RIDE PERFORMANCE EVALUATION FOR FULL-VEHICLE MODEL USING MATLAB-SIMULINK

by : IPNU CANDRA (I0408039)

MECHANICAL ENGINEERING DEPARTEMENT FACULTY OF ENGINEERING SEBELAS MARET UNIVERSITY SURAKARTA 2012

Vehicle Ride Model The vehicle ride model is represented as a 7-DOF system. It consists of a single sprung mass (car body) connected to four unsprung masses (front-left, front-right, rear-left and rear-right wheels) at each corner of the vehicle body. The sprung mass is free to heave, pitch and roll while the unsprung masses are free to bounce vertically with respect to the sprung mass. The suspensions between the sprung mass and unsprung masses are modeled as passive viscous dampers and spring elements. While, the tires are modeled as simple linear springs without damping.

Figure 1. A 7-DOF Full Vehicle Ride and Handling Model

Figure 2. Free Body Diagram for 7-DOF Full Vehicle

Equation of Motion for Full-Vehicle Model: 1 + 1 1 + 2 2 + 3 3 + 4 4 + 1 1 + 2 2 + 3 3 + 4 4 = 0 ....................................................................................................................... Body vertical 2 + 1 1 2 2 3 3 + 4 4 + 1 1 2 2 3 3 + 4 4 = 0 .............................................................................................. Body pitch

3 + 1 1 + 2 2 3 3 4 4 + 1 1 + 2 2 3 3 + 4 4 = 0 .............................................................................................. Body roll

1 4 1 1 1 1 + 1 4 1 = 0 ....................................... Front left wheel 2 5 2 2 2 2 + 2 5 2 = 0 ....................................... Front right wheel 3 6 3 3 3 3 + 3 6 3 = 0 ....................................... Rear left wheel 4 7 4 4 4 4 + 1 7 4 = 0 ....................................... Rear right wheel Where: 1 = 1 + 2 + 3 4 2 = 1 2 + 3 5 3 = 1 2 3 6 4 = 1 + 2 3 7

Table 1 Symbol Table 2 Symbol

State and input description Description Sprung mass heavy displacement Sprung mass pitch angular displacement Sprung mass roll angular displacement Front-left unsprung mass displacement Rear-left unsprung mass displacement Rear-right unsprung mass displacement Front-right unsprung mass displacement Front-left displacement input Rear-left displacement input Rear-right displacement input Front-right displacement input Units m rad rad m m m m m m m m

Model parameters Description Sprung mass Pitch moment of inertia Roll moment of inertia Front-left unsprung mass Rear-left unsprung mass Rear-right unsprung mass Qty - Units 1800 kg 1648 kgm2 310 kgm2 30 kg 30 kg 30 kg

Front-right unsprung mass Front-left suspension stiffness coefficient Rear-left suspension stiffness coefficient Rear-right suspension stiffness coefficient Front-right suspension stiffness coefficient Front-left suspension damping coefficient Rear-left suspension damping coefficient Rear-right suspension damping coefficient Front-right suspension damping coefficient Front-left tyre stiffness coefficient Rear-left tyre stiffness coefficient Rear-right tyre stiffness coefficient Front-right tyre stiffness coefficient Side distance from CG to the front axle Side distance from CG to the rear axle Frontal distance from CG to the frontal-left axle Frontal distance from CG to the rear-left axle Frontal distance from CG to the rear-right axle Frontal distance from CG to the frontal-right axle

30 kg 16500 N/m 15300 N/m 15300 N/m 16500 N/m 1400 N s/m 1100 N s/m 1100 N s/m 1400 N s/m 170000 N/m 170000 N/m 170000 N/m 170000 N/m 0.7 m 1.2 m 0.6 m 0.6 m 0.6 m 0.6 m

MATLAB-Simulink Block Diagram

Figure 3. Simple Block Diagram for Full-Vehicle Model

Figure 4. Matlab-Simulink Block Diagram for Full-Vehicle Model

Simulation Result Simulation performance of passive system during step road test as shown in figure below:

Figure 5. Vertical Acceleration Response at the Body Center of Gravity

Figure 6. Vertical Displacement Response at the Body Center of Gravity

Figure 7. Pitch Angle Response at the Body Center of Gravity

Figure 8. Roll Angle Response at the Body Center of Gravity

Figure 9. Front Left Suspension Force Response

Figure 10. Front Left Suspension Travel Response

Figure 11. Front Left Wheel Acceleration Response

References: 1). Ihsan S.I. Dynamics and control policies analysis of semi-active suspension systems using a full-car model. International Islamic Universitty Malaysia. 2005. 2). Khisbullah H. Fauzi A. Zulkiffli A. Kadir and Hishamuddin J. Pid Controller with Roll Moment Rejection for Pneumatically Actuated Active Roll Control (Arc) Suspension System. Universiti Teknikal Malaysia Melaka. 2005. 3). W. Gao, N. Zhang and H. P. Du . A half-car model for dynamic analysis of vehicles with random parameters. Mechatronics and Intelligent Systems, Faculty of Engineering, University of Technology, Sydney. 2007. 4). Marcelo Prado, Rodivaldo H. Cunha, Alvaro C. Neto. Bus Handling Validation and Analysis Using ADAMS/Car. Debis Humaita ITServices Ltda. 2008.