---
_id: '11432'
abstract:
- lang: eng
text: Currently, numerous single track railway lines are disused due to economic
reasons. One way they could be reactivated for bidirectional on demand traffic
is by small cabin-like vehicles, lateral stabilized by a system of control moment
gyroscopes and a moveable mass. Regarding such a vehicle, there is currently no
reference in comparison with other vehicles and no experimental experience or
the like. To ensure the functionality and safety of the vehicle even before its
realization, a model-based design is carried out for development, analysis, optimization
and testing. This paper is focused on the co-simulation of such a vehicle that
is controlled by a longitudinal control. In order to take into account the complex
interaction between the longitudinal dynamics and the running gear, the entire
system must be considered here including the wheel/rail interaction. Co-simulations
are performed considering both the mechanical model of the vehicle and the control
of the longitudinal dynamics of the overall system. The simulation results show
that functionality and safe operation can be ensured by the vehicle longitudinal
controls. As a result, the simulation and the measurement of the real system show
a good match. By means of HIL and co-simulations, function tests could be shifted
to earlier development stages, in order to accelerate the overall development.
author:
- first_name: Raphael
full_name: Hanselle, Raphael
id: '79443'
last_name: Hanselle
- first_name: Dominic
full_name: Stork, Dominic
last_name: Stork
- first_name: Sönke
full_name: Lück, Sönke
last_name: Lück
- first_name: Rainer
full_name: Rasche, Rainer
id: '74574'
last_name: Rasche
- first_name: Rolf
full_name: Naumann, Rolf
last_name: Naumann
- first_name: Stefan
full_name: Witte, Stefan
id: '1605'
last_name: Witte
citation:
ama: Hanselle R, Stork D, Lück S, Rasche R, Naumann R, Witte S. Simulation of
a Longitudinal Control System for an Automated Driving Self-Stabilized Monorail
Vehicle. (Huang W, Ahmadian M, eds.). Springer Nature; 2024:514-523. doi:https://doi.org/10.1007/978-3-031-66971-2_54
apa: 'Hanselle, R., Stork, D., Lück, S., Rasche, R., Naumann, R., & Witte, S.
(2024). Simulation of a Longitudinal Control System for an Automated Driving Self-Stabilized
Monorail Vehicle. In W. Huang & M. Ahmadian (Eds.), Advances in Dynamics
of Vehicles on Roads and Tracks III Proceedings of the 28th Symposium of the
International Association of Vehicle System Dynamics, IAVSD 2023, August 21–25,
2023, Ottawa, Canada - Volume 1: Rail Vehicles (pp. 514–523). Springer Nature.
https://doi.org/10.1007/978-3-031-66971-2_54'
bjps: Hanselle R et al. (2024) Simulation of a Longitudinal Control
System for an Automated Driving Self-Stabilized Monorail Vehicle, Huang W
and Ahmadian M (eds). Springer Nature.
chicago: 'Hanselle, Raphael, Dominic Stork, Sönke Lück, Rainer Rasche, Rolf Naumann,
and Stefan Witte. Simulation of a Longitudinal Control System for an Automated
Driving Self-Stabilized Monorail Vehicle. Edited by Wei Huang and Mehdi Ahmadian.
Advances in Dynamics of Vehicles on Roads and Tracks III Proceedings of the
28th Symposium of the International Association of Vehicle System Dynamics, IAVSD
2023, August 21–25, 2023, Ottawa, Canada - Volume 1: Rail Vehicles. Lecture
Notes in Mechanical Engineering ((LNME)) . Springer Nature, 2024. https://doi.org/10.1007/978-3-031-66971-2_54.'
chicago-de: 'Hanselle, Raphael, Dominic Stork, Sönke Lück, Rainer Rasche, Rolf Naumann
und Stefan Witte. 2024. Simulation of a Longitudinal Control System for an
Automated Driving Self-Stabilized Monorail Vehicle. Hg. von Wei Huang und
Mehdi Ahmadian. Advances in Dynamics of Vehicles on Roads and Tracks III
Proceedings of the 28th Symposium of the International Association of Vehicle
System Dynamics, IAVSD 2023, August 21–25, 2023, Ottawa, Canada - Volume 1: Rail
Vehicles. Lecture Notes in Mechanical Engineering ((LNME)) . Springer Nature.
doi:https://doi.org/10.1007/978-3-031-66971-2_54,
.'
din1505-2-1: 'Hanselle, Raphael ;
Stork, Dominic ; Lück,
Sönke ; Rasche, Rainer ;
Naumann, Rolf ; Witte,
Stefan ; Huang, W. ; Ahmadian, M. (Hrsg.): Simulation of
a Longitudinal Control System for an Automated Driving Self-Stabilized Monorail
Vehicle, Lecture Notes in Mechanical Engineering ((LNME)) : Springer
Nature, 2024'
havard: R. Hanselle, D. Stork, S. Lück, R. Rasche, R. Naumann, S. Witte, Simulation
of a Longitudinal Control System for an Automated Driving Self-Stabilized Monorail
Vehicle, Springer Nature, 2024.
ieee: 'R. Hanselle, D. Stork, S. Lück, R. Rasche, R. Naumann, and S. Witte, Simulation
of a Longitudinal Control System for an Automated Driving Self-Stabilized Monorail
Vehicle. Springer Nature, 2024, pp. 514–523. doi: https://doi.org/10.1007/978-3-031-66971-2_54.'
mla: 'Hanselle, Raphael, et al. “Simulation of a Longitudinal Control System for
an Automated Driving Self-Stabilized Monorail Vehicle.” Advances in Dynamics
of Vehicles on Roads and Tracks III Proceedings of the 28th Symposium of the
International Association of Vehicle System Dynamics, IAVSD 2023, August 21–25,
2023, Ottawa, Canada - Volume 1: Rail Vehicles, edited by Wei Huang and Mehdi Ahmadian,
Springer Nature, 2024, pp. 514–23, https://doi.org/10.1007/978-3-031-66971-2_54.'
short: R. Hanselle, D. Stork, S. Lück, R. Rasche, R. Naumann, S. Witte, Simulation
of a Longitudinal Control System for an Automated Driving Self-Stabilized Monorail
Vehicle, Springer Nature, 2024.
ufg: 'Hanselle, Raphael u. a.: Simulation of a Longitudinal Control System
for an Automated Driving Self-Stabilized Monorail Vehicle, hg. von Huang, Wei/Ahmadian,
Mehdi, o. O. 2024 ( Lecture Notes in Mechanical Engineering ((LNME)) ).'
van: 'Hanselle R, Stork D, Lück S, Rasche R, Naumann R, Witte S. Simulation of a
Longitudinal Control System for an Automated Driving Self-Stabilized Monorail
Vehicle. Huang W, Ahmadian M, editors. Advances in Dynamics of Vehicles on Roads
and Tracks III Proceedings of the 28th Symposium of the International Association
of Vehicle System Dynamics, IAVSD 2023, August 21–25, 2023, Ottawa, Canada - Volume
1: Rail Vehicles. Springer Nature; 2024. ( Lecture Notes in Mechanical Engineering
((LNME)) ).'
conference:
end_date: 2023-08-25
location: Ottawa, Canada
name: 28th Symposium of the International Association of Vehicle System Dynamics,
IAVSD 2023
start_date: 2023-08-21
date_created: 2024-05-02T09:46:19Z
date_updated: 2025-06-25T12:36:58Z
department:
- _id: DEP5000
doi: https://doi.org/10.1007/978-3-031-66971-2_54
editor:
- first_name: 'Wei '
full_name: 'Huang, Wei '
last_name: Huang
- first_name: 'Mehdi '
full_name: 'Ahmadian, Mehdi '
last_name: Ahmadian
keyword:
- field and laboratory testing
- autonomous railway vehicles
- vehicle control and mechatronics
- co-simulation
language:
- iso: eng
page: 514-523
publication: ' Advances in Dynamics of Vehicles on Roads and Tracks III Proceedings
of the 28th Symposium of the International Association of Vehicle System Dynamics,
IAVSD 2023, August 21–25, 2023, Ottawa, Canada - Volume 1: Rail Vehicles'
publication_identifier:
eisbn:
- 978-3-031-66971-2
eissn:
- 2195-4364
isbn:
- 978-3-031-66970-5
issn:
- 2195-4356
publication_status: published
publisher: Springer Nature
quality_controlled: '1'
series_title: ' Lecture Notes in Mechanical Engineering ((LNME)) '
status: public
title: Simulation of a Longitudinal Control System for an Automated Driving Self-Stabilized
Monorail Vehicle
type: conference_editor_article
user_id: '83781'
year: '2024'
...
---
_id: '12851'
abstract:
- lang: eng
text: Currently, numerous single-track railway lines are disused due to economic
reasons. They could be reactivated by small vehicles that use only one rail and
thus can be operated in both directions at the same time. MONOCABs are such small
cabin-like vehicles, stabilized by a system of control moment gyroscopes and a
trim mass. They could make an important contribution to improve the mobility offer
especially in rural areas. Regarding the MONOCAB, there is currently no reference
in comparison with other vehicles. In the context of mechanical design and construction,
interdependencies with vertical stabilization occur. Torsional effects in particular
can critically affect the stability. This paper investigates the influence of
mechanical eigenmodes on the vertical stabilization system. Specific characteristics
of the system (especially due to the gyroscopes) are highlighted by a model-based
analysis. Moreover, a FEM modal analysis is used to examine the supporting frame
of the vehicle. The results are compared to experimentally estimated frequency
responses of a full-scale monorail vehicle.
author:
- first_name: Martin
full_name: Griese, Martin
id: '52308'
last_name: Griese
- first_name: Patrick
full_name: Döding, Patrick
last_name: Döding
- first_name: Thomas
full_name: Schulte, Thomas
id: '46242'
last_name: Schulte
citation:
ama: Griese M, Döding P, Schulte T. Analysis of Mechanical Eigenmodes of a Self-Stabilizing
Monorail Vehicle. (Huang W, Ahmadian M, eds.). Springer Nature Switzerland;
2024:107-116. doi:10.1007/978-3-031-66971-2_12
apa: 'Griese, M., Döding, P., & Schulte, T. (2024). Analysis of Mechanical Eigenmodes
of a Self-stabilizing Monorail Vehicle. In W. Huang & M. Ahmadian (Eds.),
Advances in Dynamics of Vehicles on Roads and Tracks III : Proceedings of the
28th Symposium of the International Association of Vehicle System Dynamics, IAVSD
2023, August 21–25, 2023, Ottawa, Canada - Volume 1: Rail Vehicles (pp. 107–116).
Springer Nature Switzerland. https://doi.org/10.1007/978-3-031-66971-2_12'
bjps: 'Griese M, Döding P and Schulte T (2024) Analysis of Mechanical
Eigenmodes of a Self-Stabilizing Monorail Vehicle, Huang W and Ahmadian M
(eds). Cham: Springer Nature Switzerland.'
chicago: 'Griese, Martin, Patrick Döding, and Thomas Schulte. Analysis of Mechanical
Eigenmodes of a Self-Stabilizing Monorail Vehicle. Edited by Wei Huang and
Mehdi Ahmadian. Advances in Dynamics of Vehicles on Roads and Tracks III :
Proceedings of the 28th Symposium of the International Association of Vehicle
System Dynamics, IAVSD 2023, August 21–25, 2023, Ottawa, Canada - Volume 1: Rail
Vehicles . Lecture Notes in Mechanical Engineering ((LNME)). Cham: Springer
Nature Switzerland, 2024. https://doi.org/10.1007/978-3-031-66971-2_12.'
chicago-de: 'Griese, Martin, Patrick Döding und Thomas Schulte. 2024. Analysis
of Mechanical Eigenmodes of a Self-stabilizing Monorail Vehicle. Hg. von Wei Huang
und Mehdi Ahmadian. Advances in Dynamics of Vehicles on Roads and Tracks III :
Proceedings of the 28th Symposium of the International Association of Vehicle
System Dynamics, IAVSD 2023, August 21–25, 2023, Ottawa, Canada - Volume 1: Rail
Vehicles . Lecture Notes in Mechanical Engineering ((LNME)). Cham: Springer
Nature Switzerland. doi:10.1007/978-3-031-66971-2_12,
.'
din1505-2-1: 'Griese, Martin ; Döding, Patrick ; Schulte,
Thomas ; Huang, W. ; Ahmadian, M. (Hrsg.): Analysis of Mechanical
Eigenmodes of a Self-stabilizing Monorail Vehicle, Lecture Notes in Mechanical
Engineering ((LNME)). Cham : Springer Nature Switzerland, 2024'
havard: M. Griese, P. Döding, T. Schulte, Analysis of Mechanical Eigenmodes of a Self-stabilizing
Monorail Vehicle, Springer Nature Switzerland, Cham, 2024.
ieee: 'M. Griese, P. Döding, and T. Schulte, Analysis of Mechanical Eigenmodes
of a Self-stabilizing Monorail Vehicle. Cham: Springer Nature Switzerland,
2024, pp. 107–116. doi: 10.1007/978-3-031-66971-2_12.'
mla: 'Griese, Martin, et al. “Analysis of Mechanical Eigenmodes of a Self-Stabilizing
Monorail Vehicle.” Advances in Dynamics of Vehicles on Roads and Tracks III :
Proceedings of the 28th Symposium of the International Association of Vehicle
System Dynamics, IAVSD 2023, August 21–25, 2023, Ottawa, Canada - Volume 1: Rail
Vehicles , edited by Wei Huang and Mehdi Ahmadian, Springer Nature Switzerland,
2024, pp. 107–16, https://doi.org/10.1007/978-3-031-66971-2_12.'
short: M. Griese, P. Döding, T. Schulte, Analysis of Mechanical Eigenmodes of a Self-Stabilizing
Monorail Vehicle, Springer Nature Switzerland, Cham, 2024.
ufg: 'Griese, Martin/Döding, Patrick/Schulte, Thomas: Analysis of Mechanical
Eigenmodes of a Self-stabilizing Monorail Vehicle, hg. von Huang, Wei/Ahmadian,
Mehdi, Cham 2024 (Lecture Notes in Mechanical Engineering ((LNME))).'
van: 'Griese M, Döding P, Schulte T. Analysis of Mechanical Eigenmodes of a Self-stabilizing
Monorail Vehicle. Huang W, Ahmadian M, editors. Advances in Dynamics of Vehicles
on Roads and Tracks III : Proceedings of the 28th Symposium of the International
Association of Vehicle System Dynamics, IAVSD 2023, August 21–25, 2023, Ottawa,
Canada - Volume 1: Rail Vehicles . Cham: Springer Nature Switzerland; 2024. (Lecture
Notes in Mechanical Engineering ((LNME))).'
conference:
end_date: 2023-08-25
location: Ottawa, CANADA
name: 28th Symposium of the International Association of Vehicle System Dynamics
start_date: 2023-08-21
date_created: 2025-04-24T06:12:35Z
date_updated: 2025-06-25T07:41:17Z
department:
- _id: DEP5023
doi: 10.1007/978-3-031-66971-2_12
editor:
- first_name: 'Wei '
full_name: 'Huang, Wei '
last_name: Huang
- first_name: 'Mehdi '
full_name: 'Ahmadian, Mehdi '
last_name: Ahmadian
keyword:
- vehicle dynamics
- roll stabilization
- modal analysis
language:
- iso: eng
page: 107-116
place: Cham
publication: 'Advances in Dynamics of Vehicles on Roads and Tracks III : Proceedings
of the 28th Symposium of the International Association of Vehicle System Dynamics,
IAVSD 2023, August 21–25, 2023, Ottawa, Canada - Volume 1: Rail Vehicles '
publication_identifier:
eisbn:
- 978-3-031-66971-2
eissn:
- 2195-4364
isbn:
- 978-3-031-66970-5
issn:
- 2195-4356
publication_status: published
publisher: Springer Nature Switzerland
series_title: Lecture Notes in Mechanical Engineering ((LNME))
status: public
title: Analysis of Mechanical Eigenmodes of a Self-stabilizing Monorail Vehicle
type: conference_editor_article
user_id: '83781'
year: '2024'
...