testing of two-stream volumetric hydromechanical …

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BulTrans-2016 Proceedings 14-16 September 2016 Sozopol TESTING OF TWO-STREAM VOLUMETRIC HYDROMECHANICAL GЕАR IN LABORATORY Rosen RUSANOV Boyko GIGOV Department of Internal Combustion Engines, Automobiles and Transport , Technical University of Sofia - Bulgaria [email protected] Department of Internal Combustion Engines, Automobiles and Transport , Technical University of Sofia - Bulgaria [email protected] Abstract: The paper presents a methodology for tests and experimental data collected from the test bench in the laboratory of two-stream volumetric hydromechanical gear with purpose use in powertrain traction, transport or specialized mobile machine. Keywords: two-stream, hydromechanical gear, hydrostatic transmission, efficiency, power, kinematic range of gear ratio. 1. Introduction Two-stream test hydrostatic-mechanical transmission - OHMP, which is shown in Fig. 1 is used for gearbox of transportation and special machines with wheels or caterpillar tracks (in the latter it is possible to perform the function of heave mechanism). The purpose of the test is to determine the suitability of this type of gear for use in the said use, through real experimental data from laboratory testing of the gear, when it is not mounted on a mobile machine. As a species transmission OHMP is a source of losses of the transmitted power and energy. Their determination represents the greatest interest because they directly affect the overall efficiency, which is crucial for fitness of the gear in any power transmission. In consideration OHMP arises following types of losses: Power - mechanical friction of gear - gear pairs friction in sliding and roller bearing assemblies, gaskets, splattering of the oil in the crankcase and oil supply system for the hydraulic part of OHMP, friction in the pumping of the hydraulic branch supports the plunger of hydrostatic machines; Hydraulic - losses by passing the working fluid in the hydraulic fittings - valves, piping, coolers, filters. Kinematic - typical for the hydraulic branch of OHMP. Resulting in the loss of speed, due to leakage in the pump elements of the hydrostatic machines, so called volumetric losses. 2. Scheme of the test bench for experimental research on OHMP. The scheme of the stand, shown in Fig. 2. [2] covers also other types of gears in order universality its application. For each test in its method is envisaged calculation of an approximation of the values, that can not be directly measured. In this case the object of research is OHMP, marked as two-stream module of the scheme. The methodology consists of the submission of constant power, constant torque - Fig. 3. (MIN) and constant angular velocity at the input of OHMP. This simulates the work of the internal combustion engine with maximum power in one working point of multiparameter characteristic with a constant angular velocity and torque. The objective is to determine the parameters of the output power of Axial- piston pump Mecha- nical branch of OHMP Axial-piston motor Supply pumps Gear- box 4+1 Fig.1 - General view of OHMP 109

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Page 1: TESTING OF TWO-STREAM VOLUMETRIC HYDROMECHANICAL …

BulTrans-2016 Proceedings

14-16 September 2016

Sozopol

TESTING OF TWO-STREAM VOLUMETRIC HYDROMECHANICAL GЕАR IN

LABORATORY

Rosen RUSANOV Boyko GIGOV

Department of Internal Combustion Engines, Automobiles and

Transport , Technical University of Sofia - Bulgaria [email protected]

Department of Internal Combustion Engines, Automobiles and

Transport , Technical University of Sofia - Bulgaria [email protected]

Abstract:

The paper presents a methodology for tests and experimental data collected from the test bench in the

laboratory of two-stream volumetric hydromechanical gear with purpose use in powertrain traction, transport or

specialized mobile machine.

Keywords: two-stream, hydromechanical gear, hydrostatic transmission, efficiency, power, kinematic range of

gear ratio.

1. Introduction

Two-stream test hydrostatic-mechanical

transmission - OHMP, which is shown in Fig. 1 is used

for gearbox of transportation and special machines

with wheels or caterpillar tracks (in the latter it is

possible to perform the function of heave mechanism).

The purpose of the test is to determine the

suitability of this type of gear for use in the said use,

through real experimental data from laboratory testing

of the gear, when it is not mounted on a mobile

machine.

As a species transmission OHMP is a source of

losses of the transmitted power and energy. Their

determination represents the greatest interest because

they directly affect the overall efficiency, which is

crucial for fitness of the gear in any power

transmission. In consideration OHMP arises following

types of losses:

Power - mechanical friction of gear - gear

pairs friction in sliding and roller bearing

assemblies, gaskets, splattering of the oil in the

crankcase and oil supply system for the

hydraulic part of OHMP, friction in the

pumping of the hydraulic branch supports the

plunger of hydrostatic machines;

Hydraulic - losses by passing the working

fluid in the hydraulic fittings - valves, piping,

coolers, filters.

Kinematic - typical for the hydraulic branch of

OHMP. Resulting in the loss of speed, due to

leakage in the pump elements of the

hydrostatic machines, so called volumetric

losses.

2. Scheme of the test bench for

experimental research on OHMP.

The scheme of the stand, shown in Fig. 2. [2]

covers also other types of gears in order universality its

application. For each test in its method is envisaged

calculation of an approximation of the values, that can

not be directly measured. In this case the object of

research is OHMP, marked as two-stream module of

the scheme. The methodology consists of the

submission of constant power, constant torque - Fig. 3.

(MIN) and constant angular velocity at the input of

OHMP. This simulates the work of the internal

combustion engine with maximum power in one

working point of multiparameter characteristic with a

constant angular velocity and torque. The objective is

to determine the parameters of the output power of

Axial-piston pump

Mecha-nical branch of OHMP

Axial-piston motor Supply pumps

Gear-box 4+1

Fig.1 - General view of OHMP

109

Page 2: TESTING OF TWO-STREAM VOLUMETRIC HYDROMECHANICAL …

OHMP (MOUT = f (n2) - Fig. 3.), to assess its

performance in terms of efficiency, as well as the

realized variation range of the force ratio and kinematic

ratio at minimum allowable value of the efficiency

(Fig. 4.). The essence of the method consists in the

construction of the traction characteristic of the output

shaft on the OHMP, when submitting the constant

power, with constant parameters at the input of the

OHMP. The variable gear ratio is provided by

changing the working volumes of the hydrostatic

machines, through the levers L2 и L3. In the case both

machines are adjustable with manual control of the

volumes.

3. The measured values (Table 1)

P, [W]- active power, consumed of the three

phases of the drive electric motor. It is assumed, that

the electric load in the windings is symmetrical and is

measured with wattmeter for active power; Kv1,2,3 and 4 ,

[V] - angular position of the control levers of the

adjustable hydrostatic machines - L1,2,3 и 4 , measured by

potentiometer for rotation within a range of 0 to 270

degrees with a linear characteristic. The indices

signify: 1 - for the pump of the drive hydrostatic

transmission, 2 - for the hydrostatic machine from

OHMP, working in pumping mode, 3 - for the

hydrostatic machine from OHMP, working in motor

mode and 4 - for hydrostatic brake; n1, [min-1] – the

rotational speed of the output shaft from the drive

hydrostatic transmission. The rotational speed of the

input shaft of the two-stream module is determined by

calculating, because is provided hard link in the

kinematic diagram of a hydromechanical conventional

automatic transmission (CAT) by blocking the torque

converter. The converters for speed are made of optron

elements, operating with infrared rays; n2, [min-1] – the

rotational speed of the output shaft of the two-stream

module, which, according to the scheme of the stand,

coincides with that of the loading hydrostatic brake; Т,

[V] – the torque, acting on the stationary planetary

wheel from differential of the hydromechanical

transmission. The torque of the input shaft in two-

stream module is calculated by considering the friction

in the differential mechanism. The measurement is

through calibrated load cells, included in semi bridge;

∆p2, [V] – the pressure of the working fluid in the

working hydraulic oil line of the investigated OHMP.

The working differential pressure is defined as the

difference between the pressure of the high-pressure

hydraulic oil line and the connecting hydraulic oil line.

The pressure in the high-pressure hydraulic oil line is

reported with electrical converter type PSPR with

accuracy class 0.5% and supply voltage of 10 to 30V

DC. The output voltage is proportional to the measured

pressure and it changes in the range of 0 to 10V; ∆p1 –

the pressure of the working fluid in the working

hydraulic oil lines of the drive hydrostatic

transmission. It is calculated as the difference between

the pressure of the high-pressure oil line and the

connecting oil line. It is measured by mechanical

gauges; ∆p3 - the pressure of the working fluid in the

working oil lines of the loading brake. It is calculated

as the difference between the pressure of the high-

pressure hydraulic oil line and the connecting hydraulic

oil line the hydrostatic brake. It is measured by

mechanical pressure gauge. In the determination of

∆p1, ∆p2 and ∆p3 it is assumed that the pressure in the

connecting conduit with low pressure is equal to the

supply pressure of the respective circles; Q, [l/min] –

the flow of the working fluid in the working oil line of

the hydrostatic machines from OHMP; t, [C] –

temperature of the working fluid in OHMP – A note

should be of constancy in the value, since the presence

of a dynamic process is associated with an increase in

the force losses.

4. The calculated values (Table 1)

The relative working volume of the hydrostatic

Drive electric Hydrostatic CVT motor

Two-stream Loading brake modul

Fig. 2 - Kinematic scheme of the test bench

CAT 4+1

110

Page 3: TESTING OF TWO-STREAM VOLUMETRIC HYDROMECHANICAL …

machines:

KV = Vc / Vmax,

where Vc is the current working volume , and Vmax -

the maximum working volume. For this purpose is

used the constant of the converter for angular

displacement - CKv, [V-1] of the corresponding

hydrostatic machine (indices 1 to 4) – the graphic

dependences of Kv3 and Kv4 and the total efficiency as

a function of the rpm speed of the output shaft are

shown in Fig. 5. [1];

Differential pressure between the high-pressure oil

line and the connecting oil line of the corresponding

hydrostatic transmissions indexed with 1, 2, 3 and 4:

∆p = p2 - p1, X105 [Pa]

Are used constants with dimensionality Pa/V or

PA/Int;

MIN,OHMP , [Nm] – the input torque in OHMP -

from the measured magnitude T and the constant CT,

[Nm/V];

М1, [Nm] - the input torque in OHMP after the

intermediate gear drive

М1=Т.CT.iID.ID [Nm],

where CT is the constant of the load cell amplifier, iID,-

gear ratio of the intermediate gear drive, ID is the

efficiency of the intermediate gear drive;

MOHMP, [Nm] – the value of the torque, which is

transmitted via the hydraulic branch of OHMP on the

output of the hydraulic motor (index 3):

MOHMP = M1.KV3.HM / 2.KV2 ± 0,05.M1 / 2 [Nm]

HM - hydromechanically efficiency of hydrostatic

machines from OHMP; “2” is the gear ratio of the

differential mechanism at the input of the OHMP, in

the present case symmetrical; the sign “±” takes into

account the direction of the friction torque in the

differential mechanism at the work of OHMP as

retardant or overdrive; “0.05” - blockage coefficient of

the differential mechanism;

The graphs of ∆pOHMP (in the present case ∆pOHMP

= ∆p2 = p4 - p3) (from Fig. 2) and the total efficiency as

a function of the rpm speed of the output shaft are

shown in Fig. 6;

MBR, [Nm] – the output torque from OHMP -

coincides with the torque from the loading unit (brake)

- adjustable hydrostatic machine, that works as a pump,

unloaded with choke at constant pressure 5 MPa (∆p3)

MBR = KV4.Vmax.∆p3 / 2π [Nm];

nIN,OHMP [min-1] – the rpm speed of the input shaft of

the OHMP after the intermediate gear drive:

nIN,OHMP = n1 / uDM.uGB.uA.uID [min-1] ,

where uDM is gear ratio of the differential mechanism

of the OHMP, uGB – the gear ratio of the gearbox from

hydromechanical conventional automatic transmission

(CAT); uAD – the gear ratio of the axis drive from

hydromechanical CAT; uID – the gear ratio of the

intermediate gear drive before the OHNP;

iF is the force gear ratio:

iF = MBR / M1

iK is kinematics gear ratio:

iK = n2 / nIN,

is efficiency of the test gear:

= iF.iK = MBR.n2 / M1.nIN

characterizes all losses of the OHMP and is the

primary objective of the test.

Conclusions

Is investigated two-stream hydromechanical

transmission, which consists of differential mechanism

for separating of the streams and two identical

adjustable reversible axial piston hydrostatic machines

in the hydraulic branch. The survey was conducted in

laboratory conditions on a test bench, according to a

pre-developed methodology. The methodology allows

experiment with different modes of operation on

hydraulic machinery, specified by altering their

working volumes.

To evaluate the transforming properties of the

transmission are shown the results for a particular case

– curve from a family characteristics with the highest

value of MIN, defined by the installed capacity of the

test bench with a view to maximum use of the power

capacity of the installed hydrostatic machines and

mechanical assemblies and achieving real value of

efficiency. They were obtained at constant parameters

of the input and using the opportunity to regulate in

both hydrostatic machines. The drive unit also has the

ability to continuously change the input parameters of

the test transmission. So are simulated partial regimes

of the diesel engine and can be built outgoing family

characteristics.

At the chosen operating mode of the transmission

is obtained real stepless torque variation in range the

order of 5 at overall efficiency not lower than 0.75,

which not could only be achieved with the hydraulic

part. In this case for special tractive machine will need

additional range gearbox.

Can be assayed and the possibility of increasing the

continuously variable range by using the reversibility

of the hydrostatic machines.

The obtained results show the ratio between the

torques, respectively the power flows in the different

parts of the transmission, of which depends also the

change of the overall efficiency.

111

Page 4: TESTING OF TWO-STREAM VOLUMETRIC HYDROMECHANICAL …

P1ph=3.33kW; MDRIVE = 31.9Nm; t =70 C; ∆p3=5MPa; n1= 1300 min-1; KvHST = 0.85; p1=1,36MPa; p2 (OHMP, зт)

=1.5 MPa; p2(зт)=1.7 Mpa; p3(BR)=6.4 Mpa; ∆p1=2.6 МPa; M1= 97.6 Nm; n1IN OHMP = 727 min-1; P1OHMP = 7.43kW;

n1IN,OHMP = 727 min-1

measured values calculated values

Kv2 Kv3 Kv4 ∆p2 MOHMP MBR PBR iF iK 𝜼 Kv1 p2ОHMP n2 Kv4 p2

V min-1 V х105, Pa - х105, Pa Nm Nm kW -

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

1.10 3.63 0 1.25 181 0 1.00 0.55 164 354 405 1.66 4.151 0.054 0.223

1.11 3.49 33 1.24 175 0.05 1.00 0.54 158 341 392 2.63 4.018 0.088 0.354

1.12 3.36 67 1.23 168 0.1 1.00 0.52 151 328 379 4.87 3.884 0.169 0.656

1.13 3.23 100 1.22 161 0.15 1.00 0.46 144 282 333 6.16 3.417 0.243 0.830

1.14 3.09 134 1.21 155 0.2 1.00 0.36 138 212 264 6.24 2.700 0.311 0.840

1.15 2.96 167 1.2 148 0.25 1.00 0.30 131 170 222 6.32 2.270 0.375 0.850

1.16 2.82 201 1.19 141 0.3 1.00 0.26 124 142 194 6.38 1.983 0.433 0.859

1.17 2.69 234 1.18 135 0.35 1.00 0.24 118 122 174 6.44 1.779 0.488 0.868

1.18 2.56 268 1.17 128 0.4 1.00 0.22 111 107 159 6.50 1.625 0.539 0.875

1.19 2.42 301 1.16 121 0.45 1.00 0.20 104 96 147 6.56 1.506 0.586 0.883

1.20 2.29 335 1.15 115 0.5 1.00 0.19 98 86 138 6.61 1.410 0.631 0.890

1.21 2.16 368 1.14 108 0.55 1.00 0.18 91 79 130 6.66 1.332 0.673 0.896

1.22 2.02 410 1.13 101 0.6 1.00 0.17 84 72 124 6.79 1.267 0.722 0.914

1.23 1.89 445 1.12 94 0.65 1.00 0.16 77 67 118 6.83 1.212 0.759 0.920

1.24 1.76 479 1.11 88 0.7 1.00 0.16 71 62 114 6.87 1.164 0.794 0.925

1.25 1.62 513 1.1 81 0.75 1.00 0.15 64 58 110 6.90 1.123 0.827 0.929

1.26 1.49 547 1.09 74 0.8 1.00 0.14 57 55 106 6.94 1.088 0.859 0.934

1.27 1.36 581 1.08 68 0.85 1.00 0.14 51 52 103 6.97 1.056 0.889 0.938

1.28 1.22 615 1.07 61 0.9 1.00 0.14 44 49 100 7.00 1.028 0.917 0.943

1.29 1.09 650 1.06 54 0.95 1.00 0.13 37 47 98 7.03 1.003 0.944 0.946

1.30 0.95 698 1.05 48 1 1.00 0.13 31 44 93 6.95 0.955 0.980 0.936

1.30 0.95 747 1.04 48 1 0.93 0.11 31 34 81 6.23 0.827 1.014 0.838

1.30 0.95 804 1.03 48 1 0.87 0.11 31 34 80 6.42 0.823 1.051 0.865

1.30 0.95 870 1.02 48 1 0.80 0.11 31 31 78 6.44 0.795 1.090 0.866

1.30 0.95 948 1.01 48 1 0.74 0.10 31 28 75 6.45 0.766 1.132 0.868

1.30 0.95 1042 1 48 1 0.67 0.10 31 26 72 6.46 0.738 1.178 0.870

Table 1: The measured and calculated values

112

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Bibliography:

[1] Drive line engineering , Giles, Hancock ,Proc Instn

Mech Engrs 1969-70 Vol 184 Pt 31I,

[2]Модул за изследване на двупоточна

хидромеханична предавка, Гигов Б.; Русанов Р.

trans&MOTAUTO 2007

Fig. 6 - Graphs of change in the differential pressures between the

working hydraulic oil lines of hydrostatic machines from OHMP –

designation ∆pOHMP and of the loading brake – designation ∆pBR

depending on rpm speed of the output shaft (n2).

PBR POHMP

Fig. 4 - Graphs of change of the force ratio iF; kinematics ratio iK

and of the overall efficiency () of the OHMP depending on rpm

speed of the output shaft (n2).

F

F,

Fig. 5 - Graphs of change of the relative working volumes of the

hydrostatic machines from OHMP and of the overall efficiency

() of the transmission (index "p" pump for Kv2; index "m"

hydraulic motor for Kv3) depending on rpm speed of the output

shaft (n2).

Fig. 3 - Graphs of change of the force flows depending on rpm

speed of the output shaft (n2); MOUT - the torque of the output

shaft; MIN - torque of the input shaft the OHMP, MOHMP – the

torque at the output of the hydrostatic part of the OHMP (from

hydraulic motor)

OUT

OUT

OHMP

OHMP

IN

IN

113

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Page 7: TESTING OF TWO-STREAM VOLUMETRIC HYDROMECHANICAL …

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/ CONTENTS

Plenary session [ \ ] ^ _` [ ` a b c d e f g ] ^ _ h i j k k l m n o p q o r s t h i n u s v v l p p l s k l k w s t h i n x l o p h y q l z { q r | l k n l k } ~ z w q o l q gy ~ p n � � q o k q � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �:

Section: Aeronautics

� [ � e � � � f a g � o s � q � l z l p h l � u i q o q � h n o l p h l � p s t � s z � q k l � j p i q k � h i n � v � q � h s k } ~ z w q o l q k j l o p � q � n � � � � � � � � ] �[ g ��� [ � a � d a � � f g � i n � s p p l � l z l h r s t j � � z r l k w s t � y � � } l s n z n � h o s w o q � i r t s o j p p n p p v n k hq k � t s o � o n � l � h l s k s t � p r � i s � i r p l s z s w l � q z u s k � l h l s k s t � o q k p � s o h � s o � n o p � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] �[ [ g �� [ � a � d a � � f a � � � [ � e � � � f g � y � � � n � i k s z s w r q p � o l k � l � z n t s o h i n � h ~ � r s t j z h n o n � � h q h n ps t u s k p � l s ~ p k n p p s t j m l q h l s k � � n � l q z l p h p � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �� [ � � � d e f g � s l k n � � � l k w j n o s � r k q v l � � � h l v l � q h l s k ~ k � n o � k � n o h q l k h r � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �  [ � � � a ¡ ¢ g � l v � z l t l n � £ q h i n v q h l � q z £ s � n z t s o j l o � z q k n ¤ q { � h q � l z l h r j k q z r p l p � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ¥ �[ [ g� [ � e � ¡ � f a � � ¦ [ § c ¨ c � ¡ � f g y n p n q o � i s k h i n u s k t z l � h � s z ~ h l s k p l k j l o � o q t t l � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ¥ ©� [ ª « e d ¬ a � � f g u o l h n o l s k t s o j � q � h q h l s k s t h i n j k h n k k q � r p h n v p { l h i � � q h l q z � � n v � s o q z� o n q h v n k h s t h i n y n t z n � h n � � l w k q z p � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � _� [ ª « e d ¬ a � � f g � q o l q h l s k s t j z w s o l h i v t s o £ n q p ~ o l k w � � q h l q z u s s o � l k q h n p s t x z r l k w � � ­ n � hq � � s o � l k w h s � k t s o v q h l s k t o s v � k n � h q h l s k q o r y q � q o u s v � z n ® � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ¥[ \ [ [ g¯ [ ° � � � ¡ � f \ ± [ � e � ² « e f a � � § [ ± e ¬ � c � b � c g ³ ® � n o l v n k h q z � h ~ � r s t £ s � n z p s t £ l k l � j � pl k � l k � � ~ k k n z � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ©´ [ � a � a ¬ � � � f g µ ~ v n o l � q z u s v � ~ h q h l s k s t h i n � k � ~ � n � � n z s � l h r x l n z � s t q ¶ n z l � s � h n o y s h s ol k ¶ s m n o { l h i h i n � p n s t h i n � s o h n ® � i n s o r � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ^ _· [ � e � ¡ � c e f a \ ` [ ± e ¡ ¸ e � � f a � � ¦ [ § c ¨ c � ¡ � f g £ q h i n v q h l � q z £ s � n z t s o j l o � o q t h | q k � l k w � o q ­ n � h s o r � � � � © _

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Section: Engines and Automotive Engineering [ g  [ º � ¡ � a � � f g µ s k � � k m q p l m n ³ m q z ~ q h l s k s t h i n � s o � s t h i n µ s � � z n h i o s ~ w i� n v � n o q h ~ o n u i q k w n j k q z r p l p � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � © ¥[ g  [ º � ¡ � a � � f g j k q z r p l p s t h i n � s o � s t h i n µ s � � z n ~ k � n o y n � ~ � n � � o n p p ~ o n l k u s v v s k y q l z � r p h n v � � � © ©» [ � c d � � f q k � � � s � q ~ h i s o p g � � h l v l p q h l s k s t � q p h n ¶ n q h y n � s m n o r � r p h n v � � n o q h l k w � q o q v n h n o pt s o ¼ l n p n z ³ k w l k n � q p n � s k y q k � l k n u r � z n � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � © �[ [ gg �½ [ ° a b « e f a � � ¾ [ § c ¨ c � ¡ � f g j k ³ ® � n o l v n k h q z y n p ~ z h p s t u s v � o n p p l s k � w k l h l s k ³ k w l k n p� � n o q h l k w l k ¼ ~ q z � x ~ n z £ s � n � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ¿ ^± d [ ¯ � � « � � f q k � � � s � q ~ h i s o p g � i n u s v � q o q h l m n j k q z r � n s t h i n j ~ h s v s � l z n u o q k � p i q t h� s p l h l s k � n k p s o p � l w k q z � q m n t s o v p � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � _[ \ [ [ g j � �¦ [ � c � � � f b � a \ � [ À a � c � ¬ a � � f a � � � [ ± � a � e f a g j � h ~ � r s t h i n � k t z ~ n k � n s t } s � r � k � n ®s k u s s o � l k q h n p s t h i n u n k h n o s t � o q m l h r s t j � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ¥[ g� [ ¦ f a � � f g j � h ~ � r s k h i n � h q � l z l h r s t � { s j ® z n Á p | s o o r l k u q p n s t j � � n z n o q h l m n £ s h l s ks k � k � z l k n � y s q � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ¿[ \ [ [ g¦ [ ¾ f � c ¨ � f \ � [ ¦ f a � � f a � � � [ À a � c � ¬ a � � f g j u s v � q o q h l m n j k q z r p l p s t h i n � n i l � z n p³ k n o w r � n o t s o v q k � n � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ][ g� [ ¦ f a � � f g � r p h n v p t s o � v � o s m l k w s t ³ k n o w r ³ t t l � l n k � r l k u s k p h o ~ � h l s k £ q � i l k n p � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] _ ^[ [ g� [ � ¢ b a � � f a � � ¯ [ � c � � f g � n p h l k w s t � { s � � h o n q v � s z ~ v n h o l � ¶ r � o s v n � i q k l � q z � ol k | q � s o q h s o r � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] _ �[ ¥ g� [ ± � a � e f a q k � ¥ � s � q ~ h i s o p g j � h ~ � r s t � l o n � o l � u s n t t l � l n k h s k ³ ® � n o l v n k h q z u s m n ot s o � k � ~ p h o l q z � o q � � j � � z l � q h l s k � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] ] �[ \ [ [ g� [ � a b « � � f \ ¯ [ � ¬ � ² « a � � � [ ¦ f a � � f g j k � k m n p h l w q h l s k s k u i q o q � h n o l p h l � p s t | n � } ~ z � pt s o u q o ¶ n q � z l w i h p � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] ] �

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Section: Dynamics, Strength and Reliability of Vehicles

[ [ g` [ ° b � � e f a � � ¦ [ � ¢ « � a ¡ � f g ¶ l w i � n v � n o q h ~ o n ³ ® h n k p s v n h n o t s o | q h n o q z � h o q l k £ n q p ~ o n v n k h p � � � � � � � � ] � �[ [ gº [ � e � � f a � � ± [ ° a b « � � f g � i r p l � q z µ q h ~ o n q k � £ s � n z l k w s t � n v l � j � h l m n ¼ q v � n o p � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] � �[ [ gº [ � e � � f a � � ¦ [ ½ � � e d � f g � k t z ~ n k � n s t � n o h l � q z � l k � � � n n � ¼ l p h o l � ~ h l s k s k h i n ¼ r k q v l � | s q � pl k | q o w n � l k � � ~ o � l k n p � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] ¥ ©[ g �� ] ú [ � e � � f g £ ~ z h l � � ­ n � h l m n � r k h i n p l p s t x o n Ä ~ n k � r � £ s � ~ z q h n � u s k h o s z s t � n v l � j � h l m n� ~ p � n k p l s k Å � q o h ] à j k q z r p l p q k � u s k h o s z � h o q h n w l n p � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] � ][ g �� � ú [ � e � � f g £ ~ z h l � � ­ n � h l m n � r k h i n p l p s t x o n Ä ~ n k � r � £ s � ~ z q h n � u s k h o s z s t � n v l � j � h l m n� ~ p � n k p l s k Å � q o h � à £ ~ z h l � � ­ n � h l m n � r k h i n p l p � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] � �[ [ g� [ § ¬ ¢ d � e ¡ � f a a � � § [ � ¢ b e f g ³ t t n � h s t ¶ l w i x o n Ä ~ n k � r � l � o q h l s k p s k } n k � l k w s t � i l � pl k � o o n w ~ z q o � q m n p � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] ^ �:

Section: Railway Engineering and Technologies [ [ g � l h o q p Æ � u �§ [ À ¢ � � e � b � f a � � ± [ ½ � � e d � f g � l h o q p Æ � u � � n z t � � s v v ~ h q h n � � � } � l k m n o h n o � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] ^ ©[ \ [ [ gÀ [ ` e d � � f \ Ç [ À ¡ ¬ b � e f a � � ± [ ` e d � � f g £ n h i s � s z s w r t s o � n o t s o v q k � n s t } o q � l k w � n p h ps k y q l z { q r � n i l � z n p { l h i � s o h q � z n £ s � l z n � r p h n v � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] ^ �[ È g£ ¼ ¼ � � À [ ` e d � � f a � � È ² � É a ¢ � « � ¡ b g u q z � ~ z q h l s k s t h i n } o q � n � r p h n v� q o q v n h n o p t s o | s � s v s h l m n £ ¼ ¼ � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] © �[ È g ¤ � � ¿± [ ± d a f ² « e f a � � È ² � É a ¢ � « � ¡ b g u q z � ~ z q h l s k £ s � n z p q k � � h q h l � � h o n k w h i j k q z r p l p s t } s w l n ¤ � � ¿ � � � � � � � � � ] © ©

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Section: Transport Management and Logistics [ g§ \ ± a d c e f g j k � k m n p h l w q h l s k s t h i n � q l h l k w � l v n q h y s ~ k � q � s ~ h p � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] ¿ _[ g§ [ ± a d c e f g j k � k m n p h l w q h l s k s t h i n � l v n t s o h i n £ s m n v n k h l k y s ~ k � q � s ~ h p � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] ¿ �[ g �§ [ ± a d c e f g � k t z ~ n k � n ³ p h l v q h l s k s t h i n � l � � n h � o l � n s k h i n µ ~ v � n o s t � q p p n k w n o pu q o o l n � } r � ~ � z l � � o q k p � s o h l k � s t l q u l h r � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] ¿ �¯ [ ½ ¡ � a ¢ � � f g � i n y s z n s t � s v n k l k h i n � o q k p � s o h � n � h s o � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] � ][ [ g �» [ » e � � f a � � ¯ [ ± � ¡ � ¸ a � b � c g £ s � n z l k w s t � r p h n v t s o £ s k l h s o l k w q k � u s k h o s zs t y s z z l k w � h s � � l k £ s h l s k s k h i n y q l z µ n h { s o � l k h i n y n � ~ � z l � s t } ~ z w q o l q � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] � ^[ [ g� [ » c � � d � f a a � � ± [ ± � � c d � f a g � m n p h l w q h l s k s t h i n � v � z n v n k h q h l s k s t h i n � � i n � ~ z ns t £ s m n v n k h s t x q p h � q p p n k w n o � o q l k p l k h i n y q l z { q r µ n h { s o � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] � ]§ [ Ë � ¡ � a � � f a g � i n y s z n s t ³ ~ o s � n q k � h o ~ � h ~ o q z q k � � k m n p h v n k h x ~ k � pt s o ¼ n m n z s � v n k h s t � o q k p � s o h � k t o q p h o ~ � h ~ o n l k } ~ z w q o l q � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] � ¿[ \ [ [ g� [ � c d ² « e f \ § [ À � d e f a � � § [ � ¡ � � e f g £ n h i s � s z s w r t s o y n p n q o � i s t � s o � � � t � £ s ~ h i� k t s o v q h l s k t s o u q o y n � q l o � n o m l � n p � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � _ ][ \ [ [ g� [ � c d ² « e f \ § [ À � d e f a � � § [ � ¡ � � e f g £ n q p ~ o n v n k h s t h i n ³ t t n � h s t � s o � � � t � £ s ~ h i� k t s o v q h l s k t s o u q o y n � q l o � n o m l � n p � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � _ ^[ \ [ [ g� [ � c d ² « e f \ § [ À � d e f a � � § [ � ¡ � � e f g y n p n q o � i s t ¼ l t ~ p p l s k u i q k k n z p s t � s o � � � t � £ s ~ h i� k t s o v q h l s k t s o u q o y n � q l o � n o m l � n p � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � _ �� [ � a b « � � f q k � ¥ � s � q ~ h i s o p g j £ n h i s � t s o � i n o v q z � n o t s o v q k � n ³ p h l v q h l s ks t | n � £ s � ~ z n p t s o � o q t t l � | l w i h p � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ] ¥

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Page 16: TESTING OF TWO-STREAM VOLUMETRIC HYDROMECHANICAL …

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