the basic equations which describe the motion and energy consumption of minitram are developed. these take account of limitations on maximum speed, acceleration, and jerk, and include the effects of wind on power requirements and energy consumption. the effects on trip time and/or energy consumption of limited power availability during acceleration, regenerative braking, and coasting are also investigated. numerical examples are given based on the size of vehicle proposed for the sheffield public demonstration system. for comparative purposes both vehicles with pneumatic tyres and vehicles with flanged steel wheels are considered.(a)

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