Handbook of Railway Vehicle

Dynamics
Handbook of Railway Vehicle
Dynamics
Second Edition

Edited by
Simon Iwnicki
Maksym Spiryagin
Colin Cole
Tim McSweeney
CRC Press
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Contents
Preface..............................................................................................................................................vii
Editors................................................................................................................................................ix
Contributors.......................................................................................................................................xi

Chapter 1 Introduction................................................................................................................... 1
Simon Iwnicki, Maksym Spiryagin, Colin Cole and Tim McSweeney

Chapter 2 A History of Railway Vehicle Dynamics......................................................................5

A. H. Wickens

Chapter 3 Design of Unpowered Railway Vehicles..................................................................... 43

Anna Orlova, Roman Savushkin, Iurii (Yury) Boronenko, Kirill Kyakk,
Ekaterina Rudakova, Artem Gusev, Veronika Fedorova and Nataly Tanicheva

Chapter 4 Design of Powered Rail Vehicles and Locomotives................................................. 115

Maksym Spiryagin, Qing Wu, Peter Wolfs and Valentyn Spiryagin

Chapter 5 Magnetic Levitation Vehicles.................................................................................... 165

Shihui Luo and Weihua Ma

Chapter 6 Suspension Elements and Their Characteristics....................................................... 197

Sebastian Stichel, Anna Orlova, Mats Berg and Jordi Viñolas

Chapter 7 Wheel-Rail Contact Mechanics................................................................................ 241

Jean-Bernard Ayasse, Hugues Chollet and Michel Sebès

Chapter 8 Tribology of the Wheel-Rail Contact........................................................................ 281

Ulf Olofsson, Roger Lewis and Matthew Harmon

Chapter 9 Track Design, Dynamics and Modelling..................................................................307

Wanming Zhai and Shengyang Zhu

Chapter 10 Gauging Issues.......................................................................................................... 345

David M. Johnson

Chapter 11 Railway Vehicle Derailment and Prevention............................................................ 373

Nicholas Wilson, Huimin Wu, Adam Klopp and Alexander Keylin

v
vi Contents

Chapter 12 Rail Vehicle Aerodynamics....................................................................................... 415

Hongqi Tian

Chapter 13 Longitudinal Train Dynamics and Vehicle Stability in Train Operations................ 457
Colin Cole

Chapter 14 Noise and Vibration from Railway Vehicles............................................................. 521

David Thompson, Giacomo Squicciarini, Evangelos Ntotsios and Luis Baeza

Chapter 15 Active Suspensions.................................................................................................... 579

Roger M. Goodall and T.X. Mei

Chapter 16 Dynamics of the Pantograph-Catenary System........................................................ 613

Stefano Bruni, Giuseppe Bucca, Andrea Collina and Alan Facchinetti

Chapter 17 Simulation of Railway Vehicle Dynamics................................................................ 651

Oldrich Polach, Mats Berg and Simon Iwnicki

Chapter 18 Field Testing and Instrumentation of Railway Vehicles........................................... 723

Julian Stow

Chapter 19 Roller Rigs................................................................................................................. 761

Paul D. Allen, Weihua Zhang, Yaru Liang, Jing Zeng, Henning Jung,
Enrico Meli, Alessandro Ridolfi, Andrea Rindi, Martin Heller and Joerg Koch

Chapter 20 Scale Testing Theory and Approaches...................................................................... 825

Nicola Bosso, Paul D. Allen and Nicolò Zampieri

Chapter 21 Railway Vehicle Dynamics Glossary........................................................................ 869

Tim McSweeney

Index............................................................................................................................................... 879
Preface
This is the second edition of the handbook. The first edition, published in 2006, has become the
established text in this field, is used by many researchers and has over 800 citations. We have com-
pletely reviewed all the material and updated much of the text to recognise that some significant new
theoretical, numerical and experimental approaches have been developed, and new designs of rail-
way vehicles and their components have been introduced since the publication of the first edition.
There  have been rapid developments in many areas, including the application of IT through
digitisation and vastly increased access to data. Although many of the key tools and techniques
presented in the first edition are still used, most have been modified or updated, and new methods
and computer tools have been developed. In this edition, we have included new chapters covering
design of powered rail vehicles, aerodynamics of railway vehicles, maglev and the dynamics of the
pantograph-catenary system.
We hope that readers find this handbook useful. Railway transport is seeing a resurgence in
many countries and can provide efficient passenger and freight operations, but higher demands
for safe and reliable operation at higher loads and speeds mean that the dynamic performance of
vehicles  and their interactions with the track and other infrastructure must be well understood.
Engineers and researchers working in this field face significant challenges and the tools and tech-
niques outlined in this handbook will assist in solving the problems faced in designing, operating
and maintaining modern railway systems.

Simon Iwnicki
Maksym Spiryagin
Colin Cole
Tim McSweeney

vii
Editors
Simon Iwnicki is professor of railway engineering at the University of Huddersfield in the UK,
where he is director of the Institute of Railway Research (IRR). The  IRR has an international
reputation for its research and support to industry, providing not only valuable practical solutions
to specific problems in the industry but also making significant contributions to the understand-
ing of some of the fundamental mechanisms of the wheel-rail interaction on which the safe and
economical operation of railways depends. Professor Iwnicki is the editor-in-chief of Part F of the
Proceedings of the Institution of Mechanical Engineers (the Journal of Rail and Rapid Transit)
and co-editor (responsible for railway matters) of the journal Vehicle System Dynamics. He was the
academic co-chair of the Rail Research UK Association (RRUKA) from 2010 to 2014, and, from
2014 to 2015, he was chair of the railway division of the Institution of Mechanical Engineers. He is
a former member of the Scientific Committee of Shift2Rail.

Maksym Spiryagin is a professor of engineering and the deputy director of the Centre for Railway
Engineering at Central Queensland University, Australia. He received his PhD in the field of rail-
way transport in 2004 at the East Ukrainian National University. Professor Spiryagin’s involve-
ment in academia and railway industry projects includes research experience in Australia, China,
Italy, South Korea and Ukraine, involving locomotive design and traction, rail vehicle dynamics,
acoustics and real-time and software-enabled control systems, mechatronics and the development
of complex mechatronic systems using various approaches (co-simulation, software-in-the-loop,
processor-in-the-loop and hardware-in-the loop simulations).

Colin Cole is a professor of mechanical engineering and the director of the Centre for Railway
Engineering at Central Queensland University, Australia. His work history includes over 31 years
in railway industry and research roles starting in 1984, with six years working in mechanised track
maintenance in Queensland Railways. Since then, his experience has included both rolling stock
and infrastructure areas. He has worked in railway research for the past 25 years, and his 1999 PhD
thesis was on Longitudinal Train Dynamics. He has conducted a range of rail projects related to
field testing of trains, simulation of dynamics, energy studies, train braking, derailment investiga-
tion, railway standards and innovations in measurement and control devices.

Tim McSweeney is an adjunct research fellow at the Centre for Railway Engineering (CRE) at
Central Queensland University in Australia. He  has over 45 years of experience in the field of
railway fixed infrastructure asset management, specialising particularly in track engineering in the
heavy-haul environment. He  was the senior infrastructure manager overseeing the Bowen Basin
Coal Network for Queensland Rail from 1991 until 2001. He then joined the CRE to follow his
interest in railway research. Tim is a member of the Railway Technical Society of Australasia and a
Fellow of the Permanent Way Institution. Central Queensland University awarded him an Honorary
Master of Engineering degree in 2011. He has co-authored 2 books and 30 technical papers and
consultancy reports on various aspects of railway engineering and operations.

ix
Contributors
Paul D. Allen is a professor and assistant director of the Institute of Railway Research (IRR) at the
University of Huddersfield. As a technical expert, his specialist fields are railway vehicle dynam-
ics and wheel-rail contact mechanics. He completed a PhD on the subject of error quantification of
scaled railway roller rigs and led the concept design of the full-scale roller rig at the IRR. His wider
research interests include train braking technologies, pantograph-overhead line dynamics and the
promotion of innovation in the rail industry.

Jean-Bernard Ayasse is a retired research director. Before joining “The French Institute of Science
and Technology for Transport, Development and Networks” (IFSTTAR), France, he worked at the
Commissariat à l’Energie Atomique and obtained his PhD from the University of Grenoble in 1970
and a state thesis in 1977 in solid state physics. He is a specialist in numerical simulations in the
electromagnetic and mechanical domains. His research field goes from the modelling of linear
induction motors to railway dynamics. He is the author of several innovations in the modelling of
the wheel-rail contact and of the multibody formalism implemented in the VOCO code.

Luis Baeza is professor and chair at the Technical University of Valencia in Spain. From 2016 to
2018, he was a full professor in the Institute of Sound and Vibration Research at the University of
Southampton, UK. His research area comprises various fields of railway technology, including dynam-
ics of railway vehicles and the track, vibration, corrugation of rails and wheel-rail contact mechanics.

Mats Berg is professor and head of the Road and Rail Vehicles Unit at the Royal Institute of
Technology (KTH) in Stockholm. Before joining KTH in 1993, he worked at ABB Traction in
Västerås and at the University of California at Berkeley. He obtained his PhD from Lund Institute of
Technology in 1987. His main research field is vehicle-track interaction, with emphasis on the aspects
of structural dynamics, suspension dynamics, track dynamics and wheel-rail wear. Professor Berg
has authored many papers and reports in this field and advised several PhD students. He teaches
courses on rail vehicle dynamics and general railway engineering in degree programmes as well as
for practising engineers of the railway sector (both in Sweden and internationally).

Iurii (Yury) Boronenko is professor and head of the Department of Railcars and Railcar
Maintenance at the Petersburg State Transport University in St. Petersburg, Russia. Professor
Boronenko is also the director of the Scientific Research Center ‘Vagony’. The centre is involved
in many practical fields such as monitoring the fleet of freight wagons in Russia, evaluation of the
technical condition of railway vehicles, design of new and modification of existing railcars and
implementation of repair technologies, as well as in research and consultancy projects for Russian
railways and industry. ‘Vagony’ is the testing centre certified by the Russian Federal Service to test
railway vehicles and by the Russian Maritime Register to test containers. Professor Boronenko’s
special interests include vehicle dynamics and modelling the motion of liquids in tank wagons.
For his theoretical and practical contribution in developing railway vehicles, Professor Boronenko
became a member of the Transport Academy of Russia.

Nicola Bosso is an associate professor at Politecnico di Torino. He gained his MA degree in 1996
and his PhD in machine design in 2004. After experience at the strategic research group at Fiat
Ferroviaria, he joined the railway research group at Politecnico di Torino, where he developed his
research in the railway sector, primarily concerning wheel/rail contact, multibody simulation and
experimental testing on prototypes and real vehicles. He teaches in several courses at Politecnico di
Torino, including rolling stock design.

xi
xii Contributors

Stefano Bruni is a full professor at Politecnico di Milano, Department of Mechanical Engineering,

where he teaches applied mechanics and dynamics. He is the leader of the ‘Railway Dynamics’
research group, carrying out research on rail vehicles and their interaction with the infrastructure,
with a critical mass of senior research competence. Professor Bruni has authored over 240 scientific
papers and has spent a large amount of time lecturing and consulting to industry in Italy and other
countries. He has been lead scientist for several research projects funded by the industry and by
the European Commission (EC). He is vice president of the International Association for Vehicle
System Dynamics (IAVSD) and was chairman of the IAVSD’05 international conference held in
Milano in 2005. He  is an editorial board member for some international journals in the field of
railway engineering.

Giuseppe Bucca is an associate professor of applied mechanics at Politecnico di Milano, Department

of Mechanical Engineering, where he teaches applied mechanics and mechatronics. His research
activity is focussed on the dynamics and control of mechanical systems, with primary application to
railway vehicles. In particular, his main research topics are the theoretical and experimental (labo-
ratory and on-track tests) studies of the dynamical interaction between pantograph and catenary
and of the related electromechanical phenomena, and the study of railway and tramway vehicle
dynamics focussing on the wheel-rail contact phenomena, passenger comfort and running safety.
He has participated and continues to participate in several research projects funded by the EU and
in research and technical projects funded by private companies.

Hugues Chollet is researcher at IFSTTAR, France. He graduated from Université de Technologie

Compiègne (UTC) in 1984 and obtained a PhD in 1991 at Université Pierre et Marie Curie, Paris 6,
on the experimental validation of Kalker’s theory for the use in wheel-rail contact. He carries out
research and consultancy work on guided transportation systems, dealing with wheel-rail contact
fatigue, derailment situations, instabilities, vibration and comfort problems.

Andrea Collina is a full professor at Politecnico di Milano, Department of Mechanical Engineering,

where he teaches applied mechanics and dynamics. He is active in the field of railway dynamics, inter-
action with infrastructure and pantograph-catenary interaction, carrying out both simulation and labo-
ratory and field-testing activities. He has been involved in EU-funded projects. He has authored over
140 scientific papers and acts as consultant to industry in Italy and other countries for railway topics.

Alan Facchinetti is an associate professor of applied mechanics at Politecnico di Milano. He grad-

uated in 2000 and received his PhD in 2004 from that same university before joining the academic
permanent staff in 2005. His research focuses on the dynamics, stability and control of mechanical
systems, with primary application to railway vehicles and to their interaction with the infrastruc-
ture. In this respect, his research activities address the dynamic behaviour of railway vehicles and
tramcars, pantograph-catenary interaction, active control, monitoring and diagnostics in railway
vehicles, and include the development of numerical and laboratory tools and the design and execu-
tion of on-track tests. He has participated and continues to participate in several research projects
funded by EU or national grants and in research and technical projects funded by private compa-
nies. He is a member of various European Committee for Electrotechnical Standardization working
groups dealing with current collection systems.

Veronika Fedorova is a researcher at the Department of Integrated Studies of Track-Train

Interaction Dynamics at All-Union Research and Development Center for Transportation Technology
(St. Petersburg, Russia). She graduated from Petersburg State Transport University in 2015. She is cur-
rently a postgraduate student working on a PhD thesis in the field of railway vehicle dynamics, develop-
ing wheel-rail wear and rolling contact fatigue (RCF) simulation models and designing advanced wheel
profiles for freight wagons.
Contributors xiii

Roger M. Goodall spent 12 years at British Rail's Research Division in Derby, where he worked
on a variety of projects, including Maglev, tilting trains and active railway suspension systems.
Roger took up an academic position at Loughborough University in 1982, and he became professor
of control systems engineering in 1994. He also has a part-time professorial role at the University
of Huddersfield’s Institute of Railway Research. His research has been concerned with a variety of
practical applications of advanced control, usually for high-performance electro-mechanical sys-
tems and, for many years, specifically on active railway vehicle suspensions. Roger has served in a
variety of external roles such as a member of the board of the International Association for Vehicle
System Dynamics (IAVSD), vice president of the International Federation of Automatic Control
(IFAC) and chairman of the IMechE Railway Division. He has been a fellow of the Institution of
Mechanical Engineers for a number of years, and he was elected a fellow of the Royal Academy of
Engineering in 2007 and a fellow of IFAC in 2017.

Artem Gusev is a researcher at the Department of Integrated Studies of Train-Track Interaction

Dynamics at All-Union Research and Development Center for Transportation Technology
(St. Petersburg, Russia). He graduated from Petersburg State Transport University in 2014, com-
pleted postgraduate studies with a degree in railway rolling stock in 2018 and prepared the thesis
for PhD viva examination. He carries out research in the area of improving rolling stock dynamics
and developing freight bogies, using the finite elements method and computer simulation modelling
of railcar movement.

Matthew Harmon is a research associate in the Department of Mechanical Engineering at

The University of Sheffield where he studies tribology. He gained his PhD in 2019 which studied
the application and mechanisms of lubricants and friction modifiers in the wheel-rail interface.
This work developed a number of test methods in the laboratory as well as is developing an in situ
method for measuring friction in interfaces. Since finishing his PhD he has continued to study the
wheel-rail interface through a variety of projects. His current focus is on the verification of adhesion
forecasts and the development of guidance for the rail industry.

Martin Heller is employed at Knorr-Bremse-Systeme für Schienenfahrzeuge, Munich, Germany,

and directs the test department with the ‘Atlas’ Roller Rig. He completed a Dr.-Ing. in mechanical
engineering on the subject of mathematical simulation of brake control systems of trains and rail-
way vehicles and has been engaged since then in R&D of railway brakes.

David M. Johnson has a BSc in civil engineering (University of Leeds) and a PhD in mechanical
engineering (Imperial College London), where his research and thesis covered ‘The Simulation of
Clearances between Trains and the Infrastructure’. His early career was at British Rail Research
and in the USA, where he specialised in track, structure and soil mechanics disciplines. This led
him to form his own business, specialising in technology development, particularly digital engi-
neering systems, through which he developed a number of laser-based measuring technologies
and started his interest in gauging. David’s company, Laser Rail, specialised in the development
of structure measuring technology, analysis of clearances and the management of gauging data.
The  company is now  part of the Balfour Beatty Rail group. His latest venture, a partnership
with his son, Colin, has developed gauging analysis technology to another level. Based upon
mechanistic modelling of the complete gauging system (the topic of his PhD), DGauge specialises
in matching clearance calculations to real life through processes of risk-based analysis (which
they have commercially developed as Probabilistic Gauging™), high-definition and complex rail
vehicle modelling and three-dimensional simulation, geometric swept envelope analysis of tran-
sitional curvature and other bespoke techniques. The Company’s Cloud-based gauging service
provides near-instant results to a variety of rail vehicle and infrastructure clients, both in the UK
and internationally.
xiv Contributors

Henning Jung, MSc, studied mechanical engineering at the University of Siegen. He  is now  a
research assistant working in the Applied Mechanics group of Professor Claus-Peter Fritzen at the
University of Siegen. His research activities are focussed on dealing with the development of mod-
ern structural health monitoring systems (SHM) for railway vehicles. Prior to this, he also worked
as a research assistant in the field of rolling mill design at Achenbach Buschhütten.

Alexander Keylin is a senior engineer in the Vehicle-Track Interaction group at Transportation

Technology Center, Inc. (TTCI) in Pueblo, Colorado. He holds a BSc in mechanical engineering
from University of Pittsburgh (2011) and an MSc in mechanical engineering from Virginia Tech
(2012). His work involves testing and characterisation of rail vehicles, modelling of special track
work, conducting computer simulations of vehicle-track interaction, analysis of ride quality data
and development of algorithms for processing of rail profiles and track geometry data.

Adam Klopp is a senior engineer at Transportation Technology Center, Inc. (TTCI) in Pueblo,
Colorado, specialising in vehicle-track interaction and train dynamics. He has over 7 years of rail-
road research and engineering experience at TTCI. His research includes the characterisation, anal-
ysis and modelling of rail vehicles and trains. His testing experience includes static and dynamic
vehicle and track tests, compressive end load tests and impact tests. He holds a BSc in mechanical
engineering from Colorado State University (2012) and an MSc in engineering with emphasis in
railroad engineering from Colorado State University-Pueblo (2016).

Joerg Koch is employed at Knorr-Bremse-Systeme für Schienenfahrzeuge, Munich, Germany.

He has a university degree as Dipl.-Ing. in Mechanical Engineering. After university, he developed
and built a range of test rigs for railway equipment. He has been responsible for the ATLAS test rig
since 2010 and was involved in its concept, design, build, commissioning and now its operation.

Kirill Kyakk is executive director of PTK-Engineering LLC (Russia), the freight wagon fleet oper-
ating company introducing next-generation freight cars and heavy freight trains on 1520 mm gauge
railways. He obtained the PhD in 2007 at Petersburg State Transport University in St. Petersburg,
Russia. His field of scientific interest is railcar design theory and system engineering. Dr. Kyakk has
16 years of experience in the railway industry, including leadership and participation in the develop-
ment of more than 120 new freight wagon models with improved technical characteristics for the
railways of Russia, Europe, Africa and the Middle East.

Roger Lewis is a professor of mechanical engineering at the University of Sheffield, where he

teaches design and tribology. He received his PhD from that university in 2000, before joining the
academic staff in 2002. His research interests are split into three areas: solving industrial wear
problems, application and development of a novel ultrasonic technique for machine element contact
analysis and design of engineering components and machines. He has worked on a number of proj-
ects related to the wheel-rail interface, including understanding fundamental mechanisms and mod-
elling of wheel and rail materials, measurements of wheel-rail interface conditions and rail stress,
friction management and understanding of low adhesion. In  2019, he was appointed as a Royal
Academy of Engineering Research Chair in ‘Wheel/Rail Interface Low Adhesion Management’.
In collaboration with the Rail and Safety Standards Board, he will now undertake a 5-year pro-
gramme of work in this area.

Yaru Liang is a PhD student at the State Key Laboratory of Traction Power, Southwest Jiaotong
University, China. She  received her bachelor’s degree in vehicle engineering at Dalian Jiaotong
University in 2010. She then continued her studies for the master’s degree course from 2010 to 2012
and later became a PhD student. Her research interests are in vehicle dynamics simulation and roller
rig testing.
Contributors xv

Shihui Luo is a professor at the State Key Laboratory of Traction Power, Southwest Jiaotong
University (SWJTU), China. He earned his BEng, MEng and PhD in 1985, 1988 and 1991, respec-
tively, from the Department of Marine Power Machinery Engineering, Shanghai Jiaotong University,
China. He then joined SWJTU and started research on vehicle dynamics. During this period, he
stayed 1 year in the Duewag Factory, Siemens VT, as a trainee. He teaches in postgraduate courses.
He  participated in dynamics simulation projects for the Shanghai maglev train in 2002 and has
continued research since then for the development of maglev vehicles.

Weihua Ma is a researcher at the Traction Power State Key Laboratory (TPL), Southwest Jiaotong
University (SWJTU), China. He was awarded a BEng degree in vehicle engineering from Shandong
University, China, in 2002 and a PhD degree in vehicle engineering from SWJTU in 2008. He has
worked at TPL since 2008 and completed his postdoctoral fellowship during this period in a joint
project of CRRC-SWJTU at Qishuyan Co., Ltd. His research interests include locomotive and
heavy-haul train dynamics as well as the maglev train. In recent years, he has focussed on develop-
ing maglev for regional applications, with an operational speed range of 160 ~ 200 km/h.

T.X. Mei is a professor in control engineering at the University of Salford, where he leads a research
group at the School of Computing, Science and Engineering, carrying out leading-edge research in
the area of control and systems study for railway vehicles. Professor Mei has a strong background
in railway engineering and substantial expertise in vehicle dynamics and traction control. He has
given invited research seminars at an international level and published many papers in leading
academic journals and international conferences, which explore the application of advanced control
techniques and the use of active components. Professor Mei is one of the most active researchers
worldwide in the latest fundamental research into active steering and system integration for railway
vehicles and has made significant contributions to several leading-edge research projects in the
field. His educational background includes BSc (1982, Shanghai Tiedao), MSc (1985, Shanghai
Tiedao), MSc (1991, Manchester) and PhD (1994, Loughborough).

Enrico Meli received his bachelor’s degree in mechanical engineering in 2004 and his master
degree in mathematical engineering in 2006 from the School of Engineering of the University
of Florence. He  received his PhD in mechanism and machine theory in 2010 from the School
of Engineering of the University of Bologna. In  2014, Dr. Enrico Meli won the prestigious SIR
2014 – Scientific Independence of Young Researchers Project, funded by the Italian Minister
for Education, University and Research. He has been an assistant professor at the Department of
Industrial Engineering of the University of Florence since 2015. Currently, his main research inter-
ests include vehicle dynamics, tribology, turbomachinery, rotor dynamics, robotics and automation.
In these fields, Dr. Enrico Meli is the author of over 50 publications in international journals and
over 120 publications in Proceedings of International Congresses.

Evangelos Ntotsios is a research fellow at the Institute of Sound and Vibration Research
(ISVR), University of Southampton. Before joining the ISVR in 2013, he worked at the School of
Architecture, Building and Civil Engineering at Loughborough University and obtained his PhD
from the Department of Mechanical Engineering at University of Thessaly (Greece) in 2010. He has
participated in EPSRC-funded research projects, including ‘MOTIV: Modelling of Train Induced
Vibrations’ and ‘Track to the Future’. His research interests include ground-borne railway noise and
vibration as well as structural vibration and system identification.

Ulf Olofsson has been professor in tribology at the Royal Institute of Technology (KTH) since
2006. Before joining KTH, he worked at the Swedish National Testing and Research Institute
with tribological material and component testing. He  obtained his Licentiate of Engineering
degree from Chalmers University of Technology in 1994 and his PhD from the Royal Institute of
xvi Contributors

Technology in 1996. Dr. Olofsson has 20 years of research experience on the tribology of the wheel-
rail contact. His main research interests include interfaces and especially simulation and prediction
of friction and wear, mainly applied to problems in mechanical, automotive and railway engineer-
ing. New research interests include airborne particles from wear processes such as in disc brakes and
the railway wheel to rail contact.

Anna Orlova is deputy director in scientific and technical development for Research and Production
Corporation ‘United Wagon Company’ and CEO of its subsidiary, the All-Union Research and
Development Center for Transportation Technology (St. Petersburg, Russia), working on the devel-
opment of innovative freight wagons and their components for CIS, North American, European
and other markets. United Wagon Company carries out the full cycle of research and development
of freight wagons, starting from marketing, design and prototype production, production technol-
ogy development, preliminary and operational testing, development of maintenance strategies and
repair technology. Dr. Orlova’s special interests include optimisation of running gear parameters for
dynamic performance, evaluation of design schemes and the development of simulation models and
testing methods. Dr. Orlova is a supervisor of postgraduate students at Petersburg State Transport
University and the author of several textbooks on bogie design and multibody dynamics simulation.

Oldrich Polach is an independent consultant and assessor, and an honorary professor at the Technische
Universität Berlin. From 2001 to 2016, he was chief engineer dynamics in Bombardier Transportation,
Winterthur, Switzerland, responsible for dynamics specialists in Business Unit Bogies Europe. He is
a well-recognised expert in railway vehicle dynamics and wheel-rail contact. He acted for 20 years
as a member of the working group ‘Interaction Vehicle-Track’ of the European Committee for
Standardisation CEN TC 256 and is accredited by the Railway Federal Authority in Germany for the
assessment of railway vehicles. Professor Polach teaches railway vehicle dynamics at the ETH Swiss
Federal Institute of Technology Zürich and at the Technische Universität Berlin. He is a member of
the editorial boards of the international journals Vehicle System Dynamics, the International Journal of
Railway Technology and the International Journal of Heavy Vehicle Systems.

Alessandro Ridolfi is currently an assistant professor within the Department of Industrial

Engineering (DIEF) at the University of Florence (UNIFI). He has also been an adjunct professor at
Syracuse University in Florence since 2015, teaching dynamics. He graduated in mechanical engi-
neering from UNIFI in 2010 and received his PhD degree in industrial engineering from UNIFI in
2014. At the beginning of his PhD, he worked on railway vehicle localisation and wheel-rail adhe-
sion modelling. His current research interests are underwater and industrial robotics, sensor-based
navigation of vehicles, vehicle dynamics and bio-robotics. He is co-author of more than 80 journal
and conference papers on vehicle dynamics, robotics and mechatronics topics.

Andrea Rindi received his PhD in 1999 from the University of Bologna, Italy. He  is currently
associate professor in machine theory with the School of Engineering of the University of Florence.
He is cofounder and coordinator of the Laboratory of Mechatronics and Dynamic Modelling (MDM
Lab). His current research interests include vehicle dynamics, hardware in-the-loop (HIL) simula-
tion and automation in transport systems.

Ekaterina Rudakova is head of the Department of Integrated Studies of Track-Train Interaction

Dynamics at All-Union Research and Development Center for Transportation Technology
(St. Petersburg, Russia). She obtained her PhD in 2005 in railway rolling stock from Petersburg
State Transport University. The department carries out science-based research in the area of estima-
tion of rolling stock dynamic characteristics, track forces and dynamic loading of railcar elements.
Contributors xvii

Theoretical research, coupled with testing and experimental results, allows to perfect simulation
models of railcar movement and computational methods. Dr. Rudakova’s special interests include
computer simulation modelling, design and developing of bogie suspensions.

Roman Savushkin is a member of the board of directors and CEO of Research and Production
Corporation ‘United Wagon Company’ PJSC (MOEX: UWGN). He  received degrees from the
Petersburg State Transport University and the University of Antwerp’s Management School. Roman
Savushkin holds the scientific degree of PhD in technical sciences and is an acting professor at the
Russian University of Transport (MIIT). His fields of research include theory, numerical simula-
tion and experimental evaluation of structural strength, durability, dynamic performance and track
interaction of railway vehicles; structural fatigue theory and simulation of metal structures; theory
and simulation of wheel-rail interaction; theory of casting and welding production processes includ-
ing automation and robotics; design of railway freight wagons and their major components; and the
economics of railway transport. He is the author of multiple papers published in Russian national
and international scientific journals.

Michel Sebès is research engineer at IFSTTAR, France. Prior to joining IFSTTAR, he spent 13
years in the service industry, where he carried out studies in the fields of structural mechanics and
numerical simulation. He  obtained a Master of Science and Engineering degree from the Ecole
Centrale de Nantes in 1989 in the field of structural mechanics. His main activities are centred on
the development of the VOCO code, dedicated to guided transport dynamics, particularly the last
wheel rail contact extensions.

Valentyn Spiryagin received his PhD in the field of railway transport in 2004 at the East Ukrainian
National University at Lugansk. His research activities include rail vehicle dynamics, multibody
simulation, control systems and vehicle structural analysis. He currently lives in Russia and works
as a railway consultant on vehicle dynamics and design, including vehicle structural engineering,
mechatronic suspension systems for locomotives, locomotive traction and embedded software
development.

Giacomo Squicciarini is a lecturer at the Institute of Sound and Vibration Research (ISVR),
University of Southampton. He joined the ISVR in 2012 after obtaining his PhD at Politecnico di
Milano studying the acoustics of piano soundboards. His main areas of research are related to rail-
way noise and vibration, including rolling noise, curve squeal and measurement techniques. He is
also active in vibroacoustics, structural vibration and musical instrument acoustics. He has written
20 papers in refereed journals and co-authored various conference contributions. He teaches under-
graduate and master’s students at the University of Southampton.

Sebastian Stichel is professor in Rail Vehicle Dynamics and head of the Department of Aeronautical
and Vehicle Engineering at KTH Royal Institute of Technology in Stockholm, Sweden. He is vice
chairman of the European Rail Research Advisory Council. Since 2011, he has been director of the
KTH Railway Group, a multidisciplinary research centre that deals with most aspects of Railway
Technology. He holds a BSc (1989) and an MSc (1992) in vehicle engineering and a PhD (1996)
in vehicle dynamics from Technische Universität Berlin. From 2000 to 2010, he was employed at
Bombardier Transportation in Sweden, where, from 2003, he headed its Vehicle Dynamics depart-
ment with employees in Sweden, Germany, UK and France. Professor Stichel has a primary research
interest in the dynamic vehicle-track interaction, mainly using multibody simulation; the main
concerns are improved ride comfort and reduced wheel and track damage. He is also involved in
research on the interaction between pantograph and catenary and active suspension for rail vehicles.
xviii Contributors

Julian Stow is assistant director at the Institute of Railway Research at the University of Huddersfield.
He  has 18  years of experience in the railway industry, specialising in rail vehicle dynamics and
wheel-rail interface engineering, and has led a wide range of research and consultancy projects for
the rail industry of Great Britain in these areas. These include investigating the causes of rolling
contact fatigue and other wheel and rail defects, simulation for running acceptance, problem solving
on current fleets, safety and maintenance standards development and wheel-rail interface manage-
ment for existing and new build light rail and metro systems. He is currently responsible for the
delivery of a programme of research work under the strategic partnership between the Rail Safety
and Standards Board and the University of Huddersfield. Julian is a chartered engineer and a Fellow
of the Institution of Mechanical Engineers.

Nataly Tanicheva is a junior professor at the Department of Railcars and Railcar Maintenance at
Petersburg State Transport University in St Petersburg, Russia, and a researcher at the Scientific Research
Centre ‘Vagony’, with a special interest in design of rolling stock and its components. She obtained her
PhD in 2013 in articulated railway flat wagons from Petersburg State Transport University.

David Thompson is professor of railway noise and vibration at the Institute of Sound and Vibration
Research (ISVR), University of Southampton. Before joining the ISVR in 1996, he worked at British
Rail Research in Derby, UK, and at TNO Institute of Applied Physics in Delft, The Netherlands,
and obtained his PhD from the ISVR in 1990. He has written over 160 papers in refereed journals as
well as a book on railway noise and vibration, which has also been translated into Chinese. He is the
main author of the TWINS software for railway rolling noise. His research interests include a wide
range of aspects of railway noise and vibration as well as noise control, vibroacoustics and structural
vibration. He teaches undergraduate- and master-level courses.

Hongqi Tian is a professor of Central South University at Changsha in Hunan, Peoples Republic
of China. She is an academician of the Chinese Academy of Engineering. Professor Tian is cur-
rently president of Central South University and is a past vice president of the Chinese Academy
of Engineering. She was awarded her bachelor’s degree and master’s degree in railway locomotive
vehicles and a PhD degree in fluid mechanics. She has been engaged in the railway science and tech-
nology field over several decades. Under Professor Tian’s leadership, her research team exploited
the research directions of railway vehicle aerodynamics and railway vehicle collision dynamics;
established the aerodynamic design theory, technology and method system of high-speed trains;
proposed the safety protection technology of train collision; and established the safety protection
technology system for railway operations in windy environments. The team developed the 500 km/h
moving model rig for the aerodynamic testing of high-speed trains and the actual vehicle impact test
platform. These test qualifications are recognised in the relevant field around the world. In addition,
the team developed the strong wind monitoring and warning system for the Qinghai-Tibet railway
line, designed the shape of the first Chinese high-speed train and proposed the first crashworthiness
and energy-absorbing vehicle design in China. The team has participated in the research and con-
struction of all high-speed railway lines in China, including the railway lines of Beijing-Shanghai,
Beijing-Guangzhou and the Qinghai-Tibet railway line that is characterised by a frigid plateau.

Jordi Viñolas is dean and professor of the School of Engineering at Nebrija University. He has pre-
viously held positions as head of European Projects at Bantec and head of TECNUN (University of
Navarra) and CEIT. His scientific interests are focussed on machine dynamics, noise and vibration,
railway dynamics and infrastructure. He has published around 60 scientific papers in areas such as
vehicle dynamics, rail/vehicle interaction and other topics linked to the performance optimisation
of vehicle and machine components. He has directly supervised 16 PhD theses and more than 50
MSc theses. His courses are machine elements design, noise and vibration and also mechanical
fatigue analysis. Dr. Viñolas has worked as an evaluator for the European Commission and was one
Contributors xix

of the promoters of European Rail Research Network of Excellence (EURNEX). He is a member
of the Editorial Board of the IMechE Journal of Rail and Rapid Transit and of the International
Journal of Rail Transportation.

A. H. Wickens was educated as an aeronautical engineer at Loughborough and University of

London. His 11 years in the aircraft industry culminated as head of Aeroelastics on the Avro Blue
Steel missile. He joined British Railways Research in 1962 to carry out research into the dynam-
ics of railway vehicles. He was director of Research from 1971–1983 and director of Engineering
Development and Research from 1983–1989. From 1987 to 1990, Alan Wickens was chairman of
the Office for Research and Experiments of the International Union of Railways in Utrecht. He was
professor of dynamics in the Department of Mechanical Engineering at Loughborough University
in 1989–1992 and subsequently Visiting Industrial Professor, where his research interest was in the
active guidance and dynamic stability of innovative railway vehicles. He is an honorary member of
the Association for Vehicle System Dynamics.

Nicholas Wilson (BSME, Cornell University, 1980) is chief scientist at the Transportation
Technology Center, Inc. (TTCI) in Pueblo, Colorado, where he has worked since 1980, specialis-
ing in rail vehicle dynamics and wheel-rail interaction. He leads TTCI’s Vehicle-Track Interaction
group and the team of engineers developing TTCI’s NUCARS® multibody vehicle-track dynamic
interaction software. Recently, he has been working on flange climb derailment research, derail-
ment investigations of rail vehicles, wheel-rail wear and RCF studies. He has also been working
on developing rail vehicle dynamic performance specifications for, and analysing performance of,
freight and passenger vehicles and trains to carry high-level radioactive material.

Huimin Wu (PhD, Mechanical Engineering, Illinois Institute of Technology, 2000) retired in

May 2018 from her position as a scientist in the Vehicle-Track Interaction group at Transportation
Technology Center, Inc. (TTCI) in Pueblo, Colorado. She worked for more than 26 years at TTCI in
the simulation, analysis and testing of railway vehicles. Her research carried over into areas includ-
ing vehicle dynamics, vehicle-track interaction, wheel flange climb derailment criteria, computation
methodology of studying wheel-rail contact, NUCARS development, wheel-rail profile design and
rail grinding. She has presented papers at international conferences on vehicle-track interaction and
published a number of reports on consultancy work carried out for the railways.

Qing Wu is a research fellow at the Centre for Railway Engineering, Central Queensland University
(CQU), Australia. His research expertise and interests include parallel computing, 3D train system
dynamics, track dynamics and multiobjective optimisations. Dr. Wu has authored more than 50
journal articles and a simulation software. He  has conducted a number of railway research and
consultancy projects ranging from track dynamics to vehicle and train dynamics. His education
background includes a BEng (2010) and MEng (2012) from Southwest Jiaotong University, China,
and a PhD from CQU (2016).

Peter Wolfs is a professor of electrical engineering at Central Queensland University, Rockhampton,

Australia. His research interests include railway power supply and traction systems, smart-grid
technology, distributed renewable resources and energy storage and their impact on system capacity
and power quality, the support of weak rural feeders and the remote-area power supply. Prof. Wolfs
is a Fellow of Engineers Australia and a senior member of the Institute of Electrical and Electronics
Engineers (IEEE).

Nicolò Zampieri is assistant professor at the Department of Mechanical and Aerospace Engineering
of the Politecnico di Torino. He received his bachelor’s degree and master’s degree in mechanical
engineering from that university in 2008 and 2010, respectively, and was awarded his PhD in 2014
xx Contributors

for the dissertation regarding the development of monitoring systems for railway applications. His
research interests are railway vehicle dynamics and monitoring, modelling of wheel-rail/roller con-
tact, wear and RCF. His current research activity concerns the design of test benches for railway
applications and the development of specific applications for railway vehicle monitoring. Nicolò
Zampieri is co-author of more than 30 scientific publications.

Jing Zeng is professor of railway vehicle system dynamics at the State Key Laboratory of Traction
Power, Southwest Jiaotong University (SWJTU), China. He  obtained his PhD in Dynamic
Simulation of Railway Vehicle Systems at SWJTU in 1991. His expertise covers novel bogie design,
dynamic performance simulation and measurement techniques. In recent years, his research has
mainly focussed on parameter optimal design, dynamic simulation and laboratory and field tests of
high-speed trains. He has won two first-class and one second-class prizes of the State Scientific and
Technological Progress Award.

Wanming Zhai is chair professor of railway engineering at Southwest Jiaotong University (SWJTU)
in China and is an academician of the Chinese Academy of Sciences. Since 1994, Dr. Zhai has been
a full professor and director of the Train and Track Research Institute, which is affiliated to the State
Key Laboratory of Traction Power of SWJTU. In 1999, he was appointed Chang Jiang Chair Professor
by the Chinese Ministry of Education. Currently, he is the chairman of the Academic Committee of
Southwest Jiaotong University. Professor Zhai’s research activities are mainly in the field of railway
system dynamics, focussing on vehicle-track dynamic interaction and train-track-bridge interac-
tions. He established a new theoretical framework of vehicle-track coupled dynamics and invented
new methodologies for solving large-scale train-track-bridge interaction problems. His models and
methods have been successfully applied to more than 20 large-scale field engineering projects for the
railway network in China, mostly for high-speed railways. He is editor-in-chief of the International
Journal of Rail Transportation and a trustee member of the International Association for Vehicle
System Dynamics. He  also serves as the president of the Chengdu Association for Science and
Technology, vice president of the Chinese Society of Theoretical and Applied Mechanics and vice
president of the Chinese Society for Vibration Engineering.

Weihua Zhang is a distinguished professor of the ‘Cheung Kong Scholars’ Program of China,
winner of the ‘National Science Funds for Distinguished Young Scholars’ and chief scientist of
‘973 Program’, the National Basic Research Program. In  2012, he was awarded the Guanghua
Award of Engineering Technology. His doctoral dissertation was listed among ‘National Top 100
Outstanding Doctoral Dissertations’ in 2000. Professor Zhang served as an expert on the General
Planning Group for Autonomous Innovation & Joint Action Plan for China’s High-Speed Trains and
an expert of the General Planning Group for the China-standard Electrical Multiple Units (CEMU)
Development Program.

Shengyang Zhu is an associate professor at the Train and Track Research Institute, affiliated to
the State Key Laboratory of Traction Power, Southwest Jiaotong University (SWJTU) in China.
He graduated from SWJTU with a PhD degree in rail transportation engineering in 2015. He had
research experience at Rice University, USA, as an award holder from the China Scholarship
Council for 18 months since 2012. Dr. Zhu has published more than 30 papers in refereed high-level
journals, including 22 papers as the first author or corresponding author, and he has given several
keynote or invited presentations in international conferences and seminars. His research interests
include a wide range of aspects of train-track interaction as well as track vibration control, track
damage mechanisms and structural health monitoring. He has worked on a number of national key
projects related to long-term dynamic performance of train and track systems, as well as industry-
funded projects related to train induced vibration problems. He  supervises graduate students in
railway system dynamics, and he is a PhD thesis (international) examiner for some universities.
 1 Introduction
Simon Iwnicki, Maksym Spiryagin, Colin Cole
and Tim McSweeney

CONTENTS
1.1 Structure of the Handbook........................................................................................................1

The principal aim of this handbook is to present a detailed introduction to the main issues influenc-
ing the dynamic behaviour of railway vehicles, and a summary of the history and the state of the
art of the analytical and computer tools and techniques that are used in this field around the world.
The level of technical detail is intended to be sufficient to allow analysis of common practical situ-
ations, but references are made to other published material for those who need more detail in spe-
cific areas. The main readership will be engineers working in the railway industry worldwide and
researchers working on issues connected with railway vehicle behaviour, but it should also prove
useful to those wishing to gain a basic knowledge of topics outside their specialist technical area.

1.1  STRUCTURE OF THE HANDBOOK

The  topics covered in this handbook are the main areas that impact the dynamic behaviour of
railway vehicles and are intended to present the existing solutions in this area from a multidisci-
plinary perspective. These include the numerical and tribological analysis of the wheel-rail inter-
face, general railway vehicle design and architecture, suspension and suspension component design,
simulation and testing of electrical and mechanical systems, interaction with the surrounding infra-
structure and noise and vibration generation. The  handbook is international in scope and draws
examples from around the world, but several chapters have a more specific focus, where a particular
local limitation or need has led to the development of specific techniques or tools.
For example, the chapter on longitudinal train dynamics and vehicle stability expands upon the
longitudinal train dynamics chapter in the first edition and mainly uses Australian examples of the
issues related to longitudinal dynamics on their heavy-haul lines, where very long trains are used
to transport bulk freight. Similarly, the issue of structure gauging largely uses the UK as a case
study, because it is there that historic lines through dense-population centres have resulted in a very
restricted loading gauge. The desire to run high-speed trains in this situation has led to the use of
highly developed techniques to permit full advantage of the loading gauge to be taken.
The history of the field is presented by Alan H. Wickens in Chapter 2, from the earliest thoughts
of George Stephenson about the dynamic behaviour of a wheelset through the development of theo-
retical principles to the application of modern computing techniques. Professor Wickens was one of
the modern pioneers of these methods and, as director of research at British Rail Research, played
a key role in the practical application of vehicle dynamics knowledge to high-speed freight and pas-
senger vehicles.
Chapters  3 and 4 set out the basic structure of railway vehicles. In  Chapter  3, Anna Orlova,
Roman Savushkin, Iurii(Yury) Boronenko, Kirill Kyakk, Ekaterina Rudakova, Artem Gusev,
Veronika Fedorova and Nataly Tanicheva outline and explain the basic structure of the railway
coaches and wagons and the different types of running gear that are commonly used. Chapter 4
covers the design of powered railway vehicles and locomotives. Maksym Spiryagin, Qing Wu, Peter
Wolfs and Valentyn Spiryagin explain the type and structure of locomotives in service and the

1
2 Handbook of Railway Vehicle Dynamics

different types of traction system used. Magnetic levitation vehicles are described in Chapter 5 by
Shihui Luo and Weihua Ma. MagLev technology has been around for some time but does not yet
seem to have achieved full commercialisation. The likely trends are explored in Chapter 5.
Chapter 6 explores the detail of the key suspension components that make up the running gear
of typical railway vehicles. Sebastian Stichel, Anna Orlova, Mats Berg and Jordi Viñolas show how
these components can be represented mathematically and give practical examples from different
vehicles. The key area of any study of railway vehicle behaviour is the contact between the wheels
and the rails. An understanding of all the forces that support and guide the vehicle pass through
this small contact patch and of the nature of these forces is vital to any analysis of the general vehi-
cle behaviour. The equations that govern these forces are derived and explained by Jean-Bernard
Ayasse, Hugues Chollet and Michel Sebès in Chapter 7. They include an analysis of the normal
contact that governs the size and shape of the contact patch and the stresses in the wheel and rail,
and also the tangential problem, where slippage or creep in the contact patch produces the creep
forces which accelerate, brake and guide the vehicle. The specific area of tribology applied to the
wheel-rail contact is explained by Ulf Olofsson, Roger Lewis and Matthew Harmon in Chapter 8.
The track on which railway vehicles run is clearly a significant part of the dynamic system, and
Wanming Zhai and Shengyang Zhu present the dynamics and modelling of various railway track
structures in Chapter 9, as well as the interaction between track and train. Chapter 10 covers the
unique railway problem of gauging, where the movement of a railway vehicle means that it sweeps
through a space that is larger than it would occupy if it moved in a perfectly straight or curved path.
Precise knowledge of this space or envelope is essential to avoid vehicles hitting parts of the sur-
rounding infrastructure or each other. David M. Johnson has developed computer techniques that
allow the gauging process to be carried out to permit vehicle designers and operators to ensure
safety at the same time as maximising vehicle size and speed, and he explains the philosophies and
techniques in this chapter.
The  avoidance of derailment and its potentially catastrophic consequences are of fundamen-
tal concern to all railway engineers. In Chapter 11, Nicholas Wilson, Huimin Wu, Adam Klopp
and Alexander Keylin explain how railway vehicle derailment is prevented. They explore the main
causes and summarise the limits that have been set by standards to try to prevent these occurrences
and cover the special case of independently rotating wheels and several possible preventative mea-
sures that can be taken.
In Chapter 12, Hongqi Tian explains the use of wind tunnels and computational fluid dynamics
to improve the understanding of the effects of aerodynamics on the dynamic behaviour of railway
vehicles.
Longitudinal train dynamics are covered by Colin Cole in Chapter 13. This is an aspect of vehi-
cle dynamics that is sometimes ignored, but it becomes of major importance in heavy-haul railways,
where very long and heavy trains lead to extremely high coupling forces. This chapter also covers
rolling resistance and braking systems.
Chapter 14 deals with noise and vibration problems. David Thompson, Giacomo Squicciarini,
Evangelos Ntotsios and Luis Baeza explain the key issues, including rolling noise caused by rail
surface roughness, impact noise and curve squeal. They outline the basic theory required for a study
in this area and also show how computer tools can be used to reduce the problem of noise. The effect
of vibrations on human comfort is also discussed, and the effect of vehicle design is considered.
In Chapter 15, Roger M. Goodall and T.X. Mei summarise the possible ways in which active
suspensions can allow vehicle designers to provide advantages that are not possible with passive
suspensions. The basic concepts from tilting bodies to active secondary and primary suspension
components are explained in detail and with examples. Recent tests on a prototype actively con-
trolled bogie are presented, and limitations of the current actuators and sensors are explored before
conclusions are drawn about the technology that will be seen in future vehicles.
Computer tools are now widely used in vehicle dynamics, and some specialist software pack-
ages allow all aspects of vehicle-track interaction to be simulated. In Chapter 17, Oldrich Polach,
Introduction 3

Mats Berg and Simon Iwnicki explain the historical development and state of the art of the methods
that can be used to set up models of railway vehicles and to predict their behaviour as they run on
typical track or over specific irregularities or defects. The material of previous chapters is drawn
upon to inform the models of suspension elements and wheel-rail contact, and the types of analysis
that are typically carried out are described. Typical simulation tasks are presented from the view-
point of a vehicle designer attempting to optimise suspension performance, and the key issue of
validation of the results of computer models is reviewed.
In  Chapter  18, Julian Stow outlines the key aspects of field testing, including the procedures
typically used during the acceptance process to demonstrate safe operation of railway vehicles. An
alternative to field testing is to use a roller rig on which a vehicle can be run in relative safety, with
conditions being varied in a controlled manner. In Chapter 19, Paul D. Allen, Weihua Zhang, Yaru
Liang, Jing Zeng, Henning Jung, Enrico Meli, Alessandro Ridolfi, Andrea Rindi, Martin Heller and
Joerg Koch summarise the characteristics of the main types of roller rig and the ways in which they
are used. Chapter 19 also reviews the history of existing roller rigs, summarising the key details
of examples of the main types. Chapter 20 extends the theme to scale testing, which has been used
effectively for research into wheel-rail contact. In  this chapter, Nicola Bosso, Paul D. Allen and
Nicolò Zampieri describe the possible scaling philosophies that can be used and how these have
been applied to scaled roller rigs. In  Chapter  21, Tim McSweeney provides a glossary of terms
relevant to railway vehicle dynamics.
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Design of Unpowered Railway Vehicles

AAR, Manual of Standards and Recommended Practices, Section C, Part II, Design, Fabrication, and
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Standardization , Brussels, Belgium, 2010.
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I.Y. Shevtsov , Wheel/rail interface optimization, PhD Dissertation, Delft University of Technology, Delft, the
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Y. Boronenko , A. Orlova , E. Rudakova , Influence of construction schemes and parameters of three-piece
freight bogies on wagon stability, ride and curving qualities, Vehicle System Dynamics, 44(S1), 402414, 2006.
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Y.P. Boronenko , A.M. Orlova , Influence of bogie to car body connection parameters on stability and curving of
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September 2004, Budapest University of Technology and Economics, Budapest, Hungary, pp. 2325, 2004.
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2017. (in Russian)

Design of Powered Rail Vehicles and Locomotives

M. Spiryagin , C. Cole , Y.Q. Sun , M. McClanachan , V. Spiryagin , T. McSweeney , Design and simulation of
rail vehicles, Ground Vehicle Engineering Series, CRC Press, Taylor & Francis Group, Boca Raton, FL, 2014.
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haul Locomotives and Trains, Ground Vehicle Engineering Series, CRC Press, Taylor & Francis Group, Boca
Raton, FL, 2017.
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International Union of Railways, Paris, France, 1983.
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Locomotives and Locomotive Interchange Equipment: RP-5523 Axle Nomenclature Arrangement Locomotives,
AAR , Washington, DC, 2008.
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Committee and compiled by Peggy Glenn, July 1994 . Available at:
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for heavy haul operation, International Journal of Rail Transportation, 6(1), 115, 2018.
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heavy haul rail traction vehicles, Applied Energy, 157, 607618, 2014.
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realisation of tractive efforts by high adhesion locomotives, Vehicle System Dynamics, 55(8), 12411264, 2017.
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Linkping, Sweden, 2003.
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a tractive mode, Mechanical Systems and Signal Processing, 22(3), 709720, 2008.
M. Spiryagin , C. Cole , Y.Q. Sun , Adhesion estimation and its implementation for traction control of
locomotives, International Journal of Rail Transportation, 2(3), 187204, 2014.
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Engineering, 3(2), 3843, 2014.
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M. Spiryagin , O. Polach , C. Cole , Creep force modelling for rail traction vehicles based on the Fastsim
algorithm, Vehicle System Dynamics, 51(11), 17651783, 2013.
M. Spiryagin , I. Persson , Q. Wu , C. Bosomworth , P. Wolfs , C. Cole , A co-simulation approach for heavy
haul long distance locomotive-track simulation studies, Vehicle System Dynamics, In Press, DOI:
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127, 2017.
C. Cole , M. Spiryagin , Q. Wu , Y.Q. Sun , Modelling, simulation and applications of longitudinal train
dynamics, Vehicle System Dynamics, 55(10), 14981571, 2017.
Q. Wu , M. Spiryagin , P. Wolfs , C. Cole , Traction modelling in train dynamics, Journal of Rail and Rapid
Transit, 233(4), 382395, 2019.

Magnetic Levitation Vehicles

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195 J. Wang , S. Wang , Y. Zeng , H. Huang , F. Luo , et al., The first man-loading high temperature
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mid-set air spring, Vehicle System Dynamics, 56(12), 17971816, 2018.

Suspension Elements and Their Characteristics

E. Andersson , M. Berg , S. Stichel , Rail Vehicle Dynamics, Royal Institute of Technology (KTH), Stockholm,
Sweden, 2014.
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Rail Vehicle Aerodynamics

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Longitudinal Train Dynamics and Vehicle Stability in Train Operations

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Noise and Vibration from Railway Vehicles

European Union Commission, Commission Regulation No 1304/2014 of 26 November 2014 on the technical
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Communities, 12.12.2014 L356/421437, Brussels, Belgium, 2014.
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