Curving Simulation of a Pendulum Vehicle.

Abstract

A detailed dynamic model of the curving of a roller-type pendulum vehicle with tilting control was formulated and general equations of motion were derived, based on the use of a natural pendulum mechanism, an air spring secondary suspension system with height control, and an aircylinder-type car-body tilting control system. Digital simulations of curving for a representative example were made, introducing random track irregularities which were generated artificially from a track irregularity PSD. Effects of various track irregularities on lateral wheel-rail force and inner wheel unload were examined. It was shown that the maximum dynamic lateral wheel-rail force is effected mainly by lateral irregularity and that dynamic inner wheel unload increases due to superimposition of lateral irregularity, radius of curvature irregularity and cant irregularity.