Suspension

VEHICLE DYNAMICS PROJECT
BYBIMAL PUROHIT(ME13M1005)
SHEDOLKAR PRAVIN(ME13M1013)
VIKRAM B.(ME13M1006)
SIVAKOTESHWAR RAO(ME13M1014)
APARNA GANGELE(ME13P1006)
Y PRASATH REDDY(ME10B042)
PROJECT TOPIC
SUSPENSION SYSTEM IN
AUTOMOBILE SYSTEM
ACKNOWLEDGMENT
We would like to thank Dr Ashok Kumar
Pandey sir and Veerbhadra reddy sir for
providing us this opportunity and helping us in
this project.
INTRODUCTION
A vehicle suspension system is a complex vibration system
having multiple degrees of freedom . The purpose of the
suspension system is to isolate the vehicle body from the road
inputs.
Suspension systems serve a dual purpose
Contributing to the vehicle's road holding/handling
and braking for good active safety and driving pleasure, and
Keeping vehicle occupants comfortable and reasonably well
isolated from road noise, bumps, and vibrations,etc.
MOTIVATION
Study of Suspension system aims at benefiting1:- Ride comfort
2:- Long life of vehicle
3:-Stability of vehicle
TYPES OF SUSPENSIONS
Passive Suspensions-
Traditional springs and dampers are

referred to as passive suspensions most vehicles are suspended in this
manner.
SEMI-ACTIVE SUSPENSION
Semi-active suspensions include devices such as air springs and switchable
shock absorbers, various self-leveling solutions, as well as systems
like hydro pneumatic , hydro Elastic, and hydragas suspensions.
ACTIVE SUSPENSION
Fully active suspension systems use electronic monitoring of vehicle
conditions, coupled with the means to impact vehicle suspension and
behavior in real time to directly control the motion of the car.
Active suspension quarter

car/bus model
Mathematical Modeling
Parameters
(M1) 1/4 bus body mass
(M2) suspension mass
2500 kg
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
Mathematical model
Matlab Simulink model
Amplitude vs time(s)
With Bump
Control System
Requirement
Ex When Bus run 10 cm high bus body
should not oscillate more than +/- 5 mm and
stop oscillating with in 5 sec
Matlab Simulink model
Result
HEAVE AND PITCH MOTION

The translational motion of
the vehicle along the Z-axis
is called HEAVE or
BOUNCE
The rotation of the vehicle
about X-axis is called
PITCH.
HALF AND QUARTER MODELS

Equations of motion in half model,
The coordinate transformation matrix for beam model to a pair

of quarter cars is,
The mass matrix in new coordinates is,

M = TTMT
Now, the equations of motion for quarter model is,
To calculate the natural frequencies of the system,

put ,
The characteristic equation becomes ,
det The roots of the equation are Th

The roots (natural frequencies) of the equation are ,
The corresponding eigen vectors (mode shapes) are,
Different mode shapes are ,
m=2000 kg , J y=2500 kgm2, k1=k2=30000 N/m, c1=c2=3000Ns/ m,a=1.5m,b=1m

ANALYTICAL
MATLAB
SIMULINK
Wn1
5.1399
5.1403
4.9676
Wn2
6.5251
6.5252
6.1681
First mode
-2.0963
-2.0957
Second mode
0.5963
0.5965
SECOND MODE :
FIRST MODE :
SECOND MODE :
Upon taking laplace transform to above equations we will arrive at the

domain equations of steady response of the system as follows,
Using Cramers rule and applying the principle of superposition , we can find
the transfer functions for both bounce and pitch motions for each input Y1
and Y2
TRANSFER FUNCTIONS USING MATLAB :

7.5e006 s^3 + 1.088e008 s^2 + 6.75e008 s + 3.375e009
-----------------------------------------------------------------5e006 s^4 + 3.45e007 s^3 + 4.013e008 s^2 + 1.125e009 s + 5.625e009
-6e006 s^3 - 8.25e007 s^2 - 4.5e008 s - 2.25e009

-----------------------------------------------------------------5e006 s^4 + 3.45e007 s^3 + 4.013e008 s^2 + 1.125e009 s + 5.625e009
7.5e006 s^3 + 9.75e007 s^2 + 4.5e008 s + 2.25e009

-----------------------------------------------------------------5e006 s^4 + 3.45e007 s^3 + 4.013e008 s^2 + 1.125e009 s + 5.625e009
9e006 s^3 + 1.125e008 s^2 + 4.5e008 s + 2.25e009

-----------------------------------------------------------------5e006 s^4 + 3.45e007 s^3 + 4.013e008 s^2 + 1.125e009 s + 5.625e009
Transfer function =
Transfer function =
Transfer function =
Transfer function =
SIMULINK MODEL :
Approximating the road as sinusoidal with amplitude of 10 mm and

wavelength as 5m,assuming velocity as 50km/hr ,these conditions provide the
inputs Y1 and Y2 for simulation,
Y1 = A sin (wt)
Y2 = A sin(wt )
HALF CAR MATLAB MODEL
BLOCK DIAGRAM
UNMASKED BLOCK DIAGRAM
MATHEMATICAL EQUATIONS
PARAMETERS USED
RESULTS
SYSTEM MODELER
COMPARISON RESULTS
S_RELATIVE(SPRING)
S_RELATIVE(DAMPER)
V_RELATIVE
FORCE
FORCE(DAMPER)
STABILITY
OBSERVATION
Non linear Full car model
MATHEMATICAL FORMULATIONS
CONCLUSION
The various observations made during the project
clearly indicate that the preference priority level for
suspensions is
1:- Active suspension
2:- Semi-active suspension
3:- Passive suspension
The results also indicated that a stability system is also
required for better overall performance of the vehicle.
FUTURE WORK
Control system should include the use of delta delay function.
More emphasis should be made on developing a cheap Active
suspension system
Also considerations should be given to the stability effect of
the suspension system on the vehicle.
REFRENCES
Chaotic vibration of a nonlinear full-vehicle model ,Qin Zhu, , Mitsuaki
Ishitobi
The Automotive Chasis, volume 2, System Design, Giancarlo Genta and
Lorenzo Morello
Adaptive fuzzy controller with sliding surface for vehicle suspension
control , Shiuh-Jer Huang Wei-Cheng Lin
Chaotic vibration of a nonlinear quarter -vehicle model, Jiang Lixia Li
Wanxiang
Active suspension control of ground vehicle based on a full-vehicle
model, Ikenaga, S Lewis, F.L. ; Campos, J. ; Davis, L.
VEHICLE SUSPENSION OPTIMIZATION FOR STOCHASTIC INPUTS, KAILAS

VIJAY INAMDAR
On the Control Aspects of Semiactive Suspensions for Automobile
Applications, Emmanuel D. Blanchard
Analysis design of VSS using Matlab simulink, Ali Md. Zadeh
MR damper and its application for semi-active control of vehicle

suspension system , G.Z. Yao , F.F. Yap, G. Chen, W.H. Li, S.H. Yeo
Improving Vehicle Lateral Stability based on Variable Stiffness and
Damping Suspension System via MR Damper , Yanhai Xu, Mehdi
Ahmadian and Renyun Sun
Wolfram Mathematica 9
Wolfram System Modeler 3.0.2
Matlab R2010a
Catia 2010
Solid Edge 2010
Solid Works 2013
Blender 2013

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VEHICLE DYNAMICS PROJECT

Traditional springs and dampers are

Active suspension quarter

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

Matlab Simulink model

Matlab Simulink model

HEAVE AND PITCH MOTION

HALF AND QUARTER MODELS

The coordinate transformation matrix for beam model to a pair

The mass matrix in new coordinates is,

To calculate the natural frequencies of the system,

The characteristic equation becomes ,

det The roots of the equation are Th

The corresponding eigen vectors (mode shapes) are,

Different mode shapes are ,

m=2000 kg , J y=2500 kgm2, k1=k2=30000 N/m, c1=c2=3000Ns/ m,a=1.5m,b=1m

Upon taking laplace transform to above equations we will arrive at the

TRANSFER FUNCTIONS USING MATLAB :

-6e006 s^3 - 8.25e007 s^2 - 4.5e008 s - 2.25e009

7.5e006 s^3 + 9.75e007 s^2 + 4.5e008 s + 2.25e009

9e006 s^3 + 1.125e008 s^2 + 4.5e008 s + 2.25e009

Approximating the road as sinusoidal with amplitude of 10 mm and

HALF CAR MATLAB MODEL

UNMASKED BLOCK DIAGRAM

Non linear Full car model

VEHICLE SUSPENSION OPTIMIZATION FOR STOCHASTIC INPUTS, KAILAS

MR damper and its application for semi-active control of vehicle

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