The phase transition is caused by wheelsliding on the rail.
相变是由于车轮在钢轨上滑行造成的。
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It can occur with tyre injudicial controlling, if the ABS system controls tyre drift-out, Anti-slip Regulation control driving wheelsliding and engine controlling retarding to torque.
In order to provide safety and obtain desired longitudinal vehicle motion, a robust sliding mode controller is designed to maintain the reference input wheel slip.