Abstract
A mathematical model of a straddle type monorail vehicle has been developed in order to study its stability and the effect of tyre modelling techniques on its dynamic response. An algorithm was developed to build equations of motion using a multi-body systems method, considering deviations of the guideway as forced inputs. Tyre models consider both radial and lateral forces. Four methods to calculate lateral forces were implemented and results were compared. One of the four vehicle models is linear and parameterised with the longitudinal velocity, enabling the stability analysis based on eigenvalues locus. The modal damping decreases with the increase of longitudinal velocity, asymptotically approaching to a stable system. Results show that the influence of tyre radial force on its cornering stiffness can be an important effect to consider in the monorail numerical modelling, increasing the accuracy to predict the vehicle overall dynamics and tyre lateral forces.
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