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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
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
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
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
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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,
150
14 -16 2016 . “ ” .
� � � � � � � � � � Y
Z � � � � � � � � � �
/ 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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