Analytical and numerical investigation of trolleybus vertical dynamics on an artificial test track

Pavel Polach, Michal Hajžman, Josef Soukup, Jan Volek


Two virtual models of the SKODA 21 Tr low-floor trolleybus intended for the investigation of vertical dynamic properties during the simulation of driving on an uneven road surface are presented in the article. In order to solve analytically vertical vibrations, the trolleybus model formed by the system of four rigid bodies with seven degrees of freedom coupled by spring-damper elements is used. The influence of the asymmetry of a sprung mass, a linear viscous damping and a general kinematic excitation of wheels are incorporated in the model. The analytical approach to solving the SKODA 21 Tr low-floor trolleybus model vibrations is a suitable complement of the model based on a numerical solution. Vertical vibrations are numerically solved on the trolleybus multibody model created in the alaska simulation tool. Both virtual trolleybus models are used for the simulations of driving on the track composed of vertical obstacles. Conclusion concerning the effects of the usage of the linear and the nonlinear spring-damper elements characteristics are also given.


vehicle dynamics; trolleybus; analytical solution; numerical simulation; multibody model

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