Quarter Car Model

Name: Juan Pablo Patón Mamani

By

𝑀𝜉𝑐̈ + 𝐵𝑣 (𝜉𝑐 − 𝜉𝑎 ) + 𝑓𝑘 (Δ𝜉) = −𝑀𝑔

Where:

Δ𝜉 = 𝜉𝑐 − 𝜉𝑎 − 𝜉𝑢
State Space:

𝑥̇1 = 𝑥2

−𝑓𝑘 (𝑥1 − 𝜉𝑎 − 𝜉𝑢 ) − 𝐵𝑣 (𝑥2 − 𝜉𝑎̇ ) − 𝑀𝑔

𝑥̇ 2 =
𝑀
1. Based on the data provided above, find the equilibrium position of the unloaded
vehicle (𝚫𝝃𝟎 ). Use the polynomial method on slide # 34, Module 2.
For Equilibrium, Assuming velocities and accelerations equal to zero and 𝜉𝑎 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡:
𝑓𝑘 (𝑥1 − 𝜉𝑎 − 𝜉𝑢 ) = −𝑀𝑔
3
𝑓𝑘 (𝑥1 0 − 𝜉𝑢 ) = 𝑘1 (𝑥1 0 − 𝜉𝑢 ) + 𝑘3 (𝑥1 0 − 𝜉𝑢 ) = −𝑀𝑔

With the matlab command roots:

Setting que result to: 𝑥1 0 − 𝜉𝑢 =-0.1770 → 𝑥1 0 = 𝜉𝑢 − 0.1770 = 0.375 − 0.1770 =

0.1980 above.

2. Determine the linearized model for motion around this equilibrium and evaluate
the linearized spring constant at 𝚫𝝃𝟎 ).
Taking:
𝑀𝜉𝑐̈ + 𝐵𝑣 (𝜉𝑐̇ − 𝜉𝑎̇ ) + 𝑓𝑘 (𝜉𝑐 − 𝜉𝑎 − 0.375) = −𝑀𝑔
𝑀𝜉𝑐̈ + 𝐵𝑣 (𝜉𝑐̇ − 𝜉𝑎̇ ) + 𝑓𝑘 (𝜉𝑐 − 𝜉𝑎 − 0.375) = −𝑀𝑔
𝑓𝑘 (𝜉𝑐 − 𝜉𝑎 − 0.375)=𝑘1 (Δ𝜉 0 ) + 𝑘3 (Δ𝜉 0 )3 = 𝑘1 + 3𝑘3 (Δ𝜉 0𝐸 )2 (𝜉𝑐 −̇ 𝜉𝑎 )
 𝑘𝑒𝑞 = 𝑘1 + 3𝑘3 (Δ𝜉 0𝐸 )2
𝑀𝜉𝑐̈ + 𝐵𝑣 (𝜉𝑐̇ − 𝜉𝑎̇ ) + 𝑘𝑒𝑞 (𝜉𝑐 −̇ 𝜉𝑎 ) = −𝑀𝑔
Laplace: [𝑀𝑠2 + 𝐵𝑣 𝑠 + 𝑘𝑒𝑞 ]𝐸𝑐 (𝑠) = 𝐵𝑣 𝑈(𝑠) + 𝑘𝑒𝑞 𝐸𝑎 (𝑠)

𝑘𝑒𝑞 = 12.170 + 3 ∗ 51.040 ∗ (0.1980)2 = 1817.1

3. Calculate the value of Bv to achieve a damping of exactly 0.707 for the linearized
model (recall: 𝒔𝟐 + 𝟐𝜻𝝎𝒏 𝒔 + 𝝎𝟐𝒏 , 𝒅𝒂𝒎𝒑𝒊𝒏𝒈 = 𝜻).
𝐵𝑣 𝑘𝑒𝑞
[𝑀𝑠2 + 𝐵𝑣 𝑠 + 𝑘𝑒𝑞 ] = [𝑠2 + 𝑠+ ]
𝑀 𝑀
𝑘𝑒𝑞 𝐵𝑣
So: = 𝜔𝑛2 and = 2𝜁𝜔𝑛
𝑀 𝑀

𝑘𝑒𝑞 1817.1
𝜔𝑛 = √ =√ = 8.5468
𝑀 248.7500

𝐵𝑣 = 2𝜁𝜔𝑛 𝑀 = 2 ∗ 0.707 ∗ 8.5468 ∗ 248.7500 = 3006.21

4. Now: Assume that four people weighing 80 kg each sit in the car; include one of
them in your quarter-car model:
a. Find the new equilibrium position 𝚫𝝃𝟏 (these equilibria are denoted xe
(empty) and 𝒙𝟏 (loaded)) on the spring characteristic plot)
In matlab :
pol=[K3 0 K1 (995+4*80)*9.81/4]
roots(pol)
𝑥1 0 − 𝜉𝑢 =-0.2202 → 𝑥1 0 = 𝜉𝑢 -0.2202= 0.375 − 0.2202 = 0.1550

b. Evaluate the linearized spring constant at this new point.

𝑘𝑒𝑞 = 12.170 + 3 ∗ 51.040 ∗ (0.1548)2 = 1584.7
𝑘𝑒𝑞 = 1584.7
c. Calculate the damping of the linearized model based on this modified
spring constant and mass.
𝑘𝑒𝑞 1584.7
𝜔𝑛 = √ =√ = 6.9428
𝑀 328.7500

𝐵𝑣 = 2𝜁𝜔𝑛 𝑀 = 2 ∗ 0.707 ∗ 6.9428 ∗ 328.7500 = 3227.4

Comment on whether or not you think the ride quality (bounciness) will change
significantly with the addition of passengers.