用于汽车系统动力学分析，包含了汽车振动分析等，有垂向、横向、纵向动力学3个方面-For automotive system dynamics analysis, including the automotive vibration analysis, there are vertical, horizontal, vertical dynamics of 3 aspects

建立了车辆—轨道偶合动力学模型，使用Romberg观测器观测了轮对位移、轮对速度、车体速度等系统状态量。(The vehicle-track coupling dynamic model is established, and the wheel-set displacement, wheelset velocity, vehicle body velocity is observed by using Romberg observer.)