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In wheel rail adhesion studies, most of the test rigs used are simplifieddesigns such as a single wheel or wheelset, but the results may not beaccurate. Alternatively, representing the complex system by using a fullvehicle model provides accurate results but may incur complexity in design. Totrade off accuracy over complexity, a bogie model can be the optimum selection.Furthermore, only a real time model can replicate its physical counterpart inthe time domain. Developing such a model requires broad expertise andappropriate software and hardware. A few published works are available whichdeal with real time modeling. However, the influence of the control system hasnot been included in those works. To address these issues, a real-time scaledbogie test rig including the control system is essential. Therefore, a 1:4scaled bogie roller rig is developed to study the adhesion between wheel androller contact. To compare the performances obtained from the scaled bogie testrig and to expand the test applications, a numerical simulation model of thatscaled bogie test rig is developed using Gensys multibody software. This modelis the complete model of the test rig which delivers more precise results. Toexactly represent the physical counterpart system in the time domain, areal-time scaled bogie test rig (RT SBTR) is developed after four consecutivestages. Then, to simulate the RT-SBTR to solve the internal state equations andfunctions representing the physical counterpart system in equal or less thanactual time, the real-time simulation environment is prepared in two stages. Tosuch end, the computational time improved from 4 times slower than real time to2 times faster than real time. Finally, the real time scaled bogie model isalso incorporated with the braking control system which slightly reduces thecomputational performances without affecting real time capability.

Real time multibody modeling and simulation of a scaled bogie test rig