampers

1 - Vertical dampers in primary suspension

2 - Vertical dampers in secondary suspension
3 - Yaw dampers in secondary suspension
4 - Lateral dampers in secondary suspension
… Dampers for traction motors
1
3
2

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➢ Dampers

Output forces are dependent on,

⚫ Execution frequency
⚫ Displacement
⚫ Temperature

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Content
1 Background

2 High-speed bogie instruction

3 Vehicle dynamics-hunting motion

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Hunting behaviour of wheelset

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Wheel/rail equivalent conicity

➢ Conicity λ：

It determines,
⚫ vehicle hunting
⚫ curve passing
⚫ ride comfort
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Wheel/rail equivalent conicity

Maximum equivalent conicity depending on the maximum

track design speed [according to TSI INF 1299]
Speed range Maximum equivalent conicity

v ≤ 60 No valuation required
60 < v ≤ 200 0.25
200 < v ≤ 280 0.20
v > 280 0.10

Speed range (km/h) Equivalent conicity

v≤ 140 0.5
140 < v ≤ 200 0.4
200 < v ≤ 230 0.35
230 < v ≤ 250 0.3
250 < v ≤ 280 0.25
280 < v ≤ 350 0.15

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Hunting behaviour of wheelset

Hunting frequency and wavelength of a wheelset

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Hunting behaviour of bogie

Hunting frequency and wavelength of a rigid steering bogie

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Hunting behaviour of bogie

Hunting frequency and wavelength of a flexible steering bogie

Numerical solution

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Hunting behaviour of bogie

Suspension modes of a bogie

Bounce mode Roll mode Pitch mode

Sway mode Yaw mode X-deriction mode

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Hunting behaviour of bogie

Hunting frequency on standard and broad gauge track

15 v=80m/s 10 7 v=80m/s
准轨
Trac Trac
准轨 v=80m/s 准轨
Trac
宽轨
12 rack 宽轨 6 宽轨
8 rack rack
Frequency/Hz

Frequency/Hz

Frequency/Hz
5
9 v=50m/s 6 v=50m/s v=50m/s
频率/Hz

频率/Hz

频率/Hz
6 4 3
v=20m/s v=20m/s 2 v=20m/s
3 2
1
0 0 0
0.0 0.1 0.2 0.3 0.4 0.0 0.1 0.2 0.3 0.4 0.0 0.1 0.2 0.3 0.4
等效锥度
conicity 等效锥度
conicity 等效锥度
conicity
(a)wheelset (b) flexible steering bogie (c)rigid steering bogie
15
Track gaugev=80m/s
准轨 1435 mm
12 宽轨
Track gauge 1520 mm

9 v=50m/s
/Hz

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Hunting behaviour of a vehicle

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Hunting behaviour of a vehicle

yaw Sway (lower c.o.g) Sway (upper c.o.g)

Bouncing Pitching
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Hunting behaviour of a vehicle

Hunting motion

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Hunting behaviour of a vehicle

Swaying 1~2 Hz, 0.1g

Shaking 6~9 Hz

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Stability evaluation by simulation or lab test
Constant speed simulation vs. coast-down method
 Evaluation the convergence of hunting motion by limit cycle
 Initial perturbation, equilibrium state
 Influenced by excitation amplitude, vehicle state
America class 5 Initial lateral
track excitation displacement on
wheelset 11mm

Time (s)

Time (s)
Speed (km/h)
Initial lateral High-speed irr. JJ50
displacement on
wheelset 9 mm

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Time (s)
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Stability evaluation by simulation or lab test
2）On test bench：
⚫ Linear critical speed
Pure rolling case, constant speed and increasing till unstable

⚫ Track irregularities excited critical speed

Pure rolling case, constant speed with track excitation

⚫ Non-linear stable critical speed

Coast-down method, slow down gradually till stable (mm)

10
lateral dis.mm

8
降速
Wheelset极限环幅值

6
4 stable
收敛 失稳
Unstable occurs
2 升速
0
200 220 240 260 280 300 320 340
速度 km/h
Speed (km/h)
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Stability evaluation on track

EN 14363、UIC 518、GB/T 5599、TSI RST HS 232、49CFR 213

➢ Lateral acceleration on frame end, 0.8g for 6 consecutive

peaks; or rms≤6-Mb/10
➢ Wheelset lateral force, rms ≤5-P0/6

P0 = axle load in kN，Mb=bogie mass in ton

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Huailong Shi (Ph.D)

State Key Laboratory of Traction Power (TPL)
Southwest Jiaotong University (SWJTU)
Chengdu, China
shi@swjtu.edu.cn

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