DOF

Lateral movement

Heaving movement

Rolling

Yawing

Rotation

Car body

Y_C

Z_C

ϕ_C

β_C

ψ_C

Framework

Y_ti

Z_ti

ϕ_ti

β_ti

ψ_ti

Wheelset

Y_wi

Z_wi

ϕ_wi

β_wi

ψ_wi