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Table of Contents ,.
Table of Contents
Preface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Table of Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
11.1
Basic principies .Definitions .1.1.1 So, what is a "railway"? .1.1.2 Classification of railways .Historical development of electric railways .A short overview of rai lway electric power-supply systems .1.3.1 Direct-current railway systems .1.3.2 Single-phase alternating current railway systems .1.3.3 Three-phase three-wire railway systems .1.3.4 Standardised voltages ofthe train line .1.3.5 State of electrification in selected countries .Comparison of traction systems .Eurapean railway industry .
1.21.3
1.41.5
22.1
Mechanics of railway transportation .PrincipIes of rail-guidance .2.1.1 Gauges .2.1.2 Guidance of wheelset in track .2.1.3 Frame and bogie .2.1.4 Bogies with self-steering wheelsets .2.1.5 Curvature-dependant body-tilting equipment. .Train resistance .2.2.1 Train rolling resistance .2.2.2 Train resistance due to curves .2.2.3 Train gradient resistance .2.2.4 Train acceleration resistance .2.2.5 Permanent and starting tractive effort (F-v diagram) .2.2.6 Load transfer .Adhesion, slip-and-slide contraI .Traveling time loss by acceleration and braking .
2.2
2.32.4
33.1
Running gear and drive oftraction vehicles .Classification oftraction vehicles and wheel arrangement .3.1.1 Classification of traction vehicle types .3.1.2 Wheel arrangement. .Mechanical components of power transmission .3.2
44.1
Commutator traction motors and their control .DC traction motor .4.1.1 DC commutator motor .
13141414151919202121222223
27282829323536383839404041424549
5152525254
636464
•• Iable of Contents
4.2
4.1.2 Variation of motor voltage by series resistors .4.1.3 Control of motor voltage in DC-supplied systems by DC choppers .4.1.4 Control ofmotor voltage in AC-supplied systems by phase-contral rectifiers .AC traction motor .4.2.1 AC commutator motor .4.2.2 Main transformer. .4.2.3 Main circuit breaker .4.2.4 Control of motor voltage with the AC commutator motor .
55.1
Induction traction motors and their control .Construction and stationary behaviour ofthe induction machine .5.l.1 Basics of induction machine .5.l.2 Early traction vehicles with induction motors .5.1.3 Variable-voltage variab1e-frequency operation with pulse inverter .Voltage-source inverter (VSI) .Controlled operation ofinverter-fed induction motor .5.3.1 Ulf, -characteristic control .5.3.2 UU;-characteristic contrai with impulse encoder .5.3.3 Slip-frequency-stator-current characteristics contrai .5.3.4 Rotor-field-oriented or Vector Contrai .5.3.5 Direct SelfControl (DSC) .5.3.6 Indirect Stator-quantities Control (lSC) .Group supply of induction traction motors .Four-quadrant converter. .Inverter circuit and construction technology .5.6.1 Force-commutated thyristor voltage-source inverter .5.6.2 Inverter with Gate- Tum-Off (GTO) thyristors .5.6.3 IGBT inverter .5.6.4 Three-Ievel inverter. .5.6.5 Current-source inverter (CSI) .5.6.6 Power-electronic medium-frequency transformer .5.6.7 Cooling and constructional aspects .
5.25.3
5.45.55.6
66.16.26.3
Synchronous traction motors and their control .Synchranous motor with e1ectric excitation .Synchronous traction motor fed by load-commutated converter. .Permanent-magnet synchronous traction motor with inverter supply .
77.1
Electric traction vehicles for mainline service .Electric traction vehicles with DC traction motors .7.l.l DC-chopper contraI. .7.1.2 Thyristor phase-angle contraI .Electric traction vehicles with AC commutator traction motors .Electric traction vehicles with induction traction motors .7.3.1 Locomotives .
7.27.3
6970757979808485
8990909698
101104104104105108108108109111117117120121122124125128
137138139142
147148148148151152153
Table of (ontents li7.4
7.3.2 High-speed trains .Electric traction vehicles with synchronous traction motors .
159163
167168171
179180185195196
203205209209211213220
88.18.2
Multi-system traction vehicles .Examples with DC commutator motors .Examples with inverter-fed induction motors .
99.19.29.39.4
Diesel-electric traction vehicles .Conventional technologies - hydraulic and electric drive chain .Diesel-electric traction vehicles with three-phase drives .Permanent-magnet synchronous generators .Dual-mode traction vehicles .
1010.110.2
Suburban and Light Rail traction vehicles .Metro and Underground trains .Light Rail and Light Rapid Transit vehicles, low-floor technology .10.2.1 Conventional tramway cars and articulated trains .10.2.2 Dual-system Light Rapid Transit vehicles .10.2.3 Low-floor light rail vehicles .Traction vehicles with energy storage .10.3
-------------------------------------- Anzeige
POWERLINESGROUP
Competent. Local. Flexible.
For over 30 years the Powerlines Group has specia- speaking regions and northern Europe (Scarldlnavia)lised in the eiectr.ficanonof raiways. lram routes ano The Powerlines Group provides a cornprehensfveunderground train lines, as well as the construction service port!olio, Including engineering, installation,01 high-voltage uansmissíon lines for energy provi- consultíng and mainlenance. Tried and tested full-ders. As a specialist niche player the Group ís a relí- servíce solutions are taílored to the requirements 01able partner for reputable European rail operators the customer and implemented by experienced andand energy províders. The principal markets 01 the híghly-qualilíed enqmeers. Every step is perfectlyPowerínes Group are ínCentral Europe. The compa- coordínated to ensure each system offers absoluteny ís aíso one 01 lhe market leaders m the German- operatíonal salety, reliabílítyand a long workíng lile.
www.powerlines-group.com _
Powerlines Products, SPL Powerlines Austna. SPL Pcwer'ines Benecx. SPL Pcwerines Czech Heput) K . SPL PO'N(;II:nes Gcrr'"l<'Jny. SPL PowertresHUnQ<-'1ry,SPL Powenines Non,vay. SPL Po,,,",c'r!,r€sPelam, SPL Pov..'erl.nes Slovakia. SPL Powerhoes Sweoeo. SPL_ Pcwerhoes UK, Vl.B Le-turqsbau
liTable of Contents
11 Braking technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22511.1 Automatic air brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22611.2 Magnet rail brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23011.3 Linear eddy-current brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
12 Uncommon types of railways . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23312.1 Track-guided railways on pressurised rubber-tyre wheels. . . . . . . . . . . . . . . . . . . . 23412.2 Suspension Railways. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . 23612.3 Trackless railway transportation systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23912.4 Magnetic Levitation Railways (MagLevs) . . . . . . . . . . . . . . . . . ... . . . . . . . . . . . 243
12.4.1 Support and guidance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24412.4.2 Contactless transmission of traction force . . . . . . . . . . . . . . . . . . . . . . . . . . 24612.4.3 Converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24912.4.4 On-board power supply of vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25012.4.5 Application Pudong International Airport-Shanghai . . . . . . . . . . . . . . . . . . 250
13 Power supply of electric railways . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25113.1 AC railways operating at 162/J (16.7) Hz. ..... . . . . . .. . . . . . .. . . . . . .. . . . . . . 252
13.I. I Central and decentral supply in Germany. . . . . . . . . . . . . . . . . . . . . . . . . . . 25213.1.2 Rotary converters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25613.1.3 Static converters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
13.1.3.1 DC-\ink converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25813.1.3.2 ContraI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26413.1.3.3 Protection issues . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26513.1.3.4 Modular Multilevel Converter (MMC) . . . . . . . . . . . . . . . . . . . . 265
13.2 AC railways operating at 50 Hz. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26813.2.1 Praperties, and a comparison to the 162/J-Hz system . . . . . . . . . . . . . . . . . . 26813.2.2 Balancing by means ofpower-electranic equipment . . . . . . . . . . . . . . . . . . 27113.2.3 Autotransformer system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27313.2.4 Increased operating voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
13.3 DC railways . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27613.4 Contact \ines and current collectors 279
14 Line interference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28714.1 Survey. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28814.2 Emission sources in DC railway systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
14.2.1 Voltage harmonics of the substation rectifiers . . . . . . . . . . . . . . . . . . . . . . . 28914.2.2 Input-current harmonics of a step-down DC chopper. . . . . . . . . . . . . . . . . . 29014.2.3 Input-current harmonics of an ASCI. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29114.2.4 Input-current harmonics of a VSI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
14.3 Emission sources in AC railway systems 29314.3.1 Voltage harmonics ofthe power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29314.3.2 lnput-current harmonics by phase-angle contrai . . . . . . . . . . . . . . . . . . . . . 29314.3.3 Input-current harmonics by inverter input current . . . . . . . . . . . . . . . . . . . . 297
Table 01 Contents li14.3.4lnput voltage harmonics ofthe four-quadrant converter. . . . . . . . . . . . . . . 29814.3.5 Modulation ofVSI input-current harmonics by the four-quadrant converter. . . 302
14.4 Impedances ofthe railway power-supply system . . . . . . . . . . . . . . . . . . . . . . . . . . 30314.4.1 Parameters of railway overhead lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30314.4.2 Resonances, excited by pulsing of 4q-C. . . . . . . . . . . . . . . . . . . . . . . . . . . . 30414.4.3 Low-frequency instability 306
14.5 Mechanisms of coupling, psophometric interference current . . . . . . . . . . . . . . . . . 30714.6 Track circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30914.7 Suppression of low-frequent interference currents of power-electronic converters . . 31114.8 High-frequentdisturbance............................................ 312
15 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31315.1 Control strategies for traction induction motor drives. . . . . . . . . . . . . . . . . . . . . . . 314
15.1.1 Demandsbyrailwaytraction 31415.1.2 Space-vector representation ofthree-phase systems. . . . . . . . . . . . . . . . . . . 31415.1.3 Dynamical equivalent circuit diagram of induction machine. . . . . . . . . . . . 31515.1.4 Field-oriented control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31615.1.5 Direct Self Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32115.1.6 lndirect Stator-quantities Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32515.1.7 Conclusion 328
15.2 Speed-sensorless stator-fiux-oriented control ofinduction motor drives in traction . . 32915.2.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32915.2.2 Model ofthe induction machine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33015.2.3 Stator-fiux-oriented control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33115.2.4 Field-weakening operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33315.2.5 Correction of inverter-voltage errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33515.2.6 Sensor1ess identification of speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33615.2.7 Stator-resistance estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33915.2.8 Suppression of parasitic DC voltages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34115.2.9 Operation with infinitely slow change between driving and braking. . . . . . 34115.2.10 Difference oflndirect Stator-Quantities Control and Direct Vector Control . . 34415.2.11 Conc1usion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
15.3 Unified Notation of Carriages of UIC and OSShD(Cipher 3 und 4 of carriage number) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
15.4 Symbols and Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
16 References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35116.1 Lecture scripts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35216.2 Journa1s.......................................................... 35216.3 Books and joumal/conference papers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
17 Exercises with exemplary solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37317.1 F-v-Diagram of a Universal Locomotive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37417.2 Mechanica1 design of a Universal Locomotive . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
liTable 01 Contents
17.3 Mean traveling speed of a Metro train. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37817.4 DC traction motor fed by a DC chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38017.5 Two-pu1se bridge in half-controllable connection of pairs of arms with
sequentia1 phase control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38317.6 Three-phase induction traction motor for a Universal Locomotive
with 6,400 kW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38717.7 Wheel-tyre diameter differences at group supply oftraction 1M 39017.8 Four-quadrant converter for a Universal Locomotive 6,400 kW 39317.9 Stopping distance of a Light Rapid Transit Train without and with magnet
rail brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39717.10 Supply of electric railway lines from 162/) Hz and from 50 Hz .. . . . . . . . . . . . . . 399
18 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
19 Business directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415
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