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

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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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