In wheel–rail adhesion studies, most of the test rigs used are simplified designs such as a single wheel or wheelset, but the results may not be accurate. Alternatively, representing the complex system by using a full vehicle model provides accurate results but may incur complexity in design. To trade off accuracy over complexity, a bogie model can be the optimum selection. Furthermore, only a real-time model can replicate its physical counterpart in the time domain. Developing such a model requires broad expertise and appropriate software and hardware. A few published works are available which deal with real-time modeling. However, the influence of the control system has not been included in those works. To address these issues, a real-time scaled bogie test rig including the control system is essential. Therefore, a 1:4 scaled bogie roller rig is developed to study the adhesion between wheel and roller contact. To compare the performances obtained from the scaled bogie test rig and to expand the test applications, a numerical simulation model of that scaled bogie test rig is developed using Gensys multibody software. This model is the complete model of the test rig which delivers more precise results. To exactly represent the physical counterpart system in the time domain, a real-time scaled bogie test rig (RT-SBTR) is developed after four consecutive stages. Then, to simulate the RT-SBTR to solve the internal state equations and functions representing the physical counterpart system in equal or less than actual time, the real-time simulation environment is prepared in two stages. To such end, the computational time improved from 4 times slower than real time to 2 times faster than real time. Finally, the real-time scaled bogie model is also incorporated with the braking control system which slightly reduces the computational performances without affecting real-time capability.

中文翻译：

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规模化转向架试验台的实时多体建模和仿真

在轮轨附着力研究中，大多数使用的测试台架都是简化设计，例如单个轮毂或轮对，但结果可能并不准确。或者，通过使用完整的车辆模型表示复杂的系统可提供准确的结果，但可能会导致设计复杂。为了权衡精度而不是复杂性，转向架模型可能是最佳选择。此外，只有实时模型才能在时域中复制其物理副本。开发这样的模型需要广泛的专业知识以及适当的软件和硬件。提供了一些有关实时建模的已发表作品。但是，控制系统的影响尚未包括在这些工作中。为了解决这些问题，包括控制系统在内的实时缩放的转向架测试装置至关重要。因此，1：开发了4台转向架滚轮式钻机，以研究轮与滚轮接触之间的附着力。为了比较从规模化的转向架测试台获得的性能并扩展测试应用，使用Gensys多体软件开发了该规模的转向架测试台的数值仿真模型。该模型是测试设备的完整模型，可提供更精确的结果。为了在时域中准确表示物理对应系统，在连续四个阶段之后开发了实时缩放的转向架测试装置（RT-SBTR）。然后，为了模拟RT-SBTR以在等于或小于实际时间的时间内求解表示物理对应系统的内部状态方程和函数，需要分两个阶段准备实时仿真环境。为此，计算时间从比实时慢4倍提高到比实时快2倍。最后，实时缩放的转向架模型也与制动控制系统结合在一起，该系统在不影响实时能力的情况下略微降低了计算性能。