Corrected equations of motion for a wheel-axle set negotiating an arbitrarily changing radius curve

곡선 경사 선로상 차륜-윤축셋에 대한 수정 운동방정식

It is found that there are many serious errors in deriving the existing governing equations of motion for a wheel-axle set negotiating an arbitrarily changing radius curve by Vijay K. Garg and Rao V. Dukkipati. Among other things, despite the hypothesis on arbitrarily changing radius of curve, there had been no taking a time derivative of the radius R in the first half of the derivation. Even if the D'lambert force arising from the centrifugal acceleration of vehicle body or bogie was appropriately taken into account while calculating cant deficiency, it is unnecessarily duplicated in the force vectors of governing equations. The graphical model given in Fig. 5.15 is not enough to follow those developed expressions from both physical and structural points of view. Besides, there are some blunders in assigning plus or minus sign not to be regarded as simple typographic ones and similar mistakes are committed in deriving creep force expressions as in the case of a wheel-axle set on a tangent track.