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AdModSim PoE1
AdModSim PoE1
Good Luck!
Question 1: State Space Modell of a Mechanical System
Fig. 1 shows the reaction of a mechanical independent wheel suspension for two different
cases of input signals. In case 1 the suspension system is subjected to a load step
FL = 300 N · -1(t), in the second case to a sudden displacement u(t) = 0.05 m · -1(t).
a) Determine the state space model of the suspension system in control ca- (10)
nonical form.
(Remark: the term controllable canonical form is used in the lecture notes which is not
the usual technical expression)
b) Check the validity of the system model by Scilab simulation of the load (10)
step response and the step response function for the sudden displace-
ment u(t). Use the following parameters for simulation:
- m = 120 kg
- c = 20000 N/m
- d = 1000 N sec / mc
Display the result of the simulation in the form of two plots (step re-
sponses case 1 and 2). Do the respective steady-state values of the step
response function match your expectations? (justification by calculation)
You can use the Scilab script PoE1_Q1.sce for the simulation.
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Question 2: Identification of the Parameters of the Suspension System
The behaviour of the suspension system has changed considerably due to wear. Fig. 2 shows
the force step response function (same force value as in Q1) for the weared system.
a) Identify the time constants of the given according to the method of (10)
STREJC. Specify the complete transfer function F(s) = X(s) / F_L(s).
(A bigger plot of Fig. 2 is available on page 4)
b) Verify your identification results with a simulation of the new transfer (5)
function and the given behaviour of the system. The plot data is available
in file PoE1_Fig2.sod.
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