Table of contents

Table of Contents page no:

Table of contents...................................................................................................................i

List of figures.......................................................................................................................ii

List of tables.........................................................................................................................ii

Nomenclature......................................................................................................................iii

Validation of simulation and analytical of nonlinear passive vehicle suspension for

Quarter car............................................................................................................................1

1 Introduction...................................................................................................................1

1.1 Quarter car model..................................................................................................1

1.2 Passive Suspension System...................................................................................1

2 Literature review...........................................................................................................2

3 Mathematical modeling of passive nonlinear suspension system................................4

4 Model and Validation of nonlinear passive suspension system...................................6

4.1 Experimental Analysis for spring..........................................................................8

5 Conclusion..................................................................................................................11

6 Reference....................................................................................................................11

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 List of figures

Figure 1-1 nonlinear passive suspension system of quarter car...........................................2

Figure 4-1 Simulink Model for Nonlinear Passive Suspension System.............................6

Figure 4-2 Simulink Model for linear Passive Suspension System.....................................7

Figure 4-3 Combined Sprung Mass Displacement Plot for SIMULINK and State-Space
approach...............................................................................................................................8

Figure 4-4 Load v/s Deflection For Linear System...........................................................10

Figure 4-5Load v/s Deflection for Nonlinear System........................................................10

List of tables

Table 3-1 Non-linear Suspension Parameters......................................................................6

Table 4-1 Load v/s Displacement characteristics.................................................................9

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 Nomenclature

Ms sprung mass (kg)

Mu un-sprung mass (kg)

Cs damping coefficient (Ns/m)

Ks spring stiffness coefficient (N/m)

Kt tire stiffness coefficient (N/m)

Cs1 Linear damping coefficient (Ns/m)

Cs2 Non-linear square damping coefficient (Ns/)

Ks1 Linear spring stiffness coefficient (N/m)

Ks2 Non-linear square spring stiffness coefficient (N/)

Kt1 Linear tire stiffness coefficient (N/m)

Kt2 Non-linear square tire stiffness coefficient (N/)

Kt3 Non-linear cube tire stiffness coefficient (N/)

¨ , Zs∧Zs
Zs ˙ acceleration, velocity, and displacement of the sprung mass (m/s2, m/s, m

¨ , Zu∧Zs
Zu ˙ acceleration,velocity, and displacement of the unsprung mass (m/s2, m/s,m

iii
 Validation of simulation and analytical of nonlinear passive
vehicle suspension for Quarter car

1 Introduction

Vehicle suspension design includes a number of compromises that have to do with

suspension system which should be smooth to provide good leveling and ride comfort. On
the other hand must be strong, to fix changes the behavior of the vehicle and to ensure
road holding for varying external conditions. The automobile vehicles are the
combinations of various systems. From all the system, suspension system has its own
importance because of the road holding (RH) and ride comfort (RC). Nowadays everyone
wants ride comfort for their vehicles.

The main purposes of a vehicular suspension are[2]: (a) to isolate the vehicle body from
external disturbances coming from irregular road surfaces and internal disturbances
created by cornering, acceleration, or deceleration, in order to have ride comfort; (b) to
carry the weight of the vehicle body; (c) to react to variations in load, which are whether
generated by changes in the number of passengers and luggage, or from internal
disturbances; and (d) to keep a firm contact between the road and the

1.1 Quarter car model

It means that the developed neuron model structure capable to represent the nonlinear
model of a quarter car passive suspension system dynamics. The system mathematical
model is a part of descriptive and functional model category and usually used in control
engineering. Quarter car models is one of popular examples using in study of vibration
and vibration control, especially for engineering students. Usually the experiment
equipment for studying this subject are very expensive..

1.2 Passive Suspension System

Lot of common vehicles today uses passive suspension system to control the dynamics of
a vehicle’s vertical motion as well as spinning (pitch) and tilting (roll)[1]. Passive
indicates that the suspension elements cannot provide energy to the suspension system.
The passive suspension system limits the motion of the body and wheel by limiting their
relative velocities to a rate that gives the required ride comfort. This is achieved by using

1
some type of damping element placed between the body and the wheels of the vehicle,
such as hydraulic shock absorber. Properties of the dampers are desired to reduce the
vertical body acceleration and to provide good tire-road contact force. That is, for a
comfortable ride, it is desirable to limit the body acceleration by using a soft absorber, but
this allows more variation in the tire-road contact force that in turn reduces the handling
performance. Also, the suspension travel, commonly called the sprung mass (the mass of
body and other components supported by suspension system) displacement, limits
allowable deflection, which in turn limits the amount of relative velocity of the absorber
that can be permitted. By comparison, it is desirable to reduce the relative velocity to
improve handling by designing a stiffer or higher rate shock absorber. This stiffness
decreases the ride quality performance at the same time increases the body acceleration,
detract what is considered being good ride characteristics.

Figure 1-1 nonlinear passive suspension system of quarter car

2 Literature review

Mahesh P.Nagarkar ,Gahininath et.al [1].Optimization of nonlinear quarter car

suspension-seat-driver model. In this paper nonlinear quarter car suspension-seat-driver
model was implemented for optimum design. a nonlinear quarter car model comprising

2
quadratic of tire stiffness and cubic stiffness in suspension spring, frame and seat Cushing
with 4 DOF.

Anirban. C. Mitraa*, Gourav. J. Desaib [2] Optimization Of Passive Vehicle

Suspension System By Genetic Algorithm. An effort has been made in this paper for a
passive suspension system by using an optimization technique called Genetic algorithm to
absorb vibrations as per ISO 2631-1: 1997 standards. The spring stiffness (ks), damping
coefficient (cs), sprung mass (ms), unsprung mass (mu), tyre stiffness (kt) are optimized
in such a way that ride comfort is increased .The quarter car and driver seat with the
driver’s body are simply modeled together as four degree of freedom (DOF) system by
using SIMULINK for analyzing the ride comfort

Ride comfort and Vehicle handling of Quarter Car Model Using SIMULINK and
Bond Graph[3]. A 4 DOF quarter car model has been developed to study important
effects on Passenger body (Head, Thorax-pelvis), seating on a cushion seat using a Bond
graph model and SIMULINK model separately results of which are in good agreement
with each other and also matching with the real life expectations. The effects of variations
of suspension stiffness and damping coefficient on ride comfort, road holding and head
displacement has been studied over wide range of road bump.

Ajit G. Mohite*, Anirban C. Mitra [4] Development of linear and nonlinear vehicle
suspension.Ajit G. Mohite*, Anirban C. Mitra n model. In this paper passive
suspension has been studied with considering linearity and nonlinearity approach to the
system. For the comparative study 2 DOF system quarter car model with introducing
nonlinearity on stiffnes and damping of vehicle suspension have been developed.

Anirban C. Mitraa*, Kiranchand G. R.b[5]. Design of Experiments For Optimization

Of Automotive Suspension System Using Quarter Car Test Rig. The recent years
have witnessed an accelerated invention and innovation in suspension design. This project
aims at finding the ideal combination of suspension and steering geometry parameters
viz. tire pressure (typ), damping coefficient (cs), spring stiffness (ks), sprung mass (m),
camber (cma), toe (toe) and wheel speed (N), so that the Ride Comfort (RC) is increased
while maintaining an optimal degree of Road Holding (RH) using Design of Experiments.
R. Alkhatiba, G. Nakhaie Jazarb[6], Optimal design of passive linear suspension using
genetic algorithm. In this paper the genetic algorithm (GA) method is applied to the
optimization problem of a linear onedegree-of-freedom (1-DOF) vibration isolator mount

3
and the method is extended to the optimization of a linear quarter car suspension model.
A novel criterion for selecting optimal suspension parameters is presented. An optimal
relationship between the root mean square (RMS) of the absolute acceleration and the
RMS of the relative displacement is found.

3 Mathematical modeling of passive nonlinear suspension

system

2 3
tire force Ft=Kt 1 ( Zu−Zr )+ Kt 2 ( Zu−Zr ) −Kt 3 ( Zu−Zr ) ( SEQ eqn ¿ MERGEFORMAT 1)

2
spring force Fs=Ks 1 ( Zs−Zu )+ Ks 2 ( Zs−Zu ) (SEQ eqn¿ MERGEFORMAT 2)

dampoing force Fd=Cs 1 ¿

The nonlinear system having equations of motions as following

¨ Ks 1 ( Zs−Zu ) + Ks 2 ( Zs−Zu ) +Cs 1 ¿

Ms Zs+
2

¨ 2 ( Zs−Zu )2−Cs 1 ¿¿
Mu Zu−¿ Ks 1 ( Zs−Zu )−Ks

To avoid difficulties in calculation higher order degree terms are eliminated in equation (4)
and (5). The equation will be rewrite as

Ms Z̈s+ Ks 1 ( Zs−Zu ) + Ks 2 ( Zs−Zu )+ Cs1 ¿

¨ 2 ( Zs−Zu )−Cs 1 ¿ ¿
Mu Zu−¿ Ks 1 ( Zs−Zu )−Ks

The equation can be written in matrix form as the following for damping and stiffness of
sprig

[ 0MsMu0 ] [ ZuZ̈s¨ ]+[−( Cs1+Cs ] [

2 ) −( Cs 1+Cs 2 ) Żs +
( Cs1+Cs 2 ) ( Cs 1+ Cs 2 ) ˙
Zu ] [ ( Ks 1+ Ks 2 )−( Ks 1+ Ks 2 )
]
−( Ks 1+ Ks 2 )( Ks 1+ Ks 2+ Kt 1+ Kt 2−Kt 3 ) Zu ] [ Kt 1+ K
[ Zs =

4
By merging the spring force and damping force, we can write in matrix form as the
following again;

˙ X 3 ;∧Zu=X
Consider the following Zs= X 1 ; Zu=X 2 ; Zs= ˙ 4

˙ X˙ 1=X 3, Zu=
Therefore, Zs= ˙ X˙ 2=X 4 ; Substituting the values ofX1,X2, X˙ 1 and X˙ 2

In to equation 6 and 7 above and write in matrix form.

[ ][ ]
0 01 0
˙
X1 0 00 1
˙
X2 = − ( kS 1+kS 2 ) (kS 1+kS 2) −(Cs 1+Cs 2) (Cs 1+Cs 2)
¿
X˙ 3 ms ms ms ms
X˙ 4 ( kS 1+kS 2 ) (Ks 1, 2+ Kt 1 ,2−Kt 3) (Cs1+Cs 2) (Cs 1+Cs 2)
mu mu ms ms

To find out put Then equation become Y=1*X1+0*X2+0*X3+0*X4

[]
X1
X2
We get Y= [ 1 0 0 0 ] +[ 0 ] { Zr }
X3
X4

¨ is the accelration, Zs
Where Zs ˙ is the velocity, Zs is the displacement of the sprung
¨ is the acceleration, Zu
massesand Zu ˙ is the velocity, Zu is the displacement of unsprung
˙ - Zu
masses. Where (Zs -Zu) and ( Zs ˙ ) gives suspension travel, tire diversion, and relative
velocity of the damper. Equations (6) and (7) give second order nonlinear differential
equations the motion for Non-linear passive suspension systems.

The Parameters for the Nonlinear Passive Suspension System for quarter car are

Table 3-1 Non-linear Suspension Parameters

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 4 Model and Validation of nonlinear passive suspension
system

Figure 4-2 Simulink Model for Nonlinear Passive Suspension System

Figure 4-3 Simulink Model for linear Passive Suspension System

In the figure 2 the combination of the State-Space approaches and SIMULINK model are
given which for sprung mass displacement. In the figure 2 the combination of graphs is
for the step input. Here it is the validation of the Simulink model and the State-Space
approach of the model. The nature of graph is same but it slightly difference because of
the elimination of the power in the State-Space approach shown in equations (6) and (7).

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Figure 4-4 Combined Sprung Mass Displacement Plot for SIMULINK and State-Space approach

4.1 Experimental Analysis for spring

The load v/s deformation characteristics can be finding out of spring, by the compression
test doing on spring. Universal Testing Machine (UTM) is used for that purpose. In this
experiment random spring is taken from the market. Spring is kept on UTM to find out
the load v/s deformation characteristics of spring. The purpose of this is to find out the
nonlinear characteristics of the spring. The experimental load v/s displacement reading
are observed from UTM are given in the following table 2.

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Table 4-2 Load v/s Displacement characteristics

It is observed that spring has Non-linear characteristics. So Non-linearity’s are model as

a second order polynomial equation.

Fs=Ko+K1x+K2x2…………………………………………………………………………………………..(8)

Where the co-efficient are obtained by fitting the experimental data, which resulted in
K2=68900 N/m2, K1=857.2 N/m, K0=2.1711 N. If the spring is consider linear then
the equation for linear deflection is as given in equation (9) and Load v/s deflection
characteristics are shown in figure 4.4 and 4.5,

Fs=Ko+K1x……………………………………………………………………(9)

Every suspension system is nonlinear due to its nonlinear properties spring, damper, and
other parts of system. After the experimental reading it can be clearly shown in figure 4.5,
the nature of graph is nonlinear. From the polynomial equation of 2nd order Ks0, Ks1 and
Ks2 is obtained by putting these values in Simulink Model. With the help of Simulink
Model RMS acceleration is obtained as shown in Table 4.1. The figure 4.4 and 4.5 are
shown a load v/s deflection plot, which are obtained from stiffness measuring machine.
By observing the figure 4.4 and 4.5 it can be clearly visible that the nature of the plot is
nonlinear behavior. But normally for the analysis purposes vehicle suspension spring is
assumed to be linear behavior as shown on figure 4.4 and value of linear stiffness is
Ks=4.6245x103 N/m which is obtained by using linear equation of polynomial. In figure
4.5 for the same set of readings a two power polynomial equation is generated and as per
equation the two values of stiffness are Ks1=0.0689x106 N/m2 and Ks2=0.8572x103

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N/m which is obtained by second order of polynomial. Now this stiffness values are
considering on SIMULINK model to analyses RMS acceleration which a measure of
Ride Comfort (RC) as stated on table 4.1.

Figure 4-5 Load v/s Deflection For Linear System

Figure 4-6Load v/s Deflection for Nonlinear System

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 5 Conclusion

In this paper the Quarter car nonlinear passive vehicle suspension mathematical model is
developed using newton’s 2nd law of motion and the equation is solved using MATLAB-
SIMULINK model as well as Analytical model by State-Space approach. With the help
experimental results of load v/s deflection of a passive vehicle suspension spring, linear
and nonlinear spring stiffness is obtained and using that values RMS acceleration i.e.
Ride Comfort (RC) values are calculated on validated SIMULINK model.

6 Reference

1. Ajit G. Mohite*, A. C. (2017). Development of linear and nonlinear vehicle

suspensio.

2. Design of Experiments For Optimization Of Automotive Suspension System

Using Quarter Car Test Rig. (n.d.).

3. Mahesh P.Nagarkar, G. e. (n.d.). .Optimization of nonlinear quarter car

suspension-seat-driver model.

4. Optimization Of Passive Vehicle Suspension System By Genetic Algorithm . (n.d.).

5. R. Alkhatiba, G. N. (n.d.). Optimal design of passive linear suspension using

genetic algorithm.

6. Ride comfort and Vehicle handling of Quarter Car Model Using SIMULINK and
Bond Graph[3]. (n.d.).

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