The model relates traction force and torque on wheel, using a rail-wheel friction model.
Connectors have to be connected as indicated below.
The connector variable rail.s fulfills
der(rail.s) = v_slip = v_rotation - v_translationwith
v_rotation = r*der(phi), phi rotation angle of wheel v_translation = der(s), s position of wheelThis choice avoids the introduction of a special connector with a velocity variable.