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The article is devoted to the improvement of the testing method of current collectors of electric rolling stock considering collision efforts from the overhead catenary. The article discusses the features of collision effects on pantographs of electric rolling stock at high speeds. An analysis of the existing methods for testing collision effects on pantographs in laboratory installations and in linear conditions has been carried out. The analysis is carried out and the drawbacks of the percussion pendulum installation for testing current collectors, described in GOST 32204-2013, are identified, and its characteristics are calculated. The design of a shock stand with smaller dimensions and expanded functionality is proposed, and its parameters and characteristics are calculated. When calculating the characteristics of the test bench, mathematical and computer modeling was applied using the MATLAB Simulink environment. The method of bench collision testing using accelerometers and high-speed video camera. It was established that the proposed test bench retains the full functionality of the test facility regulated by GOST, while having smaller dimensions and wider functionality.

The contact network is one of the most vulnerable elements of the traction power supply system. The prevailing number of events in the power supply sector is connected with the contact network. The article is devoted to the method of contactless diagnostics of the contact network of electrified Railways. The paper proposes to use a method for diagnostics of the contact network based on optical elements, followed by digital data processing and calculation of geometric parameters. This method is characterized by a low cost of the device in contrast to analogues and high accuracy of calculation. The analysis and selection of optimal installation locations for optical devices is given. The method of contactless diagnostics of wires of the contact network of electrified Railways is presented.

The article is devoted to the description of the requirements for the accuracy of control devices and the development of methods to ensure the claimed dimensional accuracy by methods of dimensional analysis. The conditions for ensuring the accuracy of the assembly scheme, the determination of the dimensional chain and dimensional analysis of the dimensional chain during the assembly of the control device, as well as the main causes of errors during assembly and ways to eliminate them are listed. In addition, the consequences of the influence of irregular gaps in the interfaces of the control device parts on the measurement accuracy are presented, various types of assembly dimensional chains are considered, tasks solved when calculating the dimensional chain. The paper presents a compiled dimensional chain of the technological process of assembling a measuring instrument for monitoring the alignment of the inserts of motor-axial bearings of traction electric motors of locomotives, which represents a dimensional chain of the first type and is a chain with linear dimensions and vertically parallel links. The purpose of the work is to substantiate the calculated tolerances and limit deviations of the links of the assembly dimensional chain, providing the required value of the closing link for the proper functioning of the assembled measuring instrument. The paper describes the selection of the closing link of the dimensional chain, the selection of the links that make up the dimensional chain, the calculation of the limiting deviations of the closing link that ensure the required measurement accuracy during operation of the control device and the calculation of the limiting deviations of the components of the links of the dimensional chain by the "maximum-minimum" method. Thus, the article presents a solution to the design problem of dimensional analysis, which consists in determining the accuracy of the component links of the dimensional chain when assembling the control device according to the known calculated tolerance of the closing link and its limit deviations.

In accordance with the long-term development program of JSC Russian Railways until 2025, it is planned to increase the level of economic connectivity of the territory of Russia by expanding the network of high-speed and high-speed transportation. This involves not only the construction of new high-speed highways, but also the modernization of the structures of individual components of rolling stock, as well as the introduction of energy and resource-saving technologies. The use of contact elements with an extended service life is one of the most economical and least costly ways to ensure reliable, economical and environmentally friendly transmission of electricity to rolling stock. An increase in the service life of the current collector element can be achieved, among other things, by reducing wear by the correct selection of contact pair elements, both from the point of view of their tribocompatibility and the ability to ensure high quality current collection. A methodology for conducting experimental studies of contact pairs of current collection devices has been developed and successfully tested at OSTU, which involves bench tests for each pair of contact materials “contact insert - contact wire” in order to determine their optimal combination to reduce wear and increase resource. Estimation of the amount of wear and prediction of the life of the elements of the contact pair is carried out including using mathematical models. However, the use of existing models for predicting wear under conditions of high-speed movement is not accurate enough due to the lack of consideration of the aerodynamic effects and the speed of the rolling stock on current collection processes. This article discusses the improvement of the mechanical component of the wear model of the elements of contact pairs of current collection devices in high-speed conditions. The graphs of the mechanical wear of the contact elements are obtained experimentally and as a result of calculation by a mathematical model. The analysis of the graphs allows us to conclude that it is possible to use an improved mathematical model for modeling the mechanical component of the wear process of the elements of contact pairs with a maximum error value of not more than 5 %.

The article discusses methods in evaluating the current settings for turning on and off the second converter unit when introducing power backup systems for DC traction substations. The analysis of the advantages and disadvantages of existing methods. The algorithm for calculating the current settings. A comparative analysis of the operating currents of the automation of the converter unit is carried out on the example of traction substations of the current section of the West Siberian Railway.

The article is devoted to improving the methodology for diagnosing the technical condition of an asynchronous traction electric motor of type 1TV2822, a cargo mainline electric locomotive of the 2ES10 "Granit" series. To diagnose the inter-turn isolation of the stator windings, a structural model of a closed asynchronous traction motor system of type 1TV2822 is proposed. The results of modeling the operational mode and emergency mode of operation of a traction electric motor are presented, using digital processing of current waveforms in the stator winding, logarithmic spectrograms of the stator current are obtained, graphs of the pseudo spectrum of the power of the logarithmic spectral component of the stator current as operable, and an emergency traction asynchronous electric motor of type 1TV2822 with an inter-turn circuit in the stator winding.Based on the analysis of the power pseudo spectrum graph performed using digital processing of the current curve waveform in the MATLAB program package, the logarithmic powers of the current spectrum in the stator winding are presented, which serve to build an on-board adaptive system for diagnostics of asynchronous traction electric motors of the type 1TV2822 of the electric locomotive 2ES10 «Granite».

The subject of the study is the theoretical and practical aspects of the application of optical technologies for non-contact measurements of geometric parameters of a wagon wheelset during operation and repair. The purpose of the study is to develop methods and technologies for monitoring geometric parameters of car parts using an optical linear scanner, as well as a method for processing the results of field tests of the results of the application of optical control technologies. The article analyzes the problems of application of standardized methods of technical condition monitoring using manual measuring and control tools in the context of the adopted technology of maintenance and operation of freight cars. As a result of the study, a review of the state of the issue of the use of optical control techniques on the railway was carried out, the strengths and weaknesses of various options for the implementation of measurement techniques were identified and a methodology and a computer program for automating the creation of a digital standard of the object under study (the profile of the longitudinal section of the rolling surface of the wheelset) were developed. Using a digital two-dimensional image of the shadow pattern of the wheel profile, the coordinates of the points of the contour line of the section of the volumetric wheel in the area of the rolling surface are calculated. To determine the coordinates of the envelope of the section, a step function is used, as close as possible to the chiaroscuro image of the wheel contour. After image processing, the result is output by the program in the form of a table with the calculated coordinates of the profile section and visualized using the wheel profile synthesized by coordinates in the program window. The accuracy of the technique used depends on the resolution of the image obtained by the linear scanner. The methodology and program can be used in the future for field tests of the designed equipment for dimensional control of car parts.

The article provides for the design features of pantographs of an electric drive train, a system of movable frames, which are made in the form of two articulated rod-type levers. Single-lever pantographs are distinguished by improved mass-dimensional indicators, which allows them to be used in the cramped conditions of the roof space of two-system electric locomotives. This requires high mechanical characteristics, as well as the need to use structural materials of increased strength, precision processing methods and high precision during assembly. It becomes especially important to control the transverse and advanced cruelty of the moving frame system during research, periodic and qualification tests, as well as during operation. The article describes a methodology that allows conducting research with a high degree of labor intensity, increasing the speed of measurements, and reducing the influence of the human factor.

The article deals with the organization of operation when using cryogenic technologies for gas locomotives and isothermal cars (IV). The structure of transportation of perishable goods (SPG) by types of rolling stock and types of cargo and the peculiarities of transportation of frozen fish from the Far East to the central regions of the country is presented. On the example of their consideration, a new structure of the type of isothermal rolling stock (IPS) is proposed, including various types of single isothermal cars, large-capacity refrigerated containers and swap bodies. It is proposed to use the block-modular principle of forming energy refrigeration equipment for promising autonomous refrigerated cars (ARC). A review of promising ARC models developed by UralVagonZavod and Altayvagon, ready for serial production, has been carried out. The factors that should be taken into account when creating an innovative isothermal rolling stock are formulated. Variants of using cryogenic technologies for an autonomous refrigerator car and single insulated cars are considered. Based on the results of previously conducted operational tests of autonomous liquid nitrogen cars, the main their advantages and possible areas of use are given. The technology and technical solutions for improving the design of the cooling system of the cargo space for thermos cars cooled with liquid nitrogen have been substantiated. The calculated characteristics of the consumption of liquid nitrogen during the transportation of frozen goods are presented. The advantages of using environmentally friendly liquid nitrogen cooling systems are analyzed and the areas of using cryogenic technologies for isothermal rolling stock are formalized. Uncertainty and spontaneity of the perishable goods transportation market, along with the absence of a large customer, poses a difficult task for car builders to organize serial production of isothermal rolling stock with small production volumes and various technical characteristics. Therefore, when creating isothermal and refrigerator cars, it is advisable to focus on a single universal car kit based on an isothermal body with the possibility of transforming it by using various options for energy refrigeration equipment and chassis.

The article is devoted to the definition of rational overhaul runs equipment of locomotives. This has an impact not only on the reliability of the rolling stock, but also on safety. As a method chosen for the implementation of this task, the functions of the failure rate are used, with the subsequent construction of the functions of resource distribution and determining 90 % of the resource of the equipment of electric locomotives. The proposed technique allows you to determine the rational timing of maintenance and repair of locomotives in the specific conditions of their operation. The calculations are based on information about changes in the technical condition of the wheel-motor block of VL10 electric locomotives.

The article proposes an approach to improve the efficiency of using the automatic train guidance system based on instantaneous traction calculations using the actual movement parameters according to current measurements of on-board systems of electric locomotives. A critical analysis of scientific research on the improvement of auto-guidance systems for freight mainline electric locomotives based on modern technologies and machine learning algorithms, neural networks has been carried out. As a rule, all existing approaches to determining the optimal train driving modes are based on the application of traction calculation rules with the empirical setting of movement resistances and other factors without taking into account the real influence of the external environment. The results of comparison of traction calculations in the section of the West Siberian test site according to the current rules and in the KORTES program with the actual data of the on-board measurement systems of the 2ES6 series electric locomotive are presented. Based on the data deciphered from the recorders of motion parameters of electric locomotives of the 2ES6 series, the laws of control of the excitation current at rheostatic and running positions in the traction mode are investigated. The possibility of using the measured data of the on-board systems of electric locomotives to determine the parameters of the train, including the torque of the traction motors, the traction force of the electric locomotive sections, the actual total resistance to movement, inertial properties, etc., is substantiated. The calculation of these parameters for the traction mode is performed. The concept of equivalent mass is introduced and expressions are presented for determining the parameters of a train based on the equation of motion in the form of small increments of measured and calculated data. The obtained results of determining the parameters of the train based on instantaneous traction calculations and data of current measurements of the on-board systems of electric locomotives showed statistical stability and can be used in real time for automatic train guidance systems, providing an increase in the accuracy of determining control actions, taking into account the actual influence of the external environment and increasing the efficiency of using the automatic guidance system for freight trains. locomotives in general.

The article presents the results of the study of the influence of deviations of certain design parameters of bogie from established normative values on a relative offset from the crests of wheel pair in mezhdurelsovom space of railway transport. Such deviations occur in the process of the gradual wear of moving parts in real-world conditions of rolling stock and lead to a change of kinematic parameters of bogie. An analysis of dependence of lateral displacement relative to the wheelset of railway track from the difference between the diameters of the tapered surfaces of wheelset, skating from lack of alignment of wheelsets and difference coefficients rigidity of springs of bogie. The proposed mathematical model allows to not only diagnose technical condition of wagon bogies during their movements on the straight section of railway track, but also forecast the rolling stock maintenance dates the whole on the basis of position measurements of wheel pairs regarding railway track.

The article develops the topical issue of choosing diagnostic parameters to assess the technical condition of the collector profile of traction electric motors of rolling stock. The results of experimental studies of the collector profile after repair and after carrying out acceptance tests for various traction electric motors of mainline locomotives: TL-2K1 (VL-10), EK810Ch (2ES6), ED133 (2TE116U) are presented. The relationship between the calculated parameters for assessing the reservoir profile using the mathematical apparatus of correlation analysis with a ranking on the Chaddock scale is revealed. A different degree of relationship has been established between the diagnostic parameters that characterize the state of the traction motor collector profile, while most of the known diagnostic parameters have a pronounced correlation with each other. A variety of diagnostic parameters are considered, which can be described by generalized parameters characterizing the reservoir profile. It is concluded that it is possible to use identical diagnostic parameters to assess the surface condition of the traction motor collector at various stages of repair and maintenance. On the basis of the studies carried out, diagnostic parameters have been identified that have diagnostic value and are not related to each other by correlations.

The article discusses the thermal state of the disc brake elements during braking, taking into account the distribution of heat fluxes between the friction elements. The results of the study of the influence of the thermal resistance of the medium filling the microcontact gaps, caused by reversible deformations of the surface microgeometry, on the thermal state of the disc brake elements are presented. Method - the description of the thermal state of the disc brake elements during braking is made on the basis of the Fourier - Kirchhoff differential equation of thermal conductivity, taking into account the influence of the thermal resistance of the medium filling the microgaps between the surfaces of the brake pad and the brake disc. Results of the work: The calculation of the thermal state of a railway disc brake was carried out taking into account the reversible deformations of the microgeometry of the surfaces of the working elements of the disc brake. The exact dimensions and shape of the disc brake elements are specified in the CAD system (SolidWorks). The graphs of changes in the thermal energy generated and dissipated by the disc brake at different initial speed and duration of braking are given. The obtained dependences illustrate the process of heat energy dissipation into the environment. The inertia of the friction system of the disc brake in relation to the dissipation of the generated thermal energy during braking is shown. It has been shown that the distribution of heat fluxes between the working elements of a disc brake depends on the level of reversible deformations of the microgeometry of the brake disc surface, which directly determine the thermal resistance of the medium filling the microcontact gaps. Taking this circumstance into account makes it possible to increase the reliability of calculations of the generated and dissipated energy by the working elements of the disc brake during braking. The results of the study are recommended for use in calculating the thermal state of the working elements of the disc brake during braking.

The article considers the processes of current collection in the system of AC electric traction in high-speed traffic. The existing devices of pantograph and catenary interacting by means of a sliding electrical contact are presented. The comparison of solutions with different horizontal geometry of the contact wire, which affects the speed of the lateral displacement of the contact wire at the catenary supports relative to the axis of the railway track, is given. It is shown that the speed at which the contact point moves along the pantograph strip is also important for assessing the wear of the sliding contact, as is the span length of the catenary supports, the curvature of the track and the speed of the train in the span limits. For the synthesis and analysis of the pair "pantograph strip - contact wire" with a sliding contact, a model for calculating the contact surface is obtained and the energy processes leading to wear of the components of the current collection system are considered. The results of modeling the interaction of the pantograph and the catenary with various variants of the zigzag arrangement of the contact wire are obtained. When implementing a technical solution in areas with high-speed traffic, the preferred method proposed in the article is the arrangement of the contact wire of a chain suspension with a zigzag period increased by two times compared to the traditional one. This solution provides a reduction in the speed of lateral displacement and increases the dynamic stability of the pantograph, reduces the cyclic load on the supporting and supporting structures of the catenary and increases the life of the contacting elements of the current collection system during high-speed traffic.

This article presents the results of changes calculations in the energy efficiency indicators of the Moscow Central Ring, such as the specific consumption of electricity released for traction by trains of traction substation meters, specific recovery, technical losses of electricity in the traction power supply system when it is transferred to electric rolling stock, including technical recuperation energy loss, depending on various installation options of rectifier-inverter converters in traction substations part.

The main subject of this article is consideration of the possibility of applying in electric circuit of the diesel locomotive hybrid power sourse, thats consists of diesel internal combustion engine and traction energy storage (li-ion accumulator battery). The main target of this work is to describe the effectiveness of the applying Li-ion energy storage in traction and diesel internal combusion engine start modes. At the same time, the regular used lead-acit battery is excluded from the locomotive circuit and replaced by a traction accumulator battery. By using numerical simulation methods, the article considers the possibility of starting a diesel internal combustion engine with a traction li-ion accumulator battery and possibility of the increasing the torque of electric traction motors and technical characteristics of the locomotive when the li-ion traction accumutalor battery is turned on as an additional source of energy. The relevance of the results is to get data about increasing carrying mass of the train when using a hybvid energy source on a diesel locomotive. The results of the work demonstrate the effectiveness of the use of a traction battery it traction and engine start modes, while improving the performance of the locomotive. The conclusions of the work contain an analysis of the results of mathematical modeling of the use of a traction battery.

In the article it is developed a model for the locomotives life cycle managing in their maintenance and repair using automated technical diagnostic systems. Based on statistical analysis of data on the operation of locomotives, the impact of the reliability of the locomotive and its maintenance and repair system on the efficiency of locomotives is theoretically justified. A method of analyzing the technical diagnostic systems effectiveness using the mathematical apparatus of information theory and of predicting the duration of maintenance and repair time with the dynamic use of accumulated statistics on the duration of previous repairs has been developed.

The article presents an improved mathematical model of the thermal state of the pantograph head for calculating the temperature distribution when interacting with different catenary with a double contact wire. The model takes into account the unevenness of the pantograph contact pressure on the wires along the suspension span and between them, allows using the databases of the car-laboratory for testing the contact network, calculating the thermal conditions of the skid on various sections of electrified Railways, including transients between them. The paper presents graphs of the zigzag distribution density of the contact wire of the Moscow - Saint Petersburg high-speed line, and defines the transient and steady state thermal states of the pantograph head when the pantograph interacts with them.

Traction electric machines (TEM) of locomotives operating at the Eastern circulation range have insufficient reliability, mainly in terms of insulation breakdown, being one of the most important problems in the operation of electric rolling stock. This article discusses the method of drying wetted insulation by mobile and stationary electric heaters, which are used in the process of repairing traction electric motors of locomotives and electric trains. The problem of operating these installations is their low energy efficiency. With a constant power supply, the heating elements and the fan of the electric heater remain on during the entire drying process of the insulation, which leads to significant energy consumption, and the drying process is recorded by conducting paper workflow, recording the technical condition of the TU-152 locomotive in the log. To eliminate these shortcomings, the authors propose the modernization of the electric heating installation by introducing into it a microprocessor-based system for automatic regulation of the drying process with cloud storage technology. The article presents a block diagram of the proposed automated system, which will implement the three-cycle amplitude-latitude-discontinuous method of energy supply proposed at the FGBOU VO "IrGUPS" in the process of drying the wet insulation of the TED. Currently, cloud storage technologies have found their application in companies of various kinds of activity, it is being actively improved due to the constant increase in the amount of information that needs to be stored or transferred, and in addition, the user can have access to it from anywhere in the world. In recent years, the world has noticeably increased interest in the application of this technology in railway transport. As part of the modernization of the installation, it becomes possible to remotely control its operation, as well as store and process the information received on the drying process of wetted insulation.

The article discusses the criteria used to calculate the probability of failures of devices of the current collection system due to ice and frost deposits on a catenary. The purpose of the work is to determine the influence of climatic and operational factors (including the number of vibrating pantographs, pneumatic drums on electric locomotives within the boundaries of the Directorate for power supply and devices for mechanical cleaning of ice at power supply distances) on the probability of the occurrence of failures of the current collection system and their severity, which will allow to increase the reliability of operation of traction power supply devices in conditions of ice formation and the efficiency of investments by Transenergo and the Traction Directorate for the purchase of these funds. To determine the likelihood of failures of current collection devices due to the formation of ice on the wires of the contact network, it is proposed to divide all factors into climatic and operational. The choice of factors in predicting failures was carried out using a probabilistic Bayesian network based on statistical methods of data processing, as well as correlation and regression analysis. As a result of the research, the factors influencing the likelihood of failures of current collection devices have been determined, and their significance has been assessed using the calculated variances. A method is given for calculating the probability of failure for a conditional distance of power supply, which makes it possible to assess the adequacy of the equipment of Transenergo and Traction Directorates with devices for mechanical cleaning of ice from a contact wire, vibropantographs and pneumatic drums.

In this article, with the help of software, the relationship between the structure of the material of the brake pad and the temperature distribution of thermal stress on it is established. Spatio-temporal distributions of thermal stresses were analytically determined for the surface layer of the friction element based on the model of a three-section brake pad with non-fixed edges. At present, shoe brake is widely used for freight trains. It converts dynamic energy into thermal energy using the friction between the pads and the wheel, and then dissipates the thermal energy through a heat exchanger. This process includes heat transfer, design features, mechanical characteristics, material properties and other. The article pays special attention to the brake pad pressure, braking mode, brake pad material and other factors. Modeling of thermal effects is the most important in the design of vehicle parts and assemblies. Thermal research is an important step in the study of braking systems namely railway vehicles, where it is necessary to breakе large masses, since the thermal load on the braked railway wheel prevails compared to other types of loads. In this paper, the thermal stress on the friction element of the shoe during braking is investigated. In frictional braking, the process of friction between the brake pad and the wheel occurs at the points of actual contact. The heat flow from the points of actual contact spreads over the entire geometric area of the block.

The known approaches to the classification of factors affecting the energy consumption of the train are considered, and their main disadvantages are identified. The validity of existing classification methods and the completeness of accounting for factors affecting energy consumption are evaluated. It is shown that none of the known approaches to classification gives a complete picture of all the influencing factors and the degree of their influence on the energy consumption of the train, since it does not fully take into account the physical nature of the individual components and the overall power consumption for traction. Based on the analysis of the energy balance of the train articulated principles and criteria for the classification of factors influencing energy consumption, considers the interconversion of different forms of energy and describe their energy diagrams in the different modes of the train movement. The analysis made it possible to identify the factors that affect the power consumption of the train in all modes of movement, and evaluate them according to various criteria. A classification of factors affecting the train's electricity consumption is proposed, which allows us to justify the correct method of accounting for each factor, develop measures to reduce the influence of individual factors on energy consumption, improve the system of analysis, rationing and forecasting of electricity consumption for train traction, and competently solve other problems of electric traction energy.

The article presents the main results of experimental studies within the boundaries of the Fadino - Novoseletsk, Novoseletsk - Strela interstitial zones of the Entrance - Irtysh section. As a result of the research identified problems that currently hinder the online monitoring of operational parameters of the electric rolling stock (EPS) and power supply devices: a lack of data on the work of the traction substations, the presence of EPS without registration motion parameters (RAPS), the lack of process data collection with RAP, the lack of a single source and process for obtaining data, insufficient memory storage device of cartridge, lack of data latch on the locomotive in General, lack a set of fixed parameters, non-constant sampling of parameter fixing, insufficiently detailed final documentation, imperfect software for exporting data from cartridges and lack of binding to global time. Shown the possibility of joining data from different automated systems of JSC "RZD" and measuring systems OSTU, which will allow us to estimate the losses in the traction network, the expense on own needs of electric rolling stock , the electric power consumption for traction and return of electric energy to contact network, as well as move forward with implementation of predictive control operation modes of the electric rolling stock and power infrastructure and Railways in a changing environment in the transportation process, to ensure the best conditions for the realization of tractive effort, regenerative braking, set train schedules, including in case of critical restrictions on the part of the power supply system, preventing train traffic from stopping.

In the practice of railway transport and the locomotive complex, the average statistical data used in practice are not homogeneous, which is usually called “average temperature in the hospital” in the literature. The homogeneity of data is determined by their unimodality, i.e. the presence of one process in the sample. Unsuccessful sampling leads to its bimodality and even multimodality. It is proposed to check for unimodality of the initial data using the consequence of the law of large numbers, according to which, with an increase in the number of data, homogeneous samples tend to one of the distribution laws of a random variable: normal, exponential, lognormal, or another known law. Therefore, any unimodal sample must meet the goodness-of-fit test, which the article proposes to use the Pearson test (“chi-square”, χ2). The unimodality of the data is proposed to be estimated through the probability of compliance with the law of distribution of a random variable chosen for consideration, considering the probability of more than 0.3 (30%) to be sufficient. On the example of locomotive operation data and on-board microprocessor systems data, data are shown that cannot really be unimodal, but there is data that requires changing the sampling rules to achieve unimodality. For example, when considering the average daily runs of locomotives by series at specific home depots with participation in one type of traffic (main traffic, shunting or switching work), unimodality is achieved. An attempt to enlarge the data (take several series, several polygons, etc.) leads to the loss of unimodality. The article considers the unimodality of these on-board microprocessor control systems MSU-TP for diesel locomotives of the 2TE116U series. The expected operating time for the positions of the driver's controller turned out to be multimodal data. Unexpectedly, the current of the traction motors turned out to be unimodal, regardless of the driving position of the driver's controller.