Student Name: ZOUHRI MOHAMED AMINE – NADA MABROUK – ESSADQI CHAIMAE

ELBAHY FATIMA ZOUHRA –ELHOUMRI AYOUB

System Identification Based Diagnosis of a Quarter Car Suspension

Electrical Engineering Department, Enset of the UM5 Rabat, Morocco

1. QUARTER CAR SUSPENSION (QCS) MODEL

ms vs 1.4
Step Response

1.2
ks bs
1
mu
0.8
Amplitude

kt bt
0.6

vr 0.4

Figure 1 Physical models of a 0.2

quarter car suspension system

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4
Time (seconds)

Figure 2. Step response of the QCS system with Factory parameter setting

2. IDENTIFICATION EXPERIMENT
Data measurements provided by the sensors installed within the car suspension system corresponding to the velocity
of the sprung mass in response to the road vertical velocity, sampled at Frequency of 100Hz, are stored in the file
QCSDATA.mat. for comparison needs the step response of the QCS system is plotted in figure 2.

3. IDENTIFICATION RESULTS
3.1. Data Analysis
3.1.1. After loading the QCSDATA.mat file, construct the two iddata objects corresponding to estimation, validation
data and plot them in single graph in figure 3 by using light and dark grey colours.
3.1.2. Plot the magnitude distributions of the input and output signals figure 4 and conclude about the linearity or
non-linearity of the QCS system.
3.2. Model selection
3.2.1. Identify the set of ARX, OE, ARMAX, and BJ models for different order up to 7 by using estimation data
only and plot the RMS (MSE) of their prediction errors with respect to their orders in a single graph is figure 5 by
using a legend with appropriate plotting markers.
3.2.2. Among the identified models, select the least complex one that minimizes the RMS error, validate it, and
specify its structure type and order and parameters.
3.2.3. Compute its estimation and validation performances in terms of the MEAN, the RMS and the STD of its pre-
diction errors, and list them in table 2.
3.3. Estimation of the dynamical properties of the QCS system
3.3.1. Convert the identified transfer function to the Continuous version, and plot its step response in figure 6.
3.3.2. Find the poles of the Continuous transfer function and Compute the natural frequencies f s and f u and the
damping factors  s and  u of the velocities of the sprung and unsprung masses, and list them in table 3.
3.4. DECISION MAKING
Give concluding remarks about the state of health of the car QCS System and tires and say if they are
to be changed.
Student Name: ZOUHRI MOHAMED AMINE – NADA MABROUK – ESSADQI CHAIMAE
ELBAHY FATIMA ZOUHRA –ELHOUMRI AYOUB

System Identification Based Diagnosis of a Quarter Car Suspension

Electrical Engineering Department, Enset of the UM5 Rabat, Morocco

Appendix A: Answers document

3. Identification Results
3.1. Data Analysis :

Figure 3

Histogram input U Histogram output Y

Figure 4
Student Name: ZOUHRI MOHAMED AMINE – NADA MABROUK – ESSADQI CHAIMAE
ELBAHY FATIMA ZOUHRA –ELHOUMRI AYOUB

System Identification Based Diagnosis of a Quarter Car Suspension

Electrical Engineering Department, Enset of the UM5 Rabat, Morocco

Conclusion : From the histograms obtained, we found that the mean value is zero and that there is no degradation
between the input and the output. It is therefore a linear system.

3.2. Model selection

3.2.1.

Figure 5 goes here.

3.2.2. Model structure type and order go here
this is a ARMAX model of order 4
0.001476 q^3  0.001292 q^2 0.0006717 q  0.001552
H (q 1 ) 
z^4 - 3.624 q^3  5.08 q^2  3.282 q  0.8263
3.2.3. Performances of the identified model

Table 2. Performances of the identified model

Prediction Errors symbol Estimation data Validation data
Mean Error  8.9561e-05 6.2927e-04
RMS Error RMSE 0.3404 0.3239
STD Error STDE 0.3404 0.3239
Student Name: ZOUHRI MOHAMED AMINE – NADA MABROUK – ESSADQI CHAIMAE
ELBAHY FATIMA ZOUHRA –ELHOUMRI AYOUB

System Identification Based Diagnosis of a Quarter Car Suspension

Electrical Engineering Department, Enset of the UM5 Rabat, Morocco

3.3. Estimation of the dynamical properties of the QCS system

3.3.1.
0.06725 s^3 - 2.355 s^2 + 6172 s + 6.092e04
G(s) =
s^4 + 19.08 s^3 + 2231 s^2 + 6143 s + 6.119e04

Figure 6 goes here.

3.3.2. Table 3. Properties of the system dynamics
symbol Value Unit
Natural frequency of fs 0.8467 Hz
the sprung mass
Damping factor of the s 0.247 ------
sprung mass
Natural frequency of fu 7,35 Hz
the unsprung mass
Damping factor of the u 0.18 --------
unsprung mass

3.4. Decisions making: go here

the first on our model, it is that the exceeding of the order 50%, in continuation in show that the response time and
large compared to the model desired, in continuation the own frequency is upper has 1hz thus for all that can conclude
that our model not acceptable and must change it
NB: Don’t forget to specify your name in the name of the answer file you will send to me at the e-mail
a.naitali@um5s.net.ma