非理想,非完整约束轮对动力学

推导了铁道车辆轮轨接触的非完整约束方程，考虑动坐标系产生的惯性力和轮对转子的陀螺力矩效应，用绝对坐标法建立了任意曲线轨道动坐标系下轮对的动力学方程，通过迭代Ｌａｇｒａｎｇｅ乘子同时得到接触点法向力（理想约束反力）和蠕滑力（非理想约束反力）针对两点接触引起的数值积分不稳定，提出了等铲一点接触模型，最后通过验算了Ｐａｓｃａｌ考题和仿真自由轮对的蛇行运动，验证了本文轮轨模型的正确性，为开发通用车辆动力学

Wheelset Dynamics with Rail/Wheel Contact Constrain

In this paper, the rail/wheel contact is modeled as a rigid constrain, the nonholonomic kinematics constrain equation is derived in detail. By taking into account the inertial force and gyroscopic moment caused by moving track reference, the dynamics equation of wheelset on arbitrary curving track is established with absolute coordinate method. The normal force and creep force are got simultaneously through iteration of Lagrange multiplier. According to the equivalent force and moment, two contact points are reduced to one equivalent contact point. This dynamics model is verified by simulating the Parscal's benchmark and the hunting movement of free wheelset, it can be used as rail/ wheel element in a general vehicle system dynamics simulation software.