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推导了铁道车辆轮轨接触的非完整约束方程，考虑动坐标系产生的惯性力和轮对转子的陀螺力矩效应，用绝对坐标法建立了任意曲线轨道动坐标系下轮对的动力学方程，通过迭代Ｌａｇｒａｎｇｅ乘子同时得到接触点法向力（理想约束反力）和蠕滑力（非理想约束反力）。针对两点接触引起的数值积分不稳定，提出了等效一点接触模型。最后，通过验算了Ｐａｓｃａｌ考题和仿真自由轮对的蛇行运动，验证了本文轮轨模型的正确性，为开发通用车辆动力学仿真软件提供了轮轨单元。
The nonholonomic constraint equations of the wheel-rail contact of the railway vehicle are deduced. Considering the inertial force generated by the coordinate system and the gyroscopic moment effect of the wheel on the rotor, the dynamic equations of the wheelset under any curved orbit coordinate system are established by the absolute coordinate method. By iterative Lagrange multipliers, the normal force of the contact point (ideal confinement reaction force) and the creep force (non-ideal confining reaction force) are obtained simultaneously. Aiming at the instability of numerical integral caused by two-point contact, a one-point equivalent contact model is proposed. Finally, by verifying the Pascal test questions and simulating the meandering motion of the freewheel wheel, the correctness of the wheel-orbit model is verified, and the wheel and rail unit is provided for developing general vehicle dynamics simulation software.