3/25/2020 Control Tutorials for MATLAB and Simulink - Suspension: System Modeling

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INTRODUCTION CRUISE CONTROL MOTOR SPEED MOTOR POSITION SUSPENSION INVERTED PENDULUM

SYSTEM

MODELING Suspension: System Modeling

Related Tutorial Links
ANALYSIS
Intro to Modeling
Key MATLAB commands used in this tutorial are: ss , step
Mech System Activity
CONTROL
Related External Links
PID
System Rep in
ROOT LOCUS MATLAB Video

FREQUENCY
Modeling Intro Video

STATE-SPACE

DIGITAL

Contents

SIMULINK Physical setup

System parameters
MODELING
Equations of motion
CONTROL
Transfer function models
SIMSCAPE
Entering equations in MATLAB

Physical setup

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Designing an automotive suspension system is an interesting and challenging control problem. When the suspension system is designed,
a 1/4 model (one of the four wheels) is used to simplify the problem to a 1-D multiple spring-damper system. A diagram of this system is

shown below. This model is for an active suspension system where an actuator is included that is able to generate the control force U to
control the motion of the bus body.

System parameters

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3/25/2020 Control Tutorials for MATLAB and Simulink - Suspension: System Modeling

(M1) 1/4 bus body mass 2500 kg

(M2) suspension mass 320 kg

(K1) spring constant of suspension system 80,000 N/m

(K2) spring constant of wheel and tire 500,000 N/m

(b1) damping constant of suspension system 350 N.s/m

(b2) damping constant of wheel and tire 15,020 N.s/m

(U) control force

Equations of motion

From the picture above and Newton's law, we can obtain the dynamic equations as the following:

(1)

(2)

Transfer function models

Assume that all of the initial conditions are zero, so that these equations represent the situation where the vehicle wheel goes up a bump.
The dynamic equations above can be expressed in the form of transfer functions by taking the Laplace Transform. The specific derivation
from the above equations to the transfer functions G1(s) and G2(s) is shown below where each transfer function has an output of, X1-X2,
and inputs of U and W, respectively.

(3)

(4)

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3/25/2020 Control Tutorials for MATLAB and Simulink - Suspension: System Modeling

(5)

(6)

(7)

or

(8)

Find the inverse of matrix A and then multiply with inputs U(s)and W(s) on the righthand side as follows:

(9)

(10)

When we want to consider the control input U(s) only, we set W(s) = 0. Thus we get the transfer function G1(s) as in the following:

(11)

When we want to consider the disturbance input W(s) only, we set U(s) = 0. Thus we get the transfer function G2(s) as in the following:

(12)

Entering equations in MATLAB

We can generate the above transfer function models in MATLAB by entering the following commands in the MATLAB command window.

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3/25/2020 Control Tutorials for MATLAB and Simulink - Suspension: System Modeling

M1 = 2500;
M2 = 320;

K1 = 80000;
K2 = 500000;

b1 = 350;
b2 = 15020;

s = tf('s');
G1 = ((M1+M2)*s^2+b2*s+K2)/((M1*s^2+b1*s+K1)*(M2*s^2+(b1+b2)*s+(K1+K2))-(b1*s+K1)*(b1*s+K1));

G2 = (-M1*b2*s^3-M1*K2*s^2)/((M1*s^2+b1*s+K1)*(M2*s^2+(b1+b2)*s+(K1+K2))-(b1*s+K1)*(b1*s+K1));

Published with MATLAB® 9.2

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