Modelling the dynamics of an unconventional rail vehicle bogie with independently rotating wheels with the use of Boltzmann-Hamel equations

ABSTRACT

The development of new technologies in public passenger transport in urban agglomerations has forced the institutions responsible for organising such transport to engage in unconventional initiatives in order to improve it and make more available, especially for elderly and disabled people. One of such initiatives consists in striving for putting into operation an increasing number of tram vehicles featuring low floors allowing people with various dysfunctions to move freely inside it and significantly facilitating entering and leaving the tram at stops. The design of such vehicles excludes the use of traditional chassis solutions since it is impossible to use wheelsets in which the wheels are connected by a rigid axle. Simulation analyses of such wheelsets come down to creating mathematical models featuring non-holonomic constraints in their description, whereas this prevents using classical equations of technical mechanics, such as Newton's equations in the construction of such models. The article describes the process of building a physical and mathematical model of an unconventional bogie with fully independent wheels with the use of Boltzmann-Hamel equations as well as exemplary results of simulation analyses of a model of such system. A design solution for this type of bogie will also be discussed.

KEYWORDS:

• Rail vehicle bogie
• independently rotating wheels
• Boltzmann-Hamel equations

Disclosure statement

No potential conflict of interest was reported by the authors.