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Dynamics of a quarter
vehicle
by Paul Balzer on August 24, 2011  6 Comments

to simulate a very simple abstraction model the dynamics of a vehicle

in the vertical direction is the reduction to 1/4 vehicle model. That is,
the vehicle is divided in the longitudinal direction (2 + wheels
pitching motion) and then again in the transverse direction. Thus, a
wheel with appropriate suspension and shock absorbers, 1/4 and 1/4
of the vehicle mass of the driver's left.
What is interesting is the question of which natural frequencies using
the system and how it responds to bumps. In addition, one can
calculate the impact of the defective shock absorbers on the
vibration.

Equations of motion for a three-mass-

spring-damper model
These are wonderful in [ - Mitschke dynamics of motor vehicles
described]. This nomenclature I would assume the same.

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viertelfahrzeug

Books

Dynamik der Kraftfahrzeuge
Get print book Manfred Mitschke
Wallentowitz
No eBook available
Springer Berlin Heidelberg
25, 2004

The differential equations are now to be numerically "dissolved".

These must be brought into a form which can be easily calculated
using the appropriate software. In principle, this would even with
Excel, but it is becoming increasingly more complicated with more
complex systems. Therefore is the undisputed leader for
mathematical calculations, Mathworks Matlab gripped back.

3-mass-spring-damper district vehicle in

the state space model
Is to describe a system, the simplest way in the form of a state space
model . For this, the differential equations are reduced to differential
equations 1st order. The nomenclature of [Mitschke] the state of the
3-mass-spring-damper district vehicle is equipped with the following
state vectorx⃗ fully described.

z1 Vertical movement of the wheel

⎡ ⎤ ⎡ ⎤

⎢ ż 1 ⎥ ⎢ Vertical velocity of the wheel ⎥

⎢ ⎥ ⎢ ⎥
⎢ z ⎥ ⎢ Vertical motion of the structure ⎥
⎥ = ⎢ ⎥
2
x⃗ = ⎢ ⎢ ⎥
⎢ ⎥
⎢ ż 2 ⎥ ⎢ Vertical velocity of the structure ⎥
⎢ ⎥
⎢ ⎥ ⎢ ⎥
⎢ z ⎥ ⎢ the driver vertical movement ⎥
3

⎣ ⎦ ⎣ ⎦
ż 3 driver's vertical speed

If the position and the speed of the wheel, and driver con guration
known (6 variables), so the dynamic system is fully described. The
vector x represents the state.

A state space model is generally in the form

ẋ = A ⋅ x + b ⋅ h

Here is A , the system matrix in which the dynamics is described. As b

of the control vector is referred to, which describes how the change
of h (in this case, the unevenness of the road) on the system acts.

The procedure for creating a state space model of differential

equations based on matrix calculations.

0 1 0 0 0 0
⎡ ⎤
ż 1
⎡ ⎤ ( C2 + c1 ) k2 c2 k2
⎢ - - 0 0 ⎥
⎢ z̈ 1 ⎥ ⎢ m1 m1 m1 m1 ⎥
⎢ ⎥ ⎢ ⎥
⎢ ⎢ 0 0 0 1 0 0 ⎥
ż 2 ⎥
⎢ ⎥ = ⎢ ⎥
⎢ ⎥ ⎢ c2 k2 ( C3 + c2 ) ( K3 + k2 ) c3 k3
⎥
⎢ z̈ 2 ⎥ ⎢ - - - ⎥
⎢ ⎥ ⎢ m2 m2 m2 m2 m2 m2 ⎥
⎢ ⎥
⎢ ż 3 ⎥ ⎢ ⎥
0 0 0 0 0 1
⎢ ⎥
⎣ ⎦
z̈ 3 c3 k3 c3 k3
⎣ 0 0 - - ⎦
m3 m3 m3 m3

The necessary for simulation matrices C (Observation vector) and D

(Penetration vector) are:

c ⃗ = [ 0 0 0 0 0 0]

d = [ 0]

Depending on which column is the observation vector with 1, can be

"observed" or movement speed of the wheel, construction or driver.
The system is now fully described and can be calculated with Matlab.

Numerical calculation with Matlab

% check ob Toolbox installiert ist für Zustandsraummodell
?
if exist('ss')==2
  disp('System Control Toolbox ist installiert')
else
  disp('System Control Toolbox wird benötigt')
  return
end
 
clc; clear all;
% Systemparameter
m1 = 20;         %Radmasse /kg
m2 = 2000/4;     %Aufbaumasse /kg
m3 = 80/4;       %Fahrermasse /kg
c1 = 100000;     %Federsteifigkeit Rad /N/m
c2 = 20000;      %Federsteifigkeit Fahrwerk /N/m
c3 = 10000;      %Federsteifigkeit Sitz /N/m
k2 = 1400;       %Dämpfung Stoßdämpfer /Ns/m
k3 = 300;        %Dämpfung Sitz /Ns/m
 
tend=2;     %Simulationsdauer
 
%Systemmatrix
A = [       0       1      0        0     0    0;
    ‐(c2+c1)/m1  ‐k2/m1  c2/m1    k2/m1   0    0;
            0       0      0        1     0    0;
          c2/m2   k2/m2 ‐(c3+c2)/m2 ‐(k3+k2)/m2  c3/m2  k3/m2;
   0    0    0       0        0        1;
   0    0  c3/m3   k3/m3   ‐c3/m3   ‐k3/m3];
 
%Steuermatrix
B = [0 c1/m1 0 0 0 0]';
 
%Beobachtungsmatrix
C = [1 0 0 0 0 0];   % Radbewegung wird beobachtet
 
%Durchgriffsmatrix
D = [0];
 
%Zeitbasis
t=0:0.001:tend;
 
%Eigenfrequenzen
fRad    =round(100*sqrt((c1+c2)/m1)/(2*pi))/100
fAufbau =round(100*sqrt(c2/m2)/(2*pi))/100
fFahrer =round(100*sqrt(c3/m3)/(2*pi))/100
 
% Straße
    f=fRad;                                      %Anregungsfrequenz
    h=cos(f*t*2*pi)*0.2‐0.2;                     %Sinusanregung
    %h=[zeros(40,1); 0.2*ones(length(t)‐40,1)]'; %Kante
    %h=rand(1,length(t))*0.2;                    %stochastische Anregung
 
% Berechnung
system = ss(A,B,C,D);       %Definition des Zustandsraummodells
[y,t,x]=lsim(system,h,t);   %Simulation

By calculating lsim the trajectory of the state vector is calculated for

each discrete time step, t is calculated. The interesting variables are
the displacements of the wheel, construction and driver. These are
the state vector x stored in the 1st, 3rd and 5th row. Since the
observation vector c = [1 0 0 0 0 0] has been de ned, the system
output is y of wheel travel.

Radhub    = x(:,1); ?
Aufbauhub = x(:,3);
Fahrerhub = x(:,5);
plot(t, [h', Radhub, Aufbauhub, Fahrerhub]);
legend('Strasse','Rad','Aufbau','Fahrer');
xlabel('Zeit [s]');
ylabel('Vertikalbewegung [m]');

simulation results
Traveling over a ground unevenness
 Animation: Hindernis überfahren mit funktionierenden Stoßdämpfern

Excitation in critical frequencies

It is interesting that can be calculated, in which area the natural

frequencies of the structure, wheel or drivers are. These are for the
selected parameter at about 1Hz (construction), 3 Hz (driver) and 12
Hz (wheel).

Animation: Anregung mit Aufbaueigenfrequenz und funktionierenden Dämp

The calculation is of course simpli ed so that no geometrical

constraints (wheel is fully integrated / Absorbs or structure fails on
road) are implemented. Basically, the animation of a moving motion
has also been made only for a better understanding.

More animations

Double oscillator in Excel

If you want to view the vibration in Excel, which can also download
the following Excel le:

  DOWNLOAD EXCEL QUARTER VEHICLE

VIBRATION

This simply was the differential equation numerically integrated.

   

   

The Interest You Perhaps:

inevitable collision: vibration
tree or oncoming differential
traf c equation solved

Pothole - the road

to the driver
6 Comments

PAUL BALZER SAYS:

SEPTEMBER 14, 2011 AT 20:13

I just noticed that the spring stiffness is too high

from the wheel, so c1 a power of 10. This is a far
too hard wheel! Comparable with solid rubber
tires.

REPLY

MEHMET EK SAYS:
NOVEMBER 13, 2011 AT 17:30

Hello Mr. Balzer,

your website makes me happy. Occasionally I read
the contributions. Bin PhD student at the
Technical University of Madrid and studied at
TUM. Wolte ask a question. I got an excel le /
restarted one such. There are rate x y rate rate z of
gyroscopic platform (gyroplatform to de ??) and
from what I understand (in Spanish), I should
calculate the path of the vehicle with a simple
formula in excel. But the problem is there, because
I have the values of x and y rate deg / sec and rate
z ° and the mechanism no longer know, I do not
know if the delta x = v * delta t to use. Have them
some idea?

Thanks for the answer

With kind regards

REPLY
 PAUL BALZER SAYS:
NOVEMBER 29, 2011 AT 11:09

Hi,
this sounds as if it is running on a
numerical integration with Excel
addition:
http://www.cbcity.de/numerische-
integration-mit-excel
it my mean?
If they want to come by deg / sec on °
and in Excel, the time also is, then they
can easily be integrated numerically. It
should be noted that there is an
integration error by prolonged duration
of integration. The position, which they
want to calculate, will no longer be
accurate so after a few seconds. But
that always depends on very speci c
measurement system and the accuracy /
request.

REPLY

P.SAUER SAYS:
MAY 3, 2016 AT 14:08

Good day,

I am very impressed by your animation and

wonder how you can animate such a scrolling X
axis. Is it possible that you ask me to Matlabcode
this animation available?

REPLY

PAUL BALZER SAYS:

MAY 3, 2016 AT 14:18

Hi, thanks for the compliment!

That's easy. Just with each time step
back the x lim for the X-axis on.

t=0:0.005:6; ?
v=50/3.6;   %Fahrgeschwindigkeit
s=[0];
 
for i=2:1:length(t)
    s(i)=v.*t(i);
     xlim([s(i)‐2 s(i)+5])
end

REPLY

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