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Suspension System Imran

The quarter-car suspension model is represented by a set of equations relating the mass, damping, spring stiffness, road excitation, and control force. The model is converted to state space format with body displacement as the output and road disturbance or control force as the input. Transfer functions are derived and analyzed in MATLAB. Poles, zeros, and root loci are examined. Finally, a PID controller is designed and tuned to improve disturbance rejection for variations in controller parameters.

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69 views10 pages

Suspension System Imran

The quarter-car suspension model is represented by a set of equations relating the mass, damping, spring stiffness, road excitation, and control force. The model is converted to state space format with body displacement as the output and road disturbance or control force as the input. Transfer functions are derived and analyzed in MATLAB. Poles, zeros, and root loci are examined. Finally, a PID controller is designed and tuned to improve disturbance rejection for variations in controller parameters.

Uploaded by

imran5705074
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Quarter-Car Suspension Model

1- The quarter car suspension model is assumed the following governing equation would be
the basis of developing the state space model and the transfer functions
M X́ ( t ) +C X́ ( t )+ KX ( t )=E r ( t )+ F U (t )

U ( t ) =f s (t)

On the above equations X(t) is state vector and r(t) would be excitation, In state space format we

could say

x´ p ( t )= A p x p ( t ) + F p r (t)

Where xp is assumed to be as :

so the system matrix A would be


In order to define the state transfer functions it
would be better to define another state space
variables , as the vertical displacement of
the car body mass is the actual parameter we
want to investigate lets define the relative
displacement of the car body mass as the
output of the model and for input we considered the road disturbance once and another time the
controller force as the input to the system, so by defining new variable we could find the
following set of equations
For the suspension system we could have
mb x́ b +b s ( x́ b−x́ w ) +k s ( x b −x w ) −f s=0

mw x´w +b s ( x́ w −x́ b ) +k s ( x w −x b ) + k t ( x w −r ) + f s=0

So as described before by considering the term x b−x w assystem output we can set the
following relations as transfer functions of the system

The state system derived above , has been developed on MATLAB

In order to develop transfer functions first we have to identify the input and output of the system,

on the system we are considered here, the output assumed to be relative vertical displacements of

car body and the suspension system and the input assumed to be r(t) from the road.

So for our system we can consider the system to be a MIMo system, the following clock diagram
shows the MIMO model
So in order to find the poles and zero for the dynamic system we have to consider numerators
and denominators of the transfer functions derived above.
To make things more clear the following values for the

These values are assumed just to make the calculations and compare the results using MATLAB.
Figure – root locus plot of the Gf

Figure – root locus plot of the Gr


Figure root locus plot for the MIMO system
The poles of the system also could be found by considering the closed loop transfer function to
the unity feedback , from MATLAB the poles found to be :
poles =
-11.9617 +61.7634i
-11.9617 -61.7634i
-11.9628 +61.7618i
-11.9628 -61.7618i
-0.0455 + 0.0000i
-0.0455 + 0.0000i
The Gf is found to have the following structure:
val =

350 s^2 + 180000


------------------------------------------------
1.8e07 s^3 + 4.315e08 s^2 + 7.126e10 s + 3.24e09

The Bode plot also illustrated bellow


The open loop bode plot of the Gf

By considering the transfer function system seems to be stable with the following controller
parameters and performance
After studying the Gf(s) , now we are going to design a PID controller for the system

Where the initial conditions assumed to be :


P=1
I=1
D=0
Filter Coefficient (N) = 100
Upper saturation limit: 3000 (N)
Lower saturation limit: 0 (N)
The results from the PID tuner illustrated bellow
Figure the PID compensated plant with the integrator ki
Now we are going to tune the system
The figures bellow depicted results where the characteristics are also denoted on the graphs

Effects of different parameter also investigated as bellow


The step plot of output disturbance rejection illustrated bellow

Results from different parameters with a table of values are depicted bellow

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