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Problem Statement:
The time-varying response of suspension system in an automobile can be analyzed through a
simplified modeled as a spring-mass-damper system. Using the state-variable notations, derive
the governing equations of the system and its response to an input function that simulates various
types of road conditions. The response of the vehicle can be used to model a variety of
suspension settings.
Assumptions:
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Given Parameters:
Solution Approach:
This model only takes into consideration vertical displacement and the all axle movements of the
car will be modeled as having equal amplitude and occurring concurrently, to eliminate the need
for calculating pitch and roll of the vehicle. The state variables are first identified. Next,
governing equations that describe the systems dynamic behavior are set up, based on the freebody diagram (FBD) of the car suspension system.
Governing Equation:
mcar &y&1 + c y&1 + k ( y1 y 2 ) = 0
Note: the gravitational force is cancelled out by the
initial displacement of the springs.
Figure 2: FBD of the suspension system
State Variable:
1. y1 , displacement of car body (from the governing equation)
cy&1 k ( y1 y 2 )
&y&1 =
mcar
Input:
hstart and hend correspond to the time instants at which the tire starts entering the hole and
comes out of it.
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Simulink Model:
1) Open Simulink
Open Matlab, and type Simulink in the command window (MATLAB is case sensitive).
From the menu, select file->new->model.
MIE397B
The effect of the wheel going down into the pothole is simulated by adding two step
functions, step1 and step2 through the summation block.
Double click on Step1 block.
Change the step time to hstart, the initial value to 0, and the final value to -holedepth.
Set sample time to 0.001s for example.
Select OK.
Double click on the second Step2 Function block.
Change the step time to hend, the initial value to 0, and the final value to holedepth.
Set sample time to the same value 0.001s.
Select OK.
Double Click on the existing labels to change to Step1 and Step2.
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Step
Step1
1
s
Integrator
Integrator1
The Integrator blocks are located in the Simulink Library Browser under the Continuous
folder.
- Blocks are inserted by dragging them into the model.
Connect the first integrators output arrow to the input of the second integrator.
- This is done by clicking on the output arrow of the first integrator and dragging
a wire to the input of the second integrator. Double Click on the connecting
wires and label as velocity.
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Velocity
Step1
Integrator
Integrator1
Position
Step2
Introduce a Gain block from the Simulink Library Browser from the Math Operations
section. The gain block is dragged from the library browser into the model.
Double Click on the Gain block and set gain value as stiffness k.
Connect the output of the new summation block to the input of the Gain block.
Label the Gain block as Stiffness so the output is the spring force.
1
s
k
Step1
Integrator
1
s
Integrator1
Stiffness
Position
Step2
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Velocity
Spring
Force
s
Integrator1
Integrator
Stiffness
Step1
Damping
Constant
Position
Damping Force
Step2
Acceleration
Velocity
Spring
Force
k
Step1
Stiffness
1
s
1
s
1/m
Mass
Scope
Integrator1
Integrator
c
Damping
Constant
Step2
Position
Damping Force
disp.mat
To File
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Press control and click and draw a wire from the position output of the second
integrator block. Connect to the input of the scope.
Double click on the scope and click on the Parameters tab and then click the Data
History tab on the pop-up window.
Set the Limit Data Points to option to 100000 (or any number of your choice,
default is 5000).
Step 8:
Go to the Simulation tab of the workspace.
Go to the Configuration parameters option.
Set the start time to 0 and the stop time to 100s (for e.g.)
Under the Solver Options heading, set type to fixed step and solver to ODE5
Dormand Prince for example.
Set fixed step size to 0.001s (usually a small time step compared to the natural period of
the system).
input_disp.mat
To File1
Step
Stiffness
Spring
Force
1/m
Mass
Velocity
1
s
Acceleration
Velocity
Scope
Integrator1
Integrator
Damping
Constant
1
s
c
Position
Damping Force
Step1
disp.mat
To File
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MATLAB File
This program defines parameters, executes the simulation for the given parameters,
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2) Results
Varying dampening coefficient c
10
20
30
40
50
60
70
80
90
100
10
20
30
40
50
60
70
80
90
100
0.01
0.005
0
-0.005
-0.01
10
20
30
40
50
60
70
80
90
100
10
20
30
40
50
60
70
80
90
100
-3
x 10
-5
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10
20
30
40
50
60
70
80
90
100
10
20
30
40
50
60
70
80
90
100
-3
x 10
0
-1
-2
-3
- Varying the spring constant k affects the frequency of the system response.
9 Parameters: k=50, c=100.
Due to the small spring constant, the system does not respond
swiftly to external excitation.
0
-0.05
-0.1
-0.15
-0.2
10
20
30
40
50
60
70
80
90
100
10
20
30
40
50
60
70
80
90
100
-3
x 10
-1
-2
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10
20
30
40
50
60
70
80
90
100
10
20
30
40
50
60
70
80
90
100
-3
x 10
-5
10
20
30
40
50
60
70
80
90
100
10
20
30
40
50
60
70
80
90
100
0.02
0.01
0
-0.01
-0.02
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10
20
30
40
50
60
70
80
90
100
10
20
30
40
50
60
70
80
90
100
-3
x 10
-0.5
-1
-1.5
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