According to different research objectives , four kinds of vehicle dynamic models ( named from model a to model d ) and two types of train dynamic models ( model e and model f ) are established in this thesis . during the modeling process of the vehicle and train systems , nonlinearities arising from wheel / rail contact geometry , wheel / rail interactive forces and suspension characteristics are fully considered . the modeling methods about vestibule diaphragm , coupler and draft gear are introduced , too 本文按照研究目的的不同，建立了4种车辆动力学模型(模型a模型d )和2种列车动力学模型(模型e和模型f ) ，建模过程中尽可能多地考虑了列车(车辆)系统中的各种非线性因素，详细给出了风挡装置、车钩及缓冲器的具体建模方法。
But there has been no track spectrum that can reflect the real condition of chinese rail for a long time . many organizations have put forward some conclusions of track spectrum , but there is no unite conclusion at present in china . power calculation of locomotive and experiment on the rolling and vibration test - bed have to adopt foreign track spectrum 但长期以来没有能反映我国实际轨道状况的轨道谱，虽然国内很多机构都已提出一些轨道谱的结论，但尚没有统一性的结论提出，机车车辆动力学计算和滚动振动试验台试验均只有采用国外轨道谱。
Drawback occurred in the classical vssmc can be alleviated in the proposed control scheme because of importing the eliminating chatterer . according to the control strategy put forward above , corresponding controller for abs is designed . quarter braking vehicle model with four dof ( including vertical and longitudinal motions of body as well as vertical and spin motions of wheel ) is built considering the effects of wind resistance , longitudinal inertia forces , the vertical dynamics associated with the suspen 总之，基于车辆动力学建模，提出并探索了几种实用且具有高鲁棒性的变结构、模糊控制策略在abs 、 asr及vdsc系统中的应用，而后开发了abs的ecu原形，采用实时硬件在环仿真技术，对三种模糊控制策略进行了性能模拟。
According to the computation result of dynamics simulation software , the response and stability on the tangent track and curve performance of the vehicle with magneto - rheological coupled wheelsets are analyzed comprehensively and the laws of coupled coefficient to dynamic performance of vehicle are found 根据磁流变耦合轮对车辆系统动力学计算程序的仿真结果，对磁流变耦合轮对车辆的直线平稳性、稳定性和动态曲线通过性能进行了系统全面的分析，找出了轮对耦合度对车辆动力学性能的影响规律。
Some automobile manufacturers have already announced their plans to introduce some high technology devices such as abs ( anti - lock braking system ) , asr ( acceleration slip regulation ) and vdsc ( vehicle dynamics stability control ) on all their models , which are developed to improve vehicle - handling stability under different emergency situations by the fundamental principle that adhesion coefficient between tire and road varies as wheel ' s slip 而基于汽车轮胎与路面之间的附着性能随车轮滑动率改变而变化的机理所开发的、旨在改善车辆在不同工况下操纵性稳定性的一些高技术系统包括防抱制动( abs ) 、防滑驱动( asr )及车辆动力学稳定性控制( vdsc )系统，更是受到汽车制造商的青睐和厚爱，都在积极地加紧试制，以期更快更早地占领市场。
With the development of automobile industry and road transportation ， the traffic accidents happen every day in the world and become a serious society problem the vehicle collision accidents are over 2 / 3 times as much as all traffic accidents they cause a large amount of social infuence and serious economic loss therefore ， it is urgent to study vehicle collision accidents comprehensively and systematically ， and the research also is the academic foundation to analyze and deal with traffic accident it is difficult to authenticate car velocity after traffic accident to dig over locate witness is right way mechanics is avaid tool in this field it is important to establish math model and this is precondition to calculate vehicle velocity firstly on the basis of summarizing the research results ， this paper deeply discusses the calculating model to analyze the instantaneous motion state in the vehicle collision , the interrelation among the every moving mechanics parameters in the every phase of the collision secondly ， according to the collinear collision and two - dimension collision and the restitution coefficient ， the paper estabishesthe post collision movement models it proves that these models are correct and valid thirdly ， this paper try to research reconstruction of road traffic accident and put forward the method on it 对交通事故的科学分析应是建立在正确的数学模型与计算机模拟技术基础上的定量分析，其基本条件就是要有能正确描述事故过程中汽车状态的数学模型，只有建立正确的数学模型，才能较准确地推定事故车辆的碰撞速度。所以建立正确地车辆碰撞模型和运动模型正是汽车事故再现的关键问题。本文首先在总结前人研究的基础上，深入地研究汽车碰撞理论，分析了车对车碰撞作用瞬间状态的计算模型及碰撞恢复系数与碰撞前、后速度的关系；其次，根据交通事故中最普遍的一维和二维碰撞的不同情况，采用恢复系数和滑动摩擦系数等概念，分别建立了碰撞后车辆动力学模型；第三，对汽车碰撞事故再现进行了初步研究，确定了车对车碰撞事故模拟计算和反推计算方法，并给出相应的模拟程序流程图。
In chapter 4 , theschemeof buildingdynamicssimulationmodel andthedataintercommunionbetweenthemodelandvirtualenvironment arediscussed . inthisthesis , themodelisconstructedbyrealdata , whichare gathered from experiments of alv , and the model is imported into the simulation system tocompute and update the states of alv . at last , a virtual steeringwheel used to control the statesofalvisconnectedtothesystemthroughserial interface . theresultsofthesimulationindicatethatthismethodishelpfulinconfirmationandimprovementofvehicledynamicsmodel 本文根据实车试验数据,通过训练一个bp神经网络作为车辆动力学模型,并将其引入虚拟仿真系统之内对车辆的状态进行计算和更新,最后通过串口将一个模拟方向盘引入仿真系统,实现了对车辆运动的控制。
In the processing of the numerical simulation of lrv dynamics , knowing from the creepages of irw first , wheel profile has sensitive effect on irw creepages , so the wheel profile should be selected cautiously to optimal the vehicle dynamic behaviors . next , the longitudinally creep force is disappeared , so the self - oscillation vvill do n ' t occur and the bogie is stability . while the natural steering action of vheelset is lost which means that some sort of steering action is necessary to keep the wheelset appropriately aligned on a curve 在轻轨车辆动力学数字仿真计算中，通过对独立旋转车轮蠕滑率的分析知，车轮踏面外形对其影响十分敏感，适当的选取独立旋转车轮踏面的外形可以优化车辆的动力学性能；采用独立旋转车轮，纵向蠕滑力不复存在，自激振动不会发生，转向架也就稳定；但同时，常规轮对具有的自动导向功能西南交通大学硕士研究生学位论文第11页也失去了。
