---
_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. <i>Simulation of
    a Longitudinal Control System for an Automated Driving Self-Stabilized Monorail
    Vehicle</i>. (Huang W, Ahmadian M, eds.). Springer Nature; 2024:514-523. doi:<a
    href="https://doi.org/10.1007/978-3-031-66971-2_54">https://doi.org/10.1007/978-3-031-66971-2_54</a>
  apa: 'Hanselle, R., Stork, D., Lück, S., Rasche, R., Naumann, R., &#38; Witte, S.
    (2024). Simulation of a Longitudinal Control System for an Automated Driving Self-Stabilized
    Monorail Vehicle. In W. Huang &#38; M. Ahmadian (Eds.), <i> 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</i> (pp. 514–523). Springer Nature.
    <a href="https://doi.org/10.1007/978-3-031-66971-2_54">https://doi.org/10.1007/978-3-031-66971-2_54</a>'
  bjps: <b>Hanselle R <i>et al.</i></b> (2024) <i>Simulation of a Longitudinal Control
    System for an Automated Driving Self-Stabilized Monorail Vehicle</i>, Huang W
    and Ahmadian M (eds). Springer Nature.
  chicago: 'Hanselle, Raphael, Dominic Stork, Sönke Lück, Rainer Rasche, Rolf Naumann,
    and Stefan Witte. <i>Simulation of a Longitudinal Control System for an Automated
    Driving Self-Stabilized Monorail Vehicle</i>. Edited by Wei  Huang and Mehdi  Ahmadian.
    <i> 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</i>.  Lecture
    Notes in Mechanical Engineering ((LNME)) . Springer Nature, 2024. <a href="https://doi.org/10.1007/978-3-031-66971-2_54">https://doi.org/10.1007/978-3-031-66971-2_54</a>.'
  chicago-de: 'Hanselle, Raphael, Dominic Stork, Sönke Lück, Rainer Rasche, Rolf Naumann
    und Stefan Witte. 2024. <i>Simulation of a Longitudinal Control System for an
    Automated Driving Self-Stabilized Monorail Vehicle</i>. Hg. von Wei  Huang und
    Mehdi  Ahmadian. <i> 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</i>.  Lecture Notes in Mechanical Engineering ((LNME)) . Springer Nature.
    doi:<a href="https://doi.org/10.1007/978-3-031-66971-2_54">https://doi.org/10.1007/978-3-031-66971-2_54</a>,
    .'
  din1505-2-1: '<span style="font-variant:small-caps;">Hanselle, Raphael</span> ;
    <span style="font-variant:small-caps;">Stork, Dominic</span> ; <span style="font-variant:small-caps;">Lück,
    Sönke</span> ; <span style="font-variant:small-caps;">Rasche, Rainer</span> ;
    <span style="font-variant:small-caps;">Naumann, Rolf</span> ; <span style="font-variant:small-caps;">Witte,
    Stefan</span> ; <span style="font-variant:small-caps;">Huang, W.</span> ; <span
    style="font-variant:small-caps;">Ahmadian, M.</span> (Hrsg.): <i>Simulation of
    a Longitudinal Control System for an Automated Driving Self-Stabilized Monorail
    Vehicle</i>, <i> Lecture Notes in Mechanical Engineering ((LNME)) </i> : 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, <i>Simulation
    of a Longitudinal Control System for an Automated Driving Self-Stabilized Monorail
    Vehicle</i>. Springer Nature, 2024, pp. 514–523. doi: <a href="https://doi.org/10.1007/978-3-031-66971-2_54">https://doi.org/10.1007/978-3-031-66971-2_54</a>.'
  mla: 'Hanselle, Raphael, et al. “Simulation of a Longitudinal Control System for
    an Automated Driving Self-Stabilized Monorail Vehicle.” <i> 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</i>, edited by Wei  Huang and Mehdi  Ahmadian,
    Springer Nature, 2024, pp. 514–23, <a href="https://doi.org/10.1007/978-3-031-66971-2_54">https://doi.org/10.1007/978-3-031-66971-2_54</a>.'
  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: '<b>Hanselle, Raphael u. a.</b>: 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: '11305'
abstract:
- lang: eng
  text: Currently, numerous single-track railway lines are disused due to economic
    reasons. However, one way they could be reactivated for a bidirectional on-demand
    service traffic is by small vehicles that use only one rail. 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. It is mandatory to gain experience
    before transferring such a new vehicle concept into commercial operation. To ensure
    the function and safety of the vehicle even before implementation, a model-based
    design of the system is carried out for development and analysis. In order to
    test the developed algorithms, this paper presents a Hardware-in-the-loop structure
    considering a detailed model of the vehicle and real electronic control units
    to accurately represent the overall system. This paper focuses on the driving
    system of the vehicle and investigates interdependencies with the performance
    of the electronic control units and communication networks.
author:
- first_name: Raphael
  full_name: Hanselle, Raphael
  id: '79443'
  last_name: Hanselle
- first_name: Martin
  full_name: Griese, Martin
  id: '52308'
  last_name: Griese
- first_name: Rainer
  full_name: Rasche, Rainer
  id: '74574'
  last_name: Rasche
- first_name: Thomas
  full_name: Schulte, Thomas
  id: '46242'
  last_name: Schulte
citation:
  ama: Hanselle R, Griese M, Rasche R, Schulte T. <i>HIL Simulation of the Positioning
    Control for an Automated Driving Monorail Vehicle</i>. (Jasperneite J, Wisniewski
    L, Man KF, Institute of Electrical and Electronics Engineers , eds.). IEEE; 2023.
    doi:<a href="https://doi.org/10.1109/indin51400.2023.10218259">10.1109/indin51400.2023.10218259</a>
  apa: Hanselle, R., Griese, M., Rasche, R., &#38; Schulte, T. (2023). HIL Simulation
    of the Positioning Control for an Automated Driving Monorail Vehicle. In J. Jasperneite,
    L. Wisniewski, K. F. Man, &#38; Institute of Electrical and Electronics Engineers  (Eds.),
    <i>2023 IEEE 21st International Conference on Industrial Informatics (INDIN)</i>.
    IEEE. <a href="https://doi.org/10.1109/indin51400.2023.10218259">https://doi.org/10.1109/indin51400.2023.10218259</a>
  bjps: '<b>Hanselle R <i>et al.</i></b> (2023) <i>HIL Simulation of the Positioning
    Control for an Automated Driving Monorail Vehicle</i>, Jasperneite J et al. (eds).
    Piscataway, NJ: IEEE.'
  chicago: 'Hanselle, Raphael, Martin Griese, Rainer Rasche, and Thomas Schulte. <i>HIL
    Simulation of the Positioning Control for an Automated Driving Monorail Vehicle</i>.
    Edited by Jürgen Jasperneite, Lukasz Wisniewski, Kim Fung Man, and Institute of
    Electrical and Electronics Engineers . <i>2023 IEEE 21st International Conference
    on Industrial Informatics (INDIN)</i>. Piscataway, NJ: IEEE, 2023. <a href="https://doi.org/10.1109/indin51400.2023.10218259">https://doi.org/10.1109/indin51400.2023.10218259</a>.'
  chicago-de: 'Hanselle, Raphael, Martin Griese, Rainer Rasche und Thomas Schulte.
    2023. <i>HIL Simulation of the Positioning Control for an Automated Driving Monorail
    Vehicle</i>. Hg. von Jürgen Jasperneite, Lukasz Wisniewski, Kim Fung Man, und
    Institute of Electrical and Electronics Engineers . <i>2023 IEEE 21st International
    Conference on Industrial Informatics (INDIN)</i>. Piscataway, NJ: IEEE. doi:<a
    href="https://doi.org/10.1109/indin51400.2023.10218259">10.1109/indin51400.2023.10218259</a>,
    .'
  din1505-2-1: '<span style="font-variant:small-caps;">Hanselle, Raphael</span> ;
    <span style="font-variant:small-caps;">Griese, Martin</span> ; <span style="font-variant:small-caps;">Rasche,
    Rainer</span> ; <span style="font-variant:small-caps;">Schulte, Thomas</span>
    ; <span style="font-variant:small-caps;">Jasperneite, J.</span> ; <span style="font-variant:small-caps;">Wisniewski,
    L.</span> ; <span style="font-variant:small-caps;">Man, K. F.</span> ; <span style="font-variant:small-caps;">Institute
    of Electrical and Electronics Engineers </span> (Hrsg.): <i>HIL Simulation of
    the Positioning Control for an Automated Driving Monorail Vehicle</i>. Piscataway,
    NJ : IEEE, 2023'
  havard: R. Hanselle, M. Griese, R. Rasche, T. Schulte, HIL Simulation of the Positioning
    Control for an Automated Driving Monorail Vehicle, IEEE, Piscataway, NJ, 2023.
  ieee: 'R. Hanselle, M. Griese, R. Rasche, and T. Schulte, <i>HIL Simulation of the
    Positioning Control for an Automated Driving Monorail Vehicle</i>. Piscataway,
    NJ: IEEE, 2023. doi: <a href="https://doi.org/10.1109/indin51400.2023.10218259">10.1109/indin51400.2023.10218259</a>.'
  mla: Hanselle, Raphael, et al. “HIL Simulation of the Positioning Control for an
    Automated Driving Monorail Vehicle.” <i>2023 IEEE 21st International Conference
    on Industrial Informatics (INDIN)</i>, edited by Jürgen Jasperneite et al., IEEE,
    2023, <a href="https://doi.org/10.1109/indin51400.2023.10218259">https://doi.org/10.1109/indin51400.2023.10218259</a>.
  short: R. Hanselle, M. Griese, R. Rasche, T. Schulte, HIL Simulation of the Positioning
    Control for an Automated Driving Monorail Vehicle, IEEE, Piscataway, NJ, 2023.
  ufg: '<b>Hanselle, Raphael u. a.</b>: HIL Simulation of the Positioning Control
    for an Automated Driving Monorail Vehicle, hg. von Jasperneite, Jürgen u. a.,
    Piscataway, NJ 2023.'
  van: 'Hanselle R, Griese M, Rasche R, Schulte T. HIL Simulation of the Positioning
    Control for an Automated Driving Monorail Vehicle. Jasperneite J, Wisniewski L,
    Man KF, Institute of Electrical and Electronics Engineers , editors. 2023 IEEE
    21st International Conference on Industrial Informatics (INDIN). Piscataway, NJ:
    IEEE; 2023.'
conference:
  end_date: 2023-07-20
  location: Lemgo
  name: 21st International Conference on Industrial Informatics (INDIN)
  start_date: 2023-07-18
corporate_editor:
- 'Institute of Electrical and Electronics Engineers '
date_created: 2024-04-02T14:31:43Z
date_updated: 2025-06-26T07:49:36Z
department:
- _id: DEP6020
- _id: DEP5022
doi: 10.1109/indin51400.2023.10218259
editor:
- first_name: Jürgen
  full_name: Jasperneite, Jürgen
  id: '1899'
  last_name: Jasperneite
- first_name: Lukasz
  full_name: Wisniewski, Lukasz
  id: '1710'
  last_name: Wisniewski
- first_name: Kim Fung
  full_name: Man, Kim Fung
  last_name: Man
language:
- iso: eng
place: Piscataway, NJ
publication: 2023 IEEE 21st International Conference on Industrial Informatics (INDIN)
publication_identifier:
  eisbn:
  - '978-1-6654-9313-0 '
  isbn:
  - 978-1-6654-9314-7
publication_status: published
publisher: IEEE
status: public
title: HIL Simulation of the Positioning Control for an Automated Driving Monorail
  Vehicle
type: conference_editor_article
user_id: '83781'
year: '2023'
...