Enset of the UM5 Rabat, Morocco Student Name: ESSABBAR MOHAMMED

Electrical Engineering Department,

Bond Graph modeling and simulation of a Quarter Car Suspension System

A Practical Activity

1. QUARTER CAR SUSPENSION MODEL

ms v s m sv , y
s s

ks bs
ks bs mu v u , y u
kt bt
vr
vr , yr
Figure 1 Physical models of a quarter car suspension system: simplified QCS
model (a) and a QCS Model taking into account the tire dynamics

2. WORD BOND GRAPH OF A QCS SYSTEM

The variables used to denote the flows and efforts of the different components Figure 3. Bond Graph Model of a QCS system
are defined as follows

Table 2 The QCS variables definition 4. STATE SPACE MODEL OF A QCS SYSTEM
Designation Symbol Given the BG developed in section 3, the state space model of
The vertical moment of the sprung mass ps a QCS system assumed to be linear can be written as :
The relative generalized displacement of the δs
suspension spring. ẋ (t )= Ax(t )+ Bvr (t )+w (t )
The vertical moment of the unsprung mass pu y(t )=Cx (t )
The relative generalized displacement of the δu
T
suspension spring. x=[ ps δs pu δu ]
The road vertical velocity vr where with
δ s =l s −( y s − y u ) and δ u=l u −( y u− y r )
Question 1:Put the Word Bond Graph of the QCS in the
figure 2 below: l l
where s and u designate the length of the spring and of
the tire at rest, and where A, B, and C designate the state,
input and output matrices of the state space model
Amortisseur 1 Amortisseur 2 respectively.
Question 3: By considering the gravity g as a constant
perturbation, determine the matrices A, and B By using
Vr ms mu Vs the BG model of the QCS developed in Question 2

−b s bs
Masse 1 Masse 2 ks 0

( )
ms mu
−1 1
0 0
ms mu
Figure 2. Word Bond Graph of a QCS system
A=
bs −b s+ bt
−k s kt
ms mu
2. BOND GRAPH OF QCS SYSTEM −1
0 0 0
Question 2: Develop and put the Bond Graph model of the mu
QCS in the figure 3 below: repos rest
 Enset of the UM5 Rabat, Morocco Student Name: ESSABBAR MOHAMMED
Electrical Engineering Department,

B=( 0 0 bt 1 )T