| Preface | 7 |
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| Contents | 11 |
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| List of Problems and their Solutions | 15 |
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| System Definition and Modeling | 17 |
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| Vehicle Models | 26 |
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| Elements of Multibody Systems | 26 |
| Kinematics | 28 |
| Frames of Reference for Vehicle Kinematics | 28 |
| Kinematics of a Rigid Body in an Inertial Frame | 28 |
| Kinematics of a Rigid Body in a Moving Reference Frame | 43 |
| Kinematics of Multibody Systems | 47 |
| Dynamics | 60 |
| Inertia Properties | 60 |
| Newton-Euler Equations | 64 |
| Principles of d'Alembert and Jourdain | 74 |
| Energy Considerations and Lagrange's Equations | 76 |
| Equations of Motion for Multibody Systems | 81 |
| Formalisms for Multibody Systems | 88 |
| Non-recursive Formalisms | 88 |
| Recursive Formalisms | 92 |
| Models for Support and Guidance Systems | 111 |
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| Models for Passive Spring and Damper Systems | 112 |
| Models of Force Actuators | 122 |
| Models of Magnetic Actuators | 122 |
| General Linear Model of Force Actuators | 128 |
| Comparison of Passive and Active Elements | 129 |
| Contact Forces between Wheel and Guideway | 130 |
| Rolling of Rigid and Deformable Wheels | 130 |
| Definition of the Rigid Body Slip | 137 |
| Contact Forces for Elastic Wheels on Elastic Rails | 140 |
| Contact Forces of Elastic Tires on a Rigid Road | 163 |
| Guideway Models | 186 |
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| Models for Elastic Guideways | 186 |
| Models for Periodically Pillared Beams | 188 |
| Modal Analysis of Beam Structures for Bending Vibrations | 191 |
| Models for Continuously Bedded Beams | 204 |
| Perturbation Models for Rigid Guideways | 208 |
| Mathematical Description of Stochastic Processes | 210 |
| Models for Unevenness Profiles | 221 |
| Models for Vehicle Excitation Processes | 223 |
| Models for Vehicle-Guideway-Systems | 227 |
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| State Equations of the Subsystems | 227 |
| State Equations of the Complete System | 230 |
| Assessment Criteria | 236 |
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| Driving Stability | 237 |
| Ride Comfort | 238 |
| Deterministic Excitation | 239 |
| Stochastic Excitation | 242 |
| Shape Filter for the Human Perception | 243 |
| Revised Standards for Human Exposure to Whole-body Vibration | 244 |
| Ride Safety | 245 |
| Durability of Components | 248 |
| Computational Methods | 250 |
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| Numerical Simulation | 250 |
| Simulation of Vertical Motions of Vehicles | 251 |
| Linear Systems | 256 |
| Stability | 256 |
| Frequency Response Analysis | 258 |
| Random Vibration | 260 |
| Nonlinear Systems | 265 |
| 7.3.1 Harmonic Linearization | 265 |
| 7.3.2 Statistical Linearization | 269 |
| 7.3.3 Investigation of Linearized Systems | 270 |
| Optimization Problems | 272 |
| Longitudinal Motions | 273 |
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| Elastic Wheel | 273 |
| Entire Vehicle | 277 |
| Aerodynamic Forces and Torques | 279 |
| Driving and Braking Torques | 280 |
| Driving Performance | 283 |
| Lateral Motions | 286 |
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| Handling of Road Vehicles | 286 |
| Elastic Wheel | 286 |
| Vehicle Model | 288 |
| Steady-state Cornering | 291 |
| Driving Stability | 292 |
| Experimental Studies | 294 |
| Driving Stability of Railways | 294 |
| Equation of Motion of a Railway Wheelset | 295 |
| Stability of a Free Wheelset | 295 |
| Vertical Motions | 300 |
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| Principles of Vehicles Suspension | 300 |
| Random Vibrations of a Two Axle Vehicle | 309 |
| A Complex Vehicle Model | 313 |
| Magnetically Levitated Vehicles | 318 |
| Appendix: Optimal Control of Multivariable Systems | 320 |
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| A.1 Mathematical Model | 320 |
| A.2 Task Formulation and Structure Issues | 321 |
| A.3 Structure and Properties of Controllers | 322 |
| A.4 Controller Design | 322 |
| A.5 Structure and Properties of Observers | 326 |
| A.6 Observer Design | 328 |
| A.7 Structure of (Optimal) Controlled Multivariable Systems | 330 |
| Appendix: Key Words | 332 |
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| B.1 English - German | 332 |
| B.2 Deutsch - Englisch | 338 |
| References | 344 |
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