In this dissertation, we discuss the Distributed Spacecraft Attitude Control System Simulator (DSACSS) testbed developed at Virginia Polytechnic Institute and State University for the purpose of investigating various control techniques for single and multiple spacecraft. DSACSS is comprised of two independent hardware-in-the-loop simulators and one software spacecraft simulator. The two hardware-in-the-loop spacecraft simulators have similar subsystems as flight-ready spacecraft (e.g. command and data handling; communications; attitude determination and control; power; payload; and guidance and navigation). The DSACSS framework is a flexible testbed for investigating a variety of spacecraft control techniques, especially control scenarios involving coupled attitude and orbital motion. The attitude hardware simulators along with numerical simulations assist in the development and evaluation of Lyapunov based asymptotically stable, nonlinear attitude controllers with three reaction wheels as the control device. The angular rate controller successfully tracks a time varying attitude trajectory. The Modified Rodrigues Parmater (MRP) attitude controller results in successfully tracking the angular rates and MRP attitude vector for a time-varying attitude trajectory. The attitude controllers successfully track the reference attitude in real-time with hardware similar to flight-ready spacecraft. Numerical simulations and the attitude hardware simulators assist in the development and evaluation of a robust, asymptotically stable, nonlinear attitude controller with three reaction wheels as the actuator for attitude control. The MRPs are chosen to represent the attitude in the development of the controller. The robust spacecraft attitude controller successfully tracks a time-varying reference attitude trajectory while bounding system uncertainties. The results of a Global Positioning System (GPS) hardware-in-the-loop simulation of two spacecraft flying in formation are presented. The simulations involve a chief spacecraft in a low Earth orbit (LEO), while a deputy spacecraft maintains an orbit position relative to the chief spacecraft. In order to maintain the formation an orbit correction maneuver (OCM) for the deputy spacecraft is required. The control of the OCM is accomplished using a classical orbital element (COE) feedback controller and simulating continual impulsive thrusting for the deputy spacecraft. The COE controller requires the relative position of the six orbital elements. The deputy communicates with the chief spacecraft to obtain the current orbit position of the chief spacecraft, which is determined by a numerical orbit propagator. The position of the deputy spacecraft is determined from a GPS receiver that is connected to a GPS hardware-in-the-loop simulator. The GPS simulator creates a radio frequency (RF) signal based on a simulated trajectory, which results in the GPS receiver calculating the navigation solution for the simulated trajectory. From the relative positions of the spacecraft the COE controller calculates the OCM for the deputy spacecraft. The formation flying simulation successfully demonstrates the closed-loop hardware-in-the-loop GPS simulator. This dissertation focuses on the development of the DSACSS facility including the development and implementation of a closed-loop GPS simulator and evaluation of nonlinear feedback attitude and orbit control laws using real-time hardware-in-the-loop simulators. / Ph. D.

This thesis presents an investigation of the modelling and optimal design of a particular 3-degree-of-freedom (DOF) XYθz micro-motion stage. This stage provides micron-scale motion in X and Y directions and a rotation about the Z-axis. Such a stage can be used for applications where positioning of components with micrometre, or even nanometre positioning accuracy is required. Some applications are; the positioning of samples in a scanning-electron-microscope; the positioning of masks in lithography; aligning fibre-optics and lasers; and manipulation of micro-scale objects in micro-biology or micro-systems assembly. The XYθz micro-motion stage investigated in this study uses a particular topology of monolithic compliant mechanism and three stack piezoelectric actuators. The compliant mechanism used is a 3RRR (three revolute-revolute-revolute) parallel compliant mechanism using flexure hinges. This parallel mechanism uses three RRR linkages. Each of the three RRR linkages uses three circular profile flexure hinges. Each flexure hinge provides predominantly rotational motion about one axis. This topology of mechanism has a symmetrical structure and provides numerous advantages that make it appropriate for use in a micro-motion stage. However, as yet this topology of compliant mechanism has only been investigated by a handful of researchers and it has not been used in any commercially developed systems. The design methodology of a stage using the 3RRR compliant mechanism has not been investigated in detail. In this thesis a study is presented that investigates different approaches to model the 3RRR compliant mechanism and also considers the piezo-actuator modelling, to give the complete XYθz micro-motion stage. Three models are presented and compared; the Pseudo-Rigid-Body Model (PRBM); a two-dimensional Finite-Element-Model (2-D FEM); and a third model is developed that is similar to the PRBM, but uses analytical equations to model the multiple degree-of-freedom compliance of the flexure hinges. The models developed are then used in parametric study so that the relationship between design parameters and output behaviour can be understood. An optimal design approach is then presented to develop an XYθz micro-motion stage for a particular application in a Scanning-Electron-Microscope (SEM). Finally experimental validation of the models is presented. The results of this study indicate which modelling approaches are accurate enough to prove useful for design, while also considering which models are computationally simple enough to be efficient and easy to use. The kinematic and dynamic behaviour of the 3RRR compliant mechanism and XYθz micro-motion stage is discussed in detail. This includes; a comprehensive description of the stage workspace, defining reachable and constant-rotation workspace areas; a discussion of actuator coupling; and in depth investigation of the modes of vibration. The results of the parametric study provide useful insight to aid the design of the XYz micro-motion stage and help simplify optimal design. The parametric study also highlights the difference in trends predicted by different modelling methods, which demonstrates the importance of using an appropriate model in design. The experimental validation demonstrates the accuracy of some modelling approaches while highlighting the limited accuracy of others. / http://proxy.library.adelaide.edu.au/login?url= http://library.adelaide.edu.au/cgi-bin/Pwebrecon.cgi?BBID=1272186 / Thesis (Ph.D.) -- University of Adelaide, School of Mechanical Engineering, 2007

<p>A time-discrete formulation of the variational principle of mechanics is used to provide a consistent theoretical framework for the construction and analysis of low order integration methods. These are applied to mechanical systems subject to mixed constraints and dry frictional contacts and impacts---machines. The framework includes physics motivated constraint regularization and stabilization schemes. This is done by adding potential energy and Rayleigh dissipation terms in the Lagrangian formulation used throughout. These terms explicitly depend on the value of the Lagrange multipliers enforcing constraints. Having finite energy, the multipliers are thus massless ghost particles. The main numerical stepping method produced with the framework is called SPOOK.</p><p>Variational integrators preserve physical invariants globally, exactly in some cases, approximately but within fixed global bounds for others. This allows to product realistic physical trajectories even with the low order methods. These are needed in the solution of nonsmooth problems such as dry frictional contacts and in addition, they are computationally inexpensive. The combination of strong stability, low order, and the global preservation of invariants allows for large integration time steps, but without loosing accuracy on the important and visible physical quantities. SPOOK is thus well-suited for interactive simulations, such as those commonly used in virtual environment applications, because it is fast, stable, and faithful to the physics.</p><p>New results include a stable discretization of highly oscillatory terms of constraint regularization; a linearly stable constraint stabilization scheme based on ghost potential and Rayleigh dissipation terms; a single-step, strictly dissipative, approximate impact model; a quasi-linear complementarity formulation of dry friction that is isotropic and solvable for any nonnegative value of friction coefficients; an analysis of a splitting scheme to solve frictional contact complementarity problems; a stable, quaternion-based rigid body stepping scheme and a stable linear approximation thereof. SPOOK includes all these elements. It is linearly implicit and linearly stable, it requires the solution of either one linear system of equations of one mixed linear complementarity problem per regular time step, and two of the same when an impact condition is detected. The changes in energy caused by constraints, impacts, and dry friction, are all shown to be strictly dissipative in comparison with the free system. Since all regularization and stabilization parameters are introduced in the physics, they map directly onto physical properties and thus allow modeling of a variety of phenomena, such as constraint compliance, for instance.</p><p>Tutorial material is included for continuous and discrete-time analytic mechanics, quaternion algebra, complementarity problems, rigid body dynamics, constraint kinematics, and special topics in numerical linear algebra needed in the solution of the stepping equations of SPOOK.</p><p>The qualitative and quantitative aspects of SPOOK are demonstrated by comparison with a variety of standard techniques on well known test cases which are analyzed in details. SPOOK compares favorably for all these examples. In particular, it handles ill-posed and degenerate problems seamlessly and systematically. An implementation suitable for large scale performance and accuracy testing is left for future work.</p>

A time-discrete formulation of the variational principle of mechanics is used to provide a consistent theoretical framework for the construction and analysis of low order integration methods. These are applied to mechanical systems subject to mixed constraints and dry frictional contacts and impacts---machines. The framework includes physics motivated constraint regularization and stabilization schemes. This is done by adding potential energy and Rayleigh dissipation terms in the Lagrangian formulation used throughout. These terms explicitly depend on the value of the Lagrange multipliers enforcing constraints. Having finite energy, the multipliers are thus massless ghost particles. The main numerical stepping method produced with the framework is called SPOOK. Variational integrators preserve physical invariants globally, exactly in some cases, approximately but within fixed global bounds for others. This allows to product realistic physical trajectories even with the low order methods. These are needed in the solution of nonsmooth problems such as dry frictional contacts and in addition, they are computationally inexpensive. The combination of strong stability, low order, and the global preservation of invariants allows for large integration time steps, but without loosing accuracy on the important and visible physical quantities. SPOOK is thus well-suited for interactive simulations, such as those commonly used in virtual environment applications, because it is fast, stable, and faithful to the physics. New results include a stable discretization of highly oscillatory terms of constraint regularization; a linearly stable constraint stabilization scheme based on ghost potential and Rayleigh dissipation terms; a single-step, strictly dissipative, approximate impact model; a quasi-linear complementarity formulation of dry friction that is isotropic and solvable for any nonnegative value of friction coefficients; an analysis of a splitting scheme to solve frictional contact complementarity problems; a stable, quaternion-based rigid body stepping scheme and a stable linear approximation thereof. SPOOK includes all these elements. It is linearly implicit and linearly stable, it requires the solution of either one linear system of equations of one mixed linear complementarity problem per regular time step, and two of the same when an impact condition is detected. The changes in energy caused by constraints, impacts, and dry friction, are all shown to be strictly dissipative in comparison with the free system. Since all regularization and stabilization parameters are introduced in the physics, they map directly onto physical properties and thus allow modeling of a variety of phenomena, such as constraint compliance, for instance. Tutorial material is included for continuous and discrete-time analytic mechanics, quaternion algebra, complementarity problems, rigid body dynamics, constraint kinematics, and special topics in numerical linear algebra needed in the solution of the stepping equations of SPOOK. The qualitative and quantitative aspects of SPOOK are demonstrated by comparison with a variety of standard techniques on well known test cases which are analyzed in details. SPOOK compares favorably for all these examples. In particular, it handles ill-posed and degenerate problems seamlessly and systematically. An implementation suitable for large scale performance and accuracy testing is left for future work.

This thesis presents an investigation of the modelling and optimal design of a particular 3-degree-of-freedom (DOF) XYθz micro-motion stage. This stage provides micron-scale motion in X and Y directions and a rotation about the Z-axis. Such a stage can be used for applications where positioning of components with micrometre, or even nanometre positioning accuracy is required. Some applications are; the positioning of samples in a scanning-electron-microscope; the positioning of masks in lithography; aligning fibre-optics and lasers; and manipulation of micro-scale objects in micro-biology or micro-systems assembly. The XYθz micro-motion stage investigated in this study uses a particular topology of monolithic compliant mechanism and three stack piezoelectric actuators. The compliant mechanism used is a 3RRR (three revolute-revolute-revolute) parallel compliant mechanism using flexure hinges. This parallel mechanism uses three RRR linkages. Each of the three RRR linkages uses three circular profile flexure hinges. Each flexure hinge provides predominantly rotational motion about one axis. This topology of mechanism has a symmetrical structure and provides numerous advantages that make it appropriate for use in a micro-motion stage. However, as yet this topology of compliant mechanism has only been investigated by a handful of researchers and it has not been used in any commercially developed systems. The design methodology of a stage using the 3RRR compliant mechanism has not been investigated in detail. In this thesis a study is presented that investigates different approaches to model the 3RRR compliant mechanism and also considers the piezo-actuator modelling, to give the complete XYθz micro-motion stage. Three models are presented and compared; the Pseudo-Rigid-Body Model (PRBM); a two-dimensional Finite-Element-Model (2-D FEM); and a third model is developed that is similar to the PRBM, but uses analytical equations to model the multiple degree-of-freedom compliance of the flexure hinges. The models developed are then used in parametric study so that the relationship between design parameters and output behaviour can be understood. An optimal design approach is then presented to develop an XYθz micro-motion stage for a particular application in a Scanning-Electron-Microscope (SEM). Finally experimental validation of the models is presented. The results of this study indicate which modelling approaches are accurate enough to prove useful for design, while also considering which models are computationally simple enough to be efficient and easy to use. The kinematic and dynamic behaviour of the 3RRR compliant mechanism and XYθz micro-motion stage is discussed in detail. This includes; a comprehensive description of the stage workspace, defining reachable and constant-rotation workspace areas; a discussion of actuator coupling; and in depth investigation of the modes of vibration. The results of the parametric study provide useful insight to aid the design of the XYz micro-motion stage and help simplify optimal design. The parametric study also highlights the difference in trends predicted by different modelling methods, which demonstrates the importance of using an appropriate model in design. The experimental validation demonstrates the accuracy of some modelling approaches while highlighting the limited accuracy of others. / http://proxy.library.adelaide.edu.au/login?url= http://library.adelaide.edu.au/cgi-bin/Pwebrecon.cgi?BBID=1272186 / Thesis (Ph.D.) -- University of Adelaide, School of Mechanical Engineering, 2007

Particle suspensions occur in many situations in nature and industry. In this master’s thesis, the motion of a single rigid spheroidal particle immersed in Stokes flow is studied numerically using a boundary integral method and a new specialized quadrature method known as quadrature by expansion (QBX). This method allows the spheroid to be massless or inertial, and placed in any kind of underlying Stokesian flow.   A parameter study of the QBX method is presented, together with validation cases for spheroids in linear shear flow and quadratic flow. The QBX method is able to compute the force and torque on the spheroid as well as the resulting rigid body motion with small errors in a short time, typically less than one second per time step on a regular desktop computer. Novel results are presented for the motion of an inertial spheroid in quadratic flow, where in contrast to linear shear flow the shear rate is not constant. It is found that particle inertia induces a translational drift towards regions in the fluid with higher shear rate. / Partikelsuspensioner förekommer i många sammanhang i naturen och industrin. I denna masteruppsats studeras rörelsen hos en enstaka stel sfäroidisk partikel i Stokesflöde numeriskt med hjälp av en randintegralmetod och en ny specialiserad kvadraturmetod som kallas quadrature by expansion (QBX). Metoden fungerar för masslösa eller tröga sfäroider, som kan placeras i ett godtyckligt underliggande Stokesflöde.   En parameterstudie av QBX-metoden presenteras, tillsammans med valideringsfall för sfäroider i linjärt skjuvflöde och kvadratiskt flöde. QBX-metoden kan beräkna kraften och momentet på sfäroiden samt den resulterande stelkroppsrörelsen med små fel på kort tid, typiskt mindre än en sekund per tidssteg på en vanlig persondator. Nya resultat presenteras för rörelsen hos en trög sfäroid i kvadratiskt flöde, där skjuvningen till skillnad från linjärt skjuvflöde inte är konstant. Det visar sig att partikeltröghet medför en drift i sidled mot områden i fluiden med högre skjuvning.

The presentation describes partial results from an industrial project in which a transmission test bench from ZF Prüfsysteme was decoupled from the foundation in terms of vibration using commercial PU foam material ('Sylomer' SR220 from Getzner). The presentation shows how this material was extensively tested by the manufacturer and characterized in numerous data sheets in order to enable the engineer to perform a simple, operating point-dependent dynamic design using clear diagrams and the classic equation for a single-mass oscillator. However, if a more complex analysis is to be carried out using the finite element method, e.g. to determine all 6 rigid body shapes and natural frequencies of the dynamically decoupled test rig and not just the purely vertical natural shape/frequency, the apparent elasticity and shear moduli specified in the manufacturer's data sheets must be converted into true values for the corresponding operating points, which can then be used in a linear FE calculation. For this purpose, FEM models of the elastomer test specimens are generated for different shape factors. The conversion of the apparent to the true characteristic values is then carried out using the optimizer available in the PTC software “Creo Simulate” in a so-called 'feasibility study' and the results are discussed. It can be seen that the true moduli of elasticity and transverse strain coefficients are only slightly or no longer dependent on the form factor. Depending on the density of the PU foam, the transverse strain coefficient is also significantly lower than 0.5. The true shear modulus is practically identical to the measured shear modulus, as a pure biaxial stress and strain state occurs in the shear specimens, in which strain restraints due to transverse strain plays no role - quite unlike in the specimens loaded in the normal (compression) direction, in which triaxial compression stress states occur due to transverse strain restraints. Finally, the true material properties determined in this way are used for an exemplary modal analysis of the entire, idealized test rig on the strip foundation using the finite element method. The error is evaluated if the apparent modulus of elasticity and a Poisson ratio of zero is used instead, so that a simple evaluation and error estimation of analysis results is possible in practical applications. / Der Vortrag beschreibt Teilergebnisse aus einem industriellen Projekt, in dem ein Getriebeprüfstand der ZF Prüfsysteme schwingungstechnisch über kommerzielles PU- Schaummaterial („Sylomer“ SR220 der Firma Getzner) vom Fundament abgekoppelt wurde. Der Vortrag stellt dar, wie dieser Werkstoff vom Hersteller umfangreich getestet und in zahlreichen Datenblättern charakterisiert wurde, um dem Ingenieur schließlich eine einfache, betriebspunktabhängige dynamische Auslegung mittels übersichtlicher Diagramme und der klassischen Gleichung für einen Einmassenschwinger zu ermöglichen. Soll jedoch eine aufwendigere Analyse mittels der Methode der Finiten Elemente durchgeführt werden, z.B. um alle 6 Starrkörperformen und Eigenfrequenzen des dynamisch abgekoppelten Prüfstandes zu bestimmen und nicht nur die rein vertikale Eigenform/Eigenfrequenz, müssen die in den Herstellerdatenblättern angegeben formzahlabhängigen scheinbaren Elastizitäts- und Schubmoduli in wahre Werte für die entsprechenden Betriebspunkte umgerechnet werden, die dann in einer linearen FE-Rechnung verwendet werden können. Dafür werden FEM-Modelle der Elastomer-Probekörper für verschiedene Formfaktoren erzeugt. Die Umrechnung der scheinbaren in die wahren Kennwerte wird anschließend mittels des in der PTC-Software „Creo Simulate“ vorhandenen Optimierers in einer sogenannten „Machbarkeitsstudie“ durchgeführt und die Ergebnisse diskutiert. Es zeigt sich, dass die wahren E-Moduli und Querdehnzahlen nur noch gering bzw. nicht mehr vom Formfaktor abhängen. Je nach Dichte des PU-Schaums stellt sich auch eine Querdehnzahl von deutlich kleiner als 0,5 ein. Der wahre Schubmodul ist praktisch identisch wie der gemessene Schubmodul, da in den Schubproben ein reiner zweiachsiger Spannungs- und Dehnungszustand auftritt, in dem Dehnungsbehinderung durch Querdehnung keine Rolle spielt – ganz anders als in den in Normalenrichtung (Druck-) belasteten Proben, in denen durch die Querdehnungs- behinderung dreiachsige Spannungszustände auftreten. Schließlich werden die so bestimmten wahren Werkstoffkennwerte für eine exemplarische Modalanalyse des gesamten, idealisierten Prüfstandes auf den Streifenfundamenten mittels der Methode der Finiten Elemente verwendet. Der Fehler wird bewertet, wenn man stattdessen den scheinbaren E-Modul und eine Querdehnzahl von Null verwendet, so dass in der Anwendungspraxis eine einfache Bewertung und Fehlerabschätzung von Analyseergebnissen möglich ist.

Designing mechanical products in a competitive environment can present unique challenges, and designers constantly search for innovative ways to increase efficiency. One way to save space and reduce cost is to use ortho-planar compliant mechanisms which can be made from sheets of material, or lamina emergent mechanisms (LEMs). This thesis presents principles which can be used for designing LEMs. Pop-up paper mechanisms use topologies similar to LEMs, so it is advantageous to study their kinematics. This thesis outlines the use of planar and spherical kinematics to model commonly used pop-up paper mechanisms. A survey of common joint types is given, as well as an overview of common monolithic and layered mechanisms. In addition, it is shown that more complex mechanisms may be created by combining simple mechanisms in various ways. The principles presented are applied to the creation of new pop-up joints and mechanisms, which also may be used for lamina emergent mechanisms. Models of the paper mechanisms presented in Chapter 2 of the thesis are found in the appendix, and the reader is encouraged to print, cut out and assemble them. One challenge associated with spherical and spatial LEM design is creating joints with the desired motion characteristics, especially where complex spatial mechanism topologies are required. Hence, in addition to a study of paper mechanisms, some important considerations for designing joints for LEMs are presented. A technique commonly used in robotics, using serial chains of revolute and prismatic joints to approximate the motion of complex joints, is presented for use in LEMs. Important considerations such as linkage configuration and mechanism prototyping are also discussed. Another challenge in designing LEMs is creating multi-stable mechanisms with the ability to have coplanar links. A method is presented for offsetting the joint axes of a spatial compliant mechanism to introduce multi-stability. A new bistable spatial compliant linkage that uses that technique is introduced. In the interest of facilitating LEM design, the final chapter of this thesis presents a preliminary design method. While similar to traditional methods, this method includes considerations for translating the mechanism topology into a suitable configuration for use with planar layers of material.

Tesis por compendio / [ES] El ruido de rodadura de vehículos ferroviarios presenta importantes desafíos en entornos urbanos y suburbanos, siendo precisa una comprensión integral de sus mecanismos subyacentes para una mitigación efectiva. Esta Tesis ofrece una investigación exhaustiva sobre la generación de ruido de rodadura, tanto en vías rectas como curvas, a través del desarrollo de modelos avanzados de alta frecuencia y herramientas de cálculo para una rigurosa predicción de niveles de ruido. El ruido de rodadura surge de la interacción entre las ruedas y los carriles en presencia de imperfecciones en sus superficies de contacto. Los principales componentes ferroviarios que contribuyen a la emisión acústica son las traviesas, los carriles y las ruedas. Las traviesas y los carriles están conectados por medio de las placas de asiento, mientras que las ruedas y los carriles están dinámicamente acoplados a través de su contacto. En consecuencia, cambios en cualquier componente pueden afectar al comportamiento dinámico y acústico del resto, subrayando la necesidad de un modelo integral para abordar eficazmente la radiación por ruido de rodadura. En esta Tesis se exploran y desarrollan diferentes modelos dinámicos de la vía y del eje montado. La vía, que se asume infinita, se describe utilizando la teoría de estructuras periódicas y se caracteriza por sus números y formas de onda. El eje montado se modeliza mediante el Método de Elementos Finitos y se caracteriza por sus frecuencias naturales y modos de vibración. La interacción rueda/carril se describe como una relación linealizada entre el movimiento relativo de ambos componentes y las fuerzas de contacto. Cabe indicar que los modelos explorados en este trabajo están formulados en el dominio de la frecuencia. Asimismo, se realiza un estudio de influencia del diseño de la vía en la radiación por ruido de rodadura, cuantificando los parámetros contribuyentes a la emisión acústica mediante técnicas estadísticas. Los resultados apuntan a que la geometría del carril tiene un impacto limitado en la radiación, mientras que las propiedades viscoelásticas de la vía, en particular la rigidez de la placa de asiento, desempeñan un papel fundamental en la generación de ruido. Es remarcable que, entre los distintos diseños, se han encontrado variaciones de hasta 7,4 dB(A) en la radiación acústica. Durante el desarrollo de esta investigación, se ha prestado atención al modelizado del eje montado. Su rotación se incluye usando coordenadas Eulerianas, lo que resulta un enfoque conveniente ya que el punto de contacto de la rueda con el carril permanece en una posición espacial constante. Dada la simetría axial de su geometría, la respuesta dinámica del eje montado se expande a lo largo de la dirección circunferencial mediante series de Fourier, lo que permite formular el comportamiento dinámico y acústico de este cuerpo tridimensional (3D) en un marco bidimensional (2D), resolviendo analíticamente la coordenada circunferencial. Esta metodología ofrece sin pérdida de generalidad una reducción del tiempo de cálculo computacional, lo que hace que el modelo sea idóneo para su integración en algoritmos de optimización. Por último, se realiza una investigación pionera sobre el ruido de rodadura cuando el vehículo negocia una curva. Si bien la curva está generalmente asociada con el ruido por chirridos, esta Tesis explora y confirma la importancia que también tiene el ruido de rodadura en estas condiciones. Para ello, se modelizan los efectos inerciales y giroscópicos que sufre un eje montado al describir una trayectoria curva. Además, diferentes fenómenos complejos que ocurren en el contacto rueda/carril, como por ejemplo el movimiento relativo entre estos elementos, se incorporan en el modelo de interacción. Los resultados indican que la posición del contacto rueda/carril sirve como un buen indicador del impacto que la negociación de una curva tiene en el ruido de rodadura. / [CA] El soroll de rodament de vehicles ferroviaris presenta importants reptes en entorns urbans i suburbans, requerint una comprensió integral dels seus mecanismes subjacents per a una mitigació efectiva. Aquesta Tesi ofereix una investigació exhaustiva sobre la generació de soroll de rodament, tant en vies rectes com corbes, mitjançant el desenvolupament de models avançats d'alta freqüència i eines de càlcul per a la rigorosa predicció dels nivells de soroll radiat. El soroll de rodament sorgeix de la interacció entre les rodes i els carrils en presència d'imperfeccions en les seues superfícies de contacte. Els principals components ferroviaris que contribueixen a l'emissió acústica són les travesses, els carrils i les rodes. Les travesses i els carrils estan connectats a través de les plaques d'assentament, mentre que les rodes i els carrils estan acoblats mitjançant la seua interacció. En conseqüència, canvis en qualsevol component poden afectar al comportament dinàmic i acústic de la resta, subratllant la necessitat d'un model integral. En aquesta Tesi s'exploren i desenvolupen diversos models dinàmics de la via i de l'eix muntat. La via, que es considera infinita, es descriu utilitzant la teoria d'estructures periòdiques i es caracteritza pels seus números i formes d'ona. L'eix muntat es modelitza mitjançant el Mètode d'Elements Finits i es caracteritza per les seues freqüències naturals i modes de vibració. La interacció entre l'eix muntat i la via es descriu com una relació linealitzada entre el moviment relatiu d'ambdós components i les forces de contacte. Cal assenyalar que els models explorats en aquest treball estan formulats en el domini de la freqüència. Així mateix, es realitza un estudi d'influència del disseny de la via en la radiació, quantificant els paràmetres contribuents a l'emissió acústica mitjançant tècniques estadístiques. Els resultats apunten que la geometria del carril té un impacte limitat en la radiació sonora, mentre que les propietats viscoelàstiques de la via, en particular la rigidesa de la placa d'assentament, tenen un paper fonamental en la generació de soroll. És destacable que, entre els diferents dissenys, s'han trobat variacions de fins a 7,4 dB(A) en la radiació per soroll de rodament. Durant el desenvolupament d'aquesta investigació, s'ha prestat atenció al modelatge de l'eix muntat. La seua rotació s'inclou en la formulació utilitzant coordenades Eulerianes, la qual cosa resulta un enfocament convenient ja que el punt de contacte de la roda amb el carril roman en una posició constant. Donada la simetria axial de la seua geometria, la resposta dinàmica de l'eix muntat s'amplia al llarg de la direcció circumferencial mitjançant sèries de Fourier, permetent formular el comportament dinàmic i acústic d'aquest cos tridimensional (3D) en un marc bidimensional (2D), i resolent la coordenada circumferencial analíticament. Aquesta metodologia ofereix sense pèrdua de generalitat una reducció del temps de càlcul computacional, la qual cosa fa que el model siga idoni per a la seua integració en algoritmes d'optimització. Finalment, es realitza una investigació pionera sobre el soroll de rodament quan el vehicle negocia una corba. Si bé la corba està generalment associada amb el soroll per grinyols, aquesta Tesi explora i confirma la importància que també té el soroll de rodament en aquestes condicions. Per a això, es modelitzen els efectes inercials i giroscòpics que pateix un eix muntat al descriure una trajectòria corba. A més, diferents fenòmens complexes que ocorren en el contacte roda/carril, com el moviment relatiu entre aquests elements, s'incorporen en el model d'interacció. Els resultats indiquen que la posició del contacte roda/carril serveix com un bon indicador de l'impacte que la negociació d'una corba té en el soroll de rodament. / [EN] Rolling noise emission in railway systems presents significant challenges in urban and suburban environments, requiring a comprehensive understanding of its underlying mechanisms for effective mitigation. This Thesis offers a thorough investigation into rolling noise generation, considering both tangent and curved tracks, through the development of advanced high-frequency models and calculation tools to predict noise levels accurately. Rolling noise arises from the interaction between railway wheels and tracks in the presence of roughness on their contact surfaces. The principal components contributing to the acoustic emission are the sleepers, rails, and wheels. Sleepers and rails are interconnected through rail pads, while wheels and rails are dynamically coupled due to their contact. Consequently, changes in any component might impact the dynamic and acoustic behaviour of all of them, outlining the necessity of a comprehensive model to address rolling noise radiation effectively. Various models for the track and wheelset are explored and developed in this Thesis. The track, assumed to be infinite, is described using periodic structure theory and it is characterised by its wavenumbers and waveshapes. The wheelset is modelled through the Finite Element Method (FEM) and it is characterised by its natural frequencies and vibration modes. The wheelset and track interaction is described as a linearised relationship between the relative motion of both components and the contact forces. The models examined in this work are formulated in the frequency domain. Identified track properties influencing rolling noise radiation are quantified using statistical techniques. While the rail geometry is found to have a limited impact on the total radiation, the viscoelastic properties of the track, particularly the rail pad stiffness, play a crucial role in noise generation. Variations up to 7.4 dB(A) were observed for different track designs. Special attention is devoted to the wheelset modelling in this Thesis. Its rotation is considered using Eulerian coordinates, a convenient approach as the wheel contact point with the rail remains at a constant spatial position. Given the axial symmetry of its geometry, the wheelset dynamic response is expanded around the circumferential direction using Fourier series, which yields a two-dimensional (2D) formulation of the dynamic and acoustic behaviour of this three-dimensional (3D) system, with the circumferential coordinate being solved analytically. This methodology, denoted as axisymmetric approach, offers a significant reduction in the associated computational calculation time while preserving accuracy, making the model well suited for its integration into optimisation algorithms. Lastly, a novel investigation into rolling noise when the vehicle negotiates a curve is conducted. While curved tracks are generally associated with squeal noise, this Thesis offers valuable insights into the importance of rolling noise as well. To achieve this, the inertial and gyroscopic effects associated with a wheelset running on a curve are modelled. Complex phenomena occurring at the wheel/rail contact, such as the relative motion between these two elements, are incorporated into the interaction model. The results indicate that the wheel/rail contact position serves as a reliable indicator of the impact of a curve on the rolling noise. / This Thesis has been supported by Ministerio de Ciencia, Innovación y Universidades in the framework of the FPU grant program. Grants FPU18/03999, EST21/00213, and EST22/00353 as well as projects TRA2017-84701-R, PID2020-112886RA-I00, and PID2023-148483OB-I00 funded by MCIN/AEI/10.13039/501100011033, “ESF Investing in your future”, and “ERDF A way of making Europe” are acknowledged. The author also expresses his gratitude for the support provided by Programa PROMETEO/2021/046 of Generalitat Valenciana. / Andrés Ruiz, VT. (2024). Comprehensive dynamic models of railway wheelsets and tracks for the prediction of rolling noise [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/206074 / Compendio