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以Ｘ２０００摆式客车为研究对象，用绝对坐标多体动力学方法，建立了半车平面模型动态曲线通过的动力学方程。设计了ＰＤ反馈控制器和自适应控制器。为验证控制的效果和计算轮轨力等动力学指标。对包括车体、转向架，一、二系悬挂，倾摆机构，轮轨非线性约束和虚拟车体主动约束的空间模型动态曲线通过进行了仿真计算。仿真结果表明：ＰＤ反馈控制和自适应控制能够纠正由于曲线探测信号滞后或随机干扰产生的轨迹偏离，但当控制器设计参数与实际参数不一致时，ＰＤ控制存在稳态轨迹跟踪误差，而自适应控制经过短时间的参数估计和调整，跟踪误差趋于０，其性能优于ＰＤ控制。通过控制车体的倾摆，车辆的未平衡离心加速度小于０．１ｇ，改善了乘坐舒适性，也使轮重减载率、倾覆系数略有下降。
Taking the X2000 tilting passenger car as the research object, the kinetic equation of dynamic curve passing through the semi-car plane model was established by using absolute coordinate multi-body dynamics method. PD feedback controller and adaptive controller are designed. To verify the effectiveness of control and calculation of wheel-rail and other dynamic indicators. The dynamic curves of the space model including vehicle body, bogie, primary and secondary suspensions, tilting mechanisms, wheel-rail nonlinear constraints and the active constraints of the virtual body are simulated. The simulation results show that the PD feedback control and adaptive control can correct the trajectory deviation caused by the delay or random disturbance of the curve detection signal. However, when the controller design parameters are inconsistent with the actual parameters, the steady state trajectory tracking error exists in the PD control, while the adaptive Control After a short period of parameter estimation and adjustment, tracking error tends to 0, its performance is better than the PD control. By controlling the tilting of the vehicle body, the unbalanced centrifugal acceleration of the vehicle is less than 0.1g, which improves the ride comfort and also slightly reduces the wheel load reduction rate and the overturn coefficient.