Table 5 The comparisons of natural frequency and mode shape

Description

Body-dominated roll mode

Body-dominated bounce mode

Body-dominated pitch mode

Wheel-dominated pitch mode

Wheel-dominated bounce mode

Wheel-dominated roll mode

Wheel-dominated warp mode

VCS-EP

s

− 0.72 + 9.83i

− 1.62 + 14.77i

− 1.90 + 15.95i

− 10.27 + 73.51i

− 13.17 + 83.50i

− 9.64 + 73.69i

− 12.32 + 83.83i

f_d (Hz)

1.564

2.351

2.539

11.699

13.286

11.728

13.342

ξ

0.073

0.109

0.118

0.138

0.156

0.129

0.145

z _s

0

1

− 0.525 − 0.005i

− 0.029 −  0.030i

− 0.023 −  0.026i

0

0

θ

0

0.240 + 0.002i

1

− 0.020 −  0.021i

0.017 + 0.020i

0

0

φ

1

0

0

0

0

− 0.037 −  0.036i

0.019 + 0.022i

z _ufl

0.059 + 0.009i

0.114 + 0.026i

− 0.406 −  0.104i

− 0.003 + 0.007i

1

0.000 − 0.021i

− 1

z _ufr

− 0.059 −  0.009i

0.114 + 0.026i

− 0.406 −  0.104i

− 0.003 + 0.007i

1

− 0.000 + 0.021i

1

z _url

0.086 + 0.013i

0.257 + 0.061i

0.184 + 0.046i

1

0.001 − 0.005i

1

0.001 − 0.014i

z _urr

− 0.086 −  0.013i

0.257 + 0.061i

0.184 + 0.046i

1

0.001 − 0.005i

− 1

− 0.001 + 0.014i

VHIS

s

− 0.81 + 8.08i

− 2.40 + 12.00i

− 6.79 + 17.18i

− 32.02 + 57.63i

− 11.97 + 65.45i

− 6.01 + 70.55i

− 7.99 + 78.71i

f_d (Hz)

1.286

1.906

2.747

9.158

10.419

11.226

12.530

ξ

0.097

0.205

0.358

0.488

0.179

0.087

0.099

z _s

0

1

0.001 − 0.097i

− 0.002 −  0.083i

0.030 −  0.087i

0

0

θ

0

− 0.013 + 0.036i

1

0.043 + 0.166i

− 0.032 − 0.004i

0

0

φ

1

0

0

0

0

0.020 + 0.027i

0.007 + 0.017i

z _ufl

0.034 + 0.008i

0.114 + 0.045i

− 0.273 − 0.305i

− 0.833 − 0.187i

0.945 + 0.263i

− 0.004 + 0.009i

− 1

z _ufr

− 0.034 −  0.008i

0.114 + 0.045i

− 0.273 − 0.305i

− 0.833 − 0.187i

0.945 + 0.263i

0.004 − 0.009i

1

z _url

0.061 + 0.011i

0.117 + 0.060i

0.314 + 0.272i

1

1

− 1

0.004 − 0.006i

z _urr

− 0.061 −  0.011i

0.117 + 0.60i

0.314 + 0.272i

1

1

1

− 0.004 + 0.006i