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FACULTY OF ENGINEERING
MECHANICAL ENGINEERING DEPARTMENT
m1 m1
x1
c1 k1 . .
m2 c1 ( x2 x1 ) k1 ( x2 x1 )
x2
k2 m2
y
k 2 ( y x2 )
Equation of motion
.. . .
m1 x1 c1 ( x2 x1 ) k1 ( x2 x1 )
.. . .
m2 x2 c1 ( x2 x1 ) k1 ( x2 x1 ) k2 ( y x2 )
3.0 STATE SPACE REPRESENTATION
The equations of motion in terms of the displacements from equilibrium, x1 and x2, are
.. . .
m1 x1 c1 ( x2 x1 ) k1 ( x2 x1 ) 2.0
.. . .
m2 x2 c1 ( x2 x1 ) k1 ( x2 x1 ) k2 ( y x2 ) 2.1
.. c1 . .
k1 k2
x2 x 2 x1 x2 x1 y x2 2.3
m2 m2 m2
Then define
. .
z1 x1 , z 2 x1 , z 3 x 2 , and z 4 x2
The input is the road surface displacement y (t). Note that these definitions imply that
. .
z1 z2 and z 3 z4
.. . ..
Note also that , x1 z 2 and
x 2 z4
Substitute these variables into equation 2.2 and equation 2.3 to obtain
. c1 k1
z2 z4 z2 z3 z1 2.4
m1 m1
c1
z4 z2 k1 z3 z1 k2 y z3
.
z4 2.5
m2 m2 m2
These four equations are the state variable model. They can be displayed in
matrix vector form as follows.
. 0 1 0 0
0
z1 k1 c1 k1 c1
. z1 0
z 2 m1 m1 m1 m1 z2
. 0 0 y t
z3
0 0 1 z3
. k1 c1 k1 k2 c1 z k2
z 4 m 4 m2
2 m2 m2 m2 m2
z1
x1 1 0 0 0 z 2
x 0 0 1 0 z
2 3
z4
Thus, the input matrices to be
0 1 0 0
k c1 k1 c1
1
m1 m1 m1 m1
A=
0 0 0 1
k c1 k k c1
1 1 2
m2 m2 m2 m2 m2
0
0
B= 0
k2
m2
To plot and the output matrices to be
1 0 0 0
C= 0 0 1 0
D= 0 0
4.0 PRODUCING TRANSFER FUNCTION
METHODS;
Y s
C sI A B D
1
U s
Thus the transfer function are:
k2 c1.s k1
x1 G1 s . y .y
m1.s c1.s k1 m2 .s k2 m1. .s . c1.s k1
2 2 2
k 2 c1.s k1k 2
H1 s
m1m2 s 4 c1m2 m1c1 s 3 m1k 2 k1m2 m1k1 s 2 c1k 2 s k1k 2
x2 G2 s . y
k2 m1.s 2 c1.s k1 .y
m1.s c1.s k1 m2 .s k2 m1. .s . c1.s k1
2 2 2
k 2 m1.s k 2 c1s k 2 k1
H 2 s
m1m2 s 4 c1m2 m1c1 s 3 m1k 2 k1m2 m1k1 s 2 c1k 2 s k1k 2
Step Response
1.4
KOCO
KO=24400, CO=3167
KDCD
1.2 KD=30400, CD=4167
KC=27400, CC=3667 KCCC
0.8
Amplitude
0.6
0.4
0.2
0
0 0.5 1 1.5
Time (sec)
KCCC and KDCD = Produce lower %OS and having shorter settling time. Thus
its will give a better design for the Proton Wira suspension
system.
Time response for different suspension stiffness and damping coefficient.
- front right suspension
• small % OS and short settling time. • big % OS and too short settling
time
Body motion
Wheel motion